JP5107588B2 - Processing system - Google Patents

Description

  The present invention relates to a technique for peeling asbestos-containing materials attached to structures including ceilings and walls of buildings.

  In buildings until about 1974, asbestos-containing materials (for example, a mixture of asbestos and a binder) were frequently used as fireproof materials, heat insulating materials, or sound absorbing materials on ceilings and walls. In recent years, however, it has been pointed out that asbestos may impair the health of the human body, and removal of asbestos-containing materials from existing buildings has become an urgent task. As an apparatus for removing such building deposits, for example, in Patent Documents 1 and 2, pressure water is sprayed onto an object within a cover, and the deposits are peeled and pulverized by sequentially moving the spray position. In addition, an apparatus for sucking and collecting water and pulverized material is disclosed.

JP-A-1-165875 Japanese Patent Laid-Open No. 9-235895

Injected in covering high-pressure water as in Patent Documents 1 and 2, in the case of the separation of the asbestos-containing material in a method for sucking the inside cover, and water shines injection, the release asbestos content of dust A considerable part can be collected, but a part of it floats and diffuses as a mist or dust from the gaps of the cover, etc., and the visibility in the work space deteriorates. This is because if the suction amount is increased, the cover will stick to the object, so the suction amount cannot be increased too much.A considerable wind speed can be expected near the suction port in the cover, but the wind speed is high at the part away from the suction port. Slowly due to the inability to capture mist and dust with significant kinetic energy.

  In addition, when the asbestos-containing material is peeled off in the form of a lump, the suction port or the suction tube may be blocked. When the visibility in the work space deteriorates, it becomes difficult to check the asbestos-containing material peeling state and the workability is lowered. In addition, the asbestos-containing material to be peeled includes a mixture of a material that is pulverized to become a powder and a material that is peeled in a lump. Any materials that may harm human health, such as those containing asbestos, must be collected and disposed of appropriately.

  The purpose of the present invention is to improve the visibility in the working space and to effectively recover the peeled asbestos-containing material when peeling the asbestos-containing material attached to the structure by jetting water or suspended water. To provide a system.

According to the present invention, water or suspension water is sprayed onto the asbestos-containing material attached to the structure, and the asbestos-containing material that has been peeled off and scattered on the floor is recovered and charged. In the processing system, the spray nozzle includes: a hopper to be stored; storage means for storing the asbestos-containing material in a bag; and pressure feeding means for pumping the asbestos-containing material charged into the hopper to the storage means. A suction member having a suction port for sucking the floating substance floating in the work space by jetting the water or suspended water by the pump, and the pressure feeding means sucks the floating substance through the suction member to store the storage means was pumped into the the articulated arm injection nozzle is attached to the distal end, with a, a video camera can image a peripheral the tip, and the self-propelled robot, before A control device for remotely operating a robot; and a television monitor for displaying an image captured by the video camera, wherein the suction port faces the spray destination of water or suspension water by the spray nozzle. A processing system is provided that is attached to the section .

In the processing system of the present invention, it is possible to automate the asbestos-containing material peeling operation by remote operation of the robot, and at that time, floating matter floating in the work space is sucked from the suction port, so that the view in the work space is reduced. The image in the work space can be made clearer . Further, when the pulverized powder of the asbestos-containing material is mixed in the sucked suspended matter, the suspended matter is pumped to the storage means and collected. Furthermore, the asbestos-containing material after being dropped on the floor is pumped to the storage means through the hopper and collected. The pressure feeding means and the storage means can be shared, and these can be collected uniformly. Therefore, the peeled asbestos-containing material can be effectively recovered.

As described above, according to the present invention, when the asbestos-containing material attached to the structure is peeled off by spraying water or suspension water, the asbestos-containing material peeling work can be automated by remote operation of the robot. It is possible to provide a processing system capable of improving the field of view in the work space, making the image in the work space clearer, and effectively collecting the separated asbestos-containing material.

  FIG. 1 is a configuration diagram of a processing system A according to an embodiment of the present invention. The processing system A is a system that removes asbestos-containing materials constructed on ceilings, walls, etc. of existing buildings.

  Room 1 is a room of an existing building in which asbestos-containing materials are constructed on the ceiling and walls. The chamber 1 is provided with temporary work chambers 2 and 3 adjacent to each other. A robot 4 for removing asbestos-containing material is disposed in the chamber 1. By using the robot 4, it is possible to automate the asbestos-containing material peeling operation and the like. The robot 4 includes a traveling unit 4a (here, a crawler), an articulated arm 4b, and an earthwork plate 4c. A video camera 4d is provided on the upper part of the main body of the robot 4 so that the periphery of the tip of the articulated arm 4b can be photographed.

  An injection device 5 and a bucket 6 can be selectively attached to the tip of the articulated arm 4b. When the asbestos-containing material is peeled off, the spray device 5 is attached to the tip of the articulated arm 4b. The injection device 5 includes an injection nozzle 5a, injects water pumped from a supply device (not shown) onto asbestos-containing material attached to the ceiling, walls, etc., and peels it off. The water to be sprayed may be mixed with abrasives (such as baking soda) to form suspended water. When abrasives are mixed, the asbestos-containing material peeling ability can be improved.

  A suction member 7 is also detachably attached to the robot 4. The suction member 7 includes a suction port portion 7a and a piping portion 7b. The piping portion 7b is, for example, a flexible hose. The robot 4 is equipped with a suction port portion 7a and a part of the piping portion 7b.

  The suction port portion 7a is attached to the spray device 5 so as to face the spray destination of water or suspended water by the spray nozzle 5a. By disposing the suction port portion 7a in the vicinity of the spray nozzle 5a, it is possible to more effectively suck the asbestos-containing material peeled off by the spray of water or suspended water, particularly those that are floating as dust. A part of the piping part 7b is attached to the articulated arm 4b so as to be laid.

  The asbestos-containing material that has been peeled off and scattered on the floor is collected by the earthwork board 4c. At the time of recovering the peeled asbestos-containing material, the bucket 6 is attached to the tip of the articulated arm 4b. The asbestos-containing material on the floor is picked up by the bucket 6 and put into the hopper 8. The asbestos-containing material charged into the hopper 8 is pumped to the recovery device 10 by the pumping device 9. The collection device 10 is a storage means for storing the asbestos-containing material in the bag, and the asbestos-containing material is packed in the bag and collected.

  In the work room 2, a control device 11 and a television monitor 11a for remotely operating the robot 4 are disposed. On the television monitor 11a, images captured by the video camera 4d and the video camera 12 that captures various locations in the room 1 are displayed. An operator performs a remote operation of the robot 4 while viewing the video displayed on the television monitor 11a in the work room 2 to perform an asbestos-containing material removal operation.

  FIG. 2 is a system diagram of the hopper 8, the pressure feeding device 9, and the recovery device 10. The hopper 8 is opened at the top to form an inlet 8a, and has a duct 8b for discharging the asbestos-containing material accumulated in the hopper 8 to the outside. The pressure feeding device 9 includes a compressor 91 and an air carrier 92. The compressor 91 supplies compressed air to the air carrier 92. The air carrier 92 is a commercially available air carrier (for example, the trade name “Jector”), and the compressed air supplied to the compressor 91 generates an air current in the direction of the arrow d1 to suck the asbestos-containing material from the hopper 8. It pumps to the collection | recovery apparatus 10.

  One end of the pipe 9a is connected to the air transporter 92, and the other end of the pipe 9a can be selectively connected to either the duct 8b of the hopper 8 or the pipe 7b of the suction member 7. Yes. Therefore, when the pipe 9a is connected to the hopper 8, the pressure feeding device 9 pumps the asbestos-containing material in the hopper 8 to the recovery device 10, and when the pipe 9a is connected to the suction member 7, the suction port 7a. The suspended matter in the chamber 1 sucked from the inside, for example, dust of asbestos-containing material, is pumped to the recovery device 10.

  The recovery device 10 includes an intake portion 101 that serves as an intake of asbestos-containing material from the air transport device 92, a separation unit 102 that separates and drops the asbestos-containing material introduced from the intake portion 101 from the air due to its own weight, And an exhaust unit 103 that exhausts air introduced from the intake unit 101.

  A conical cylinder body 104 is provided below the separation unit 102, and a bag body 105 is attached to the tip of the conical cylinder body 104 in a replaceable manner. The asbestos-containing material introduced from the intake portion 101 falls along the conical cylinder body 104 and is stored in the bag body 105. Further, a turbo fan 106 is connected to the exhaust unit 103, and the turbo fan 106 is discharged from the collection device 10.

  Since there is a possibility that the air discharged from the exhaust part 103 also contains very fine asbestos-containing substances, a filter 107 is provided between the exhaust part 103 and the turbo fan 106. After the asbestos-containing material is completely removed by this, the air discharged from the exhaust part 103 is released to the atmosphere.

  Next, a series of processing examples in the processing system A having such a configuration will be described. First, the injection device 5 is attached to the tip of the articulated arm 4b of the robot 4, and the suction member 7 is connected to the pipe 9a to perform the asbestos-containing material peeling operation. The asbestos-containing material is peeled from the wall or the like by ejecting water or suspended water from the injection nozzle 5a to the asbestos-containing material attached to the ceiling, walls, or the like. The asbestos-containing material that has been peeled off includes dust that floats as dust and those that fall on the floor.

  Therefore, suspended matter such as dust of asbestos-containing material floats in the chamber 1 which is a work space by the ejection of water or suspended water by the ejection nozzle 5a. Is sucked from the suction port portion 7a, is pumped to the collecting device 10, is packed in the bag body 105, and is collected. Therefore, the asbestos-containing material dust is prevented from floating and scattering in the chamber 1 and the visibility is improved. Specifically, the image in the room 1 photographed by the video camera 4d becomes clearer and is displayed on the television monitor 11a. The worker can proceed with the work while confirming the peeled state of the asbestos-containing material on the television monitor 11a.

  When the peeling operation is completed, the peeled asbestos-containing material is scraped up by the earthwork board 4c. Subsequently, a bucket 6 is attached to the tip of the articulated arm 4 b of the robot 4 instead of the injection device 5, and a pipe 9 a is connected to the duct 8 b of the hopper 8. Then, the asbestos-containing material scraped up on the floor is scooped up by the bucket 6 and put into the hopper 8. The asbestos-containing material thrown into the hopper 8 is pumped by the pumping device 9 to the collecting device 10, packed in the bag body 105 and collected.

  As described above, in the processing system A of the present embodiment, the suspended matter floating in the work space is sucked from the suction port portion 7a, so that the visibility in the work space can be improved. Moreover, when the pulverized powder of asbestos-containing material is mixed in the sucked suspended matter, the suspended matter is pumped to the collecting device 10 and collected. Furthermore, the asbestos-containing material after being dropped on the floor is pumped to the recovery device 10 via the hopper 8 and recovered. Therefore, with respect to the recovery of the asbestos-containing material that is floating and the asbestos-containing material that has fallen on the floor, the pressure feeding device 9 and the recovery device 10 can be shared, and these can be recovered uniformly. Therefore, the peeled asbestos-containing material can be effectively recovered regardless of whether it is in the form of powder or lump.

  In the present embodiment, either the hopper 8 or the suction member 7 is connected to the pressure feeding device 9, but both may be always connected. Further, as shown in FIG. 3, the piping 9 a may be connected to the duct 8 b of the hopper 8 and the piping portion 7 b of the suction member 7 via the switching valve 20. The switching valve 20 selectively connects the pipe 9a to either the duct 8b or the pipe portion 7b. The connection state of the switching valve 20 can be switched by the control device 11, for example.

It is a lineblock diagram of processing system A concerning one embodiment of the present invention. 1 is a system diagram of a hopper 8, a pressure feeding device 9, and a recovery device 10. FIG. It is a system diagram which shows the other example of the hopper 8, the pressure feeder 9, and the collection | recovery apparatus 10.

Explanation of symbols

A Processing System 4 Robot 5a Injection Nozzle 7 Suction Member 8 Hopper 9 Pressure Feeder 10 Recovery Device

Claims (1)

An injection nozzle that sprays water or suspended water onto the asbestos-containing material attached to the structure and peels off the asbestos-containing material;
A hopper from which the asbestos-containing material that has been peeled off and scattered on the floor is collected and charged;
Storage means for storing the asbestos-containing material in a bag;
A pumping means for pumping the asbestos-containing material put into the hopper to the storage means;
In a processing system comprising
A suction member having a suction port for sucking floating matter floating in the work space by spraying the water or suspended water by the spray nozzle;
The pressure feeding means is
Sucking the suspended matter through the suction member and pumping it to the storage means ;
A self-propelled robot comprising an articulated arm with the spray nozzle attached to the tip, and a video camera capable of photographing the periphery of the tip;
A control device for remotely operating the robot;
A television monitor for displaying video taken by the video camera,
The processing system according to claim 1 , wherein the suction port is attached to the tip so as to face a spray destination of water or suspension water by the spray nozzle .

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