JP5794534B2 - Structure dismantling unit and structure disassembling method - Google Patents

Description

  The present invention relates to a structure demolition unit and a structure demolition method, and safely and efficiently dismantles a building or the like in which structural strength is lost due to earthquake damage or the like, and a part of a damaged structure is accumulated on a floor or the like. The present invention relates to a structure demolition unit and a structure demolition method used for the purpose.

  For example, there are many buildings that were damaged by major earthquakes such as the Great Hanshin-Awaji Earthquake and the Great East Japan Earthquake, lost their structural strength, and were unable to recover the soundness of buildings even after repair and reinforcement, and had to be demolished. The method of dismantling these buildings is appropriately planned in consideration of the structure and use of the buildings, the situation of being damaged, and the like. For example, in the case of a reinforced concrete building, various heavy machinery with attachments for dismantling are brought into the upper floor where the roof can be dismantled, the roof beams and slabs are removed, and then the pillars are erected on the work floor In general, a method of crushing walls and the like, carrying out the crushed material to the outside, and sequentially transferring heavy machinery to the lower layer for dismantling.

  On the other hand, as a special structure dismantling method, a dismantling apparatus such as an old high-rise chimney is known. In high-rise chimneys, without providing an external scaffolding, etc., a support bracket etc. is provided on a part of the cylinder and a gondola-shaped dismantling device is suspended from the top of the chimney, and the chimney is sequentially moved from the top in an unmanned work environment A method of dismantling has been proposed (for example, Patent Document 1).

JP 2004-100372 A

  For example, if an upper structure such as a large structure with a reinforced concrete structure and a steel structure in the upper structure is crushed due to the earthquake described above, crushed material accumulates on the uppermost layer of the lower structure and an excessive load is applied to the lower structure. It can be assumed to work. In this case, if the soundness of the structure of the lower structure is not obtained, the top floor of the lower structure in an uneven terrain where a part of the structure damaged in this situation is accumulated as a large amount of debris It is difficult to work with a heavy machine for dismantling. For this reason, an unmanned dismantling operation is required to minimize the load acting on the lower structure and to ensure safety. In that case, it can be considered that the dismantling work is performed while supporting the external sound structure.

  For example, as one solution, it is considered to suspend a gondola-shaped dismantling device as disclosed in Patent Document 1 from the upper part in a building with a lifting machine or the like, and proceed with the removal of debris and the dismantling of the remaining structure. It is done. However, the dismantling apparatus disclosed in Patent Document 1 is an apparatus that is applied to a process of sequentially dismantling a chimney whose shape is held in a cylindrical shape or the like as an aging structure. It does not have a function to divide a large amount of debris composed of large and small concrete blocks connected by steel frames or reinforced concrete so that they can be carried out to the outside. In addition, the work for dividing and crushing the debris of the above-mentioned structure involves exchanging a large amount of detailed site information and remote operation information for it between the work position and the operator as compared to the dismantling device shown in Patent Document 1. Need to be done. Therefore, the object of the present invention is to eliminate the problems of the conventional technology described above, to prevent the work load that damages the existing structure, to remove the accumulated debris, to dismantle the target part of the structure, It is to provide a structure dismantling unit and a structure dismantling method that can proceed safely and efficiently.

In order to achieve the above object, the present invention suspends a horizontal suspension by adjusting the lengths of legs provided to support the work floor by being suspended in the building by a lifting machine installed outside the building to be demolished. The holding platform is supported, and is suspended on each of the work platform suspended on the lifting machine through the debris handling work and a plurality of rows of traversing means arranged on the lower surface of the work floor of the work platform. And a manipulator group that operates with a power source provided on the work floor to divide and crush debris in the work space, and based on a change in load balance of each leg of the work platform that occurs during operation of the manipulator, While correcting the suspension state of the work platform, the rubble accumulated in the building is divided to a state where the manipulator group can be carried out of the building, It is characterized by crushing.

The working platform preferably further comprises an imaging means can image the work space of the manipulator.

  It is preferable that the work platform further includes a dust collector that collects dust generated in the work space surrounded by a cover and exhausts clean air to the outside through a filter on the work floor.

  Preferably, the work platform further includes a generator and supplies apparatus power.

The working platform is provided with control means capable of outputting status information collected by each unit to an external operation Tsukasa instructor, on the basis of the state signal received from the output of the control means, the operation of the crane The position is preferably adjusted.

The working platform is provided with an output capable of controlling means state information collected to the outside of the operation Tsukasa instructor in each section, based on the state signal received from the output of the control means, from said operating Tsukasa instructor It is preferable to remotely operate the manipulator group.

The manipulator group is preferably remotely operated by an operation signal from the operation Tsukasa instructor based on the image information by the imaging means.

  The state signal from the output unit of the control means or the operation signal from the operation command room is preferably transmitted and received as a radio signal between the transmission / reception unit provided in the lifting machine and the control means.

  As a structure demolition method, the present invention suspends a structure demolition unit having a work platform as a main structure in the building by a lifting machine installed outside the building to be demolished, and the work platform is treated as a debris treatment. Legs of the work platform that are generated when manipulator groups that are suspended by each of the plurality of rows of traversing means that are suspended by the lifting machine and are suspended on the lower surface of the work platform of the work platform during operation. The rubble accumulated in the building is crushed and divided by the manipulator group while correcting the suspended state of the work platform according to the change state of the load balance.

  According to the present invention, it is possible to minimize the load on the building and the debris below the work floor, and to provide a plurality of manipulator groups on the work platform, so that the complexity of work can be minimized and work efficiency can be improved. It has the effects of improving space saving and improving safety.

Work state explanatory drawing which showed the state which introduces the structure dismantling unit of this invention in the building mentioned above, and is performing the debris removal work. The front view and side view which showed the structure of the structure dismantling unit. Explanatory drawing which showed the whole demolition work using a structure demolition unit (unit ground part). Explanatory drawing which showed the whole demolition work using a structure demolition unit (at the time of unit operation). The schematic top view which showed the work (movement) form in two types of structure dismantling units with respect to a building plane. The block diagram which showed the relationship between the information which controls the work state in a structure dismantling unit, and the operation command of various apparatuses. The flowchart which showed the work flow until a target structure is demolished using a structure dismantling unit.

  As embodiments for carrying out the structure dismantling unit and the structure disassembling method of the present invention, the following embodiments will be described with reference to the accompanying drawings.

  FIG. 1 shows a state in which a structure demolition unit 10 of the present invention is suspended in a steel structure part 2 in an upper layer of a reinforced concrete structure building 1 that has been damaged by an earthquake and is subjected to demolition, and the debris 4 is being processed. It is the work state figure shown. As shown in the figure, no significant damage is seen in the lower reinforced concrete structure building 1 in appearance, but in the upper steel structure part 2, the framed steel frame 3 remaining in a bowl shape is in a self-supporting state. The reinforced concrete roof slabs and the reinforced concrete slabs on each floor are all damaged and fall off from the original position, and are accumulated as a large amount of rubble 4 on the uppermost floor 5 of the reinforced concrete structure portion 1. Thereafter, the work of dividing and crushing the large amount of rubble 4 is performed on the uppermost floor 5 of the reinforced concrete building 1. Therefore, the uppermost floor 5 is referred to as “work floor 5” in this specification.

  In the figure, a state in which the structure dismantling unit 10 of the present invention is installed on a large amount of debris 4 deposited on the work floor 5 is shown. As shown in FIG. 4, the work platform 11 serving as the main structure of the structure dismantling unit 10 is suspended by a large crawler crane 40 installed on the ground near the building 1, and the outer wall is damaged to cause a steel frame. 3 is suspended in the steel structure 2 having a bowl shape, and the level of the work floor 11a is maintained by adjusting the length of the leg 12 described later. As shown in the figure, the debris 4 is crushed by the dismantling manipulator 20 mounted on the work platform 11 in this state.

  As shown in FIG. 1, the work platform 11 is held at the suspended position via the suspension beam 42 suspended from the hook 41 of the crane 40 (FIG. 4) so that the work floor 11a is kept horizontal. Has been. As will be described later, each leg portion 12 that supports the work platform 11 incorporates a telescopic cylinder-like telescopic foot 13, and a lower end base 14 of the telescopic foot 13 is grounded on the debris 4 and the work platform 11. Supports the entire horizontal state. At this time, the suspension position (height) of the suspension beam 42 is applied to each leg portion 12 so that the load of the equipment such as the manipulator 20 and the generator 31 mounted on the work platform 11 and the work platform 11 hardly acts. Is controlled by crane operation. A turning fan 43 is mounted on the hanging beam 42. By controlling the forward / reverse rotation of the turning fan 43, the suspension beam 42 can be turned in a plane by a predetermined angle, and the turning angle can be maintained. Therefore, when the work platform 11 is suspended in the steel frame as shown in FIG. 1 and the base of the leg portion 12 is grounded, the plane (X, Y direction: FIG. 2) direction of the work floor 11a can be accurately controlled.

  FIG. 1 shows a state in which the concrete block 6 is lifted and the reinforcing bars 7 connected to the concrete block 6 are cut by the manipulator 20 mounted on the structure dismantling unit 10. In this way, the concrete mass 6 of slab concrete that has been destroyed and dropped onto the work floor 5 is in a continuous state with a large number of exposed reinforcing bars 7. Therefore, in order to make the concrete lump 6 crushed pieces of a size that can be carried out, it is necessary to cut the reinforcing bars 7 that are tangled so as to connect the concrete lump 6. For this work, as an attachment 25 at the tip of the manipulator 20, a grab 25a for grabbing a concrete block, a reinforcing bar cutter 25b, and the like are attached (each figure in FIG. 2). As will be described later, the manipulator 20 and the attachment 25 are operated by remote operation by an operator in the operation control room 44 (FIG. 4) on the ground based on video information in the work space 16 under the work platform 11. .

  Operations such as cutting of the rebar 7 of the debris 4 and crushing of the concrete block 6 are performed in the work space 16 under the work platform 11, but the work platform 11 is protected so that dust generated during the work is not scattered outside. The lower space is covered with a cover 15. Further, as will be described later, dust generated during work is removed from the exhaust gas through the HEPA filter 35 by the dust collector 33 installed on the work platform 11.

  Hereinafter, the structure of the structure dismantling unit 10 will be described in detail with reference to FIG. 2, the above-described suspension beam 42 (FIG. 1) is omitted, but also in each of the drawings, the structure dismantling unit 10 is suspended by a crane via a suspension beam (not shown). FIG. 2A is a front view of the structure dismantling unit 10, and FIG. 2B is a side view thereof. As shown in each figure, a generator 31, a control unit 32 for each device, and a dust collector 33 are arranged on the work floor 11. The generator 31 is driven by gasoline and serves as a power source for electric devices that operate on the work platform 11, for example, movement of the manipulator 20, expansion / contraction of each arm, and each operation of the attachment 25. The control unit 32 includes position information of the work platform 11, load information acting on each leg 12 of the work platform 11, expansion / contraction information of the leg 12 corresponding to the load, operation information incorporated in the manipulator 20 and the attachment 25, The warning information by the limiter is collected, and the role of a signal sending unit to the operation command room 44 (to be described later) or the operation from the operation command room 44 side by wireless or wired via the antenna (not shown) of the crane 40 or the like. Plays a role in controlling commands. The dust collector 33 filters out dust generated by crushing work or the like in the work space 16 covered with the side cover 15 and exhausts the dust. In this embodiment, a replaceable HEPA filter 35 is incorporated in the dust collector 33.

In this embodiment, as shown in FIG. 2B, three suspension rails 22 are attached to the lower surface of the work platform 11. Each suspension rail 22 functions as a traveling rail for a motor-driven traversing device 23, and the traversing device 23 reciprocates in the longitudinal direction of the work platform 11 along the suspension rail 22 as shown in FIG. You can travel. The base of the manipulator 20 is connected to the lower surface of each traversing device 23 via a joint 20a. As shown in FIG. 2A, each manipulator 20 has an arm main body 21 to which various attachments 25 can be attached at the lower end. The arm main body 21 extends and contracts an attached cylinder rod 24 and a geared motor (not shown). The operation can turn, swing, and extend. Each manipulator 20, the attachment 25 is remotely operated based on the image sent from the CCD camera 26 that captured the in the working space 16 at all times, by the operator of the ground operations Tsukasa your wife 44 (FIG. 4) . As the attachment 25, a grab 25a for gripping concrete, a reinforcing bar cutter 25b, a concrete crushing pick 25c, and the like can be attached as necessary. Depending on the content of work performed by the attachment 25, it is also preferable to equip the attachment 25 with a CCD camera (not shown) that can be photographed in conjunction with the operation of the attachment 25 to obtain a detailed image of the work site.

  FIG. 3 shows a preparation or standby state in which the structure dismantling unit 10 is lowered to the ground using a large crawler crane 40. In this state, for example, refueling of the generator 31, replacement of equipment, and repair can be performed. FIG. 4 shows a state in which the structure dismantling unit 10 is suspended in the steel structure portion 2 by the crawler crane 40. As shown in FIG. 4, a load cell (not shown) is equipped on the crane side that holds the structure dismantling unit 10 in order to grasp the load change of the structure dismantling unit 10. The load change of the structure dismantling unit 10 is detected through this load cell. The load management on the crane side can be performed within a preset management load range by manual operation or automatic control of the crane operator. For example, when the manipulators 20 are operated from the total weight of the structure dismantling unit 10, the load management range is to transmit a reaction force to the work floor 11 a to an extent that the structure dismantling unit 10 tilts excessively or does not swing. The value obtained by subtracting the load is assumed. Further, the axial force generated at each leg 12 supporting the work floor 11a and the amount of expansion / contraction of the telescopic foot 13 are automatically detected, and the work floor 11a of the structure dismantling unit 10 is controlled so as to maintain a substantially horizontal state at all times. Is done.

  A video signal of a CCD camera or the like mounted in the work space 16 under the work platform 11 or each manipulator 20, an equipment state signal on the work floor 11a, and a remote operation signal of each manipulator 20 are schematically shown in FIG. As described above, the signal is transmitted and received wirelessly between the antenna 32a of the signal transmission unit of the control unit 32 on the work platform 11 and the antenna 40a attached to the tip of the crane jib, and the crane boom 40b is transmitted from the antenna 40a to the crane operation room 40c. The signal is transmitted via a wire. As described above, since the wireless signal is transmitted and received between the control unit 32 on the work platform 11 installed in the steel structure 2 and the antenna 40a at the tip of the crane jib, the wireless transmission reliability is improved. And transmission speed can be improved. Thereby, detailed information on the site where the debris treatment is performed can be sent to the operation side, and from the operation side, various manipulators 20 mounted on the work platform 11 and the respective attachments 25 (FIG. 2 each figure). It is possible to send operation information for performing complicated work.

  The operation command room 44 provided at a position away from the crane 40 can transmit signals by wire or wireless. As described above, the manipulator 20 and the attachment 25 mounted on the work platform 11 can be operated remotely based on a field information (described later) signal obtained in the operation command room 44 on the ground as shown in FIG. Done. As the operation command room 44, for example, a temporary house as shown in FIG. 4 or other movable vehicles can be used.

  Each figure of FIG. 5 has shown the operation | movement (movement) form in the structure demolition unit 10 which consists of two types of plane areas with respect to the plane of the steel frame part 2 which is a division | segmentation, crushing, and demolition of the debris 4. FIG. The plane of the work platform 11 schematically shown in FIG. 5 (a) is a rectangle with an aspect ratio of 2: 1 corresponding to each figure of FIG. 2, and its length is arranged in the reinforced concrete building 1 to be targeted. It was adjusted to a multiple of the center distance of the pillar beam. And when installing the work platform 11, it plans so that the leg part 12 of the work platform 11 may be located on a pillar or a beam as much as possible. Thereby, reduction of the burden load to the lower reinforced concrete building 1 can be aimed at. FIG. 6B shows the work platform 11 having a substantially square shape. In the case of the work platform 11 of this scale, it is expected that the load increase and the difference in the length of each leg 12 will increase. The number of movements and installation adjustment work of the work platform 11 in the building can be reduced, and the total work efficiency is improved.

  FIG. 6 shows the position information of the work platform 11, the manipulator 20 mounted on the work platform 11, the operation by the attachment 25 attached to the manipulator 20, and the mounting in the above-described division and crushing of the debris 4 on the work floor 5. It is the block diagram which showed the relationship between the transmission / reception of the information of each performed apparatus, the operation command which the operator performs by various information, and the status of the information transfer for operation command.

  As described above, in order to install the work platform 11 at a predetermined position of the target building, as shown in FIG. 6, the work platform 11 (abbreviated as PF (Plat Form) in FIGS. 6 and 7). The position sensor capable of detecting the plane center coordinates (Xc, Yc) and the height coordinates (Zc) and the height coordinates (Z1 to Z4) of the four corners of the work platform 11 are mounted. Moreover, it is preferable to incorporate a sensor capable of acquiring the extension amount of the telescopic foot 13 and the load information on each leg 12 in the leg 12 of the work platform 11. The collected data can be continuously measured, and each data can be continuously transmitted from the control unit 32 on the work platform 11 to the receiving unit on the crane side by radio.

  A plurality of CCD cameras 26 (FIG. 2A) are installed in the work space 16 below the work platform 11, and the work status of the attachment 25 in the work space 16 is determined by each CCD camera 26. As the spatial information, it is transmitted to the operation command room 44, and the remote operation information by the monitor image is obtained in real time. The operator can confirm the monitor image and perform accurate remote operation of the manipulator 20 and the attachment 25 with respect to the object by operating the control stick or the like.

  In addition, as operating facility information, remaining amount information by the fuel gauge of the generator 31, filter exhaust efficiency change information, and the like can be transmitted to the control room side. From these pieces of information, it is possible to accurately know the fuel supply time, the replacement time of the HEPA filter 35 in the dust collector 33, and the like.

  FIG. 7 is a flowchart showing a comprehensive work process from the process of dividing and crushing debris 4 using the structure demolition unit 10 of the present invention to the final demolition of the steel structure part 2. Hereinafter, the work procedure up to the final dismantling of the steel frame part including the work by the structure dismantling unit 10 will be briefly described.

  In order to suspend and install the work platform 11 as the structure dismantling unit 10 in the target building 2, only the roof cover of the side surface and the roof of the steel frame 3 that was initially covered with a cover (not shown). To remove. 3 and 4, a lifting platform 40 such as a large crawler crane lifts the work platform 11 (PF) on the debris 4 of the work floor 5, and the crane operation and the swiveling fan 43 of the lifting beam 42 are performed. The plane position of the work platform 11 is adjusted by the turning motion of (FIGS. 1 and 4). Thereafter, the horizontal state of the work platform 11 is maintained, the length of the telescopic foot 13 of each leg 12 is adjusted, and the lower end base 14 of each leg 12 is grounded on the debris 4. At this time, a cover 15 is attached around the legs 12 of the work platform 11, and a work space 16 is formed under the work platform 11.

  By operating the manipulator 20 mounted on the work platform 11 in the work space 16, the exposed rebar 7 can be cut and carried out to the outside while crushing the concrete mass 6 connected by the rebar 7. The rubble 4 is divided and crushed so that it becomes a concrete crushed piece of a size (FIG. 1). During this time, dust generated in the work space 16 is removed through the HEPA filter 35 provided in the dust collector 33, and the clean air is exhausted. When the concrete crushing of the rubble 4 in the installed work space 16 is completed, the work platform 11 is moved to an adjacent position, and rubble processing is performed by the same process.

  When the debris disposal on the entire work floor 5 is finally completed, the work platform 11 is suspended on the ground, and a gantry is installed on the work floor 5 of the reinforced concrete building 1 and on a part protruding from the work floor 5, Prepare to bring down debris and reinforcing bars to the ground. The gantry on the work floor 5 is used as an unloading space, and a container for carrying out debris is deployed. On the gantry, rubble is loaded into the container using a crane bucket or a transportable heavy machine. Then, the container loaded with rubble is suspended by a crane. Although this container depends on the situation of rubble, it is preferable to use a container with a lid or the like that does not scatter dust or the like outside during transportation.

  In parallel with the progress of unloading of debris, dismantle and remove damaged overhead cranes and large machinery equipment that are left in the steel building. At that time, it is also preferable that a part of the work platform 11 (FIG. 2) is remodeled as needed and is carried on the work floor 5 to be used as a work platform for dismantling. Finally, the outer wall steel frame 3 can be cut and disassembled using the crane 40, and the steel structure part 2 as the upper building can be completely removed.

  In addition, when the unloading rubble contains a pollutant, it is preferable to store in a predetermined temporary storage facility through a necessary decontamination process.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. In other words, embodiments obtained by combining technical means appropriately changed within the scope of the claims are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Reinforced concrete building 2 Steel structure part 3 Steel frame 4 Rubble 5 Work floor 6 Concrete block 7 Reinforcement 10 Structure demolition unit 11 Work platform 11a Work floor 12 Leg 15 Cover 16 Work space 20 Manipulator 25 Attachment 26 CCD camera 31 Control unit 32 Generator 33 Dust collector 35 Filter 40 Crawler crane 42 Hanging beam 43 Swivel fan 44 Control room

Claims (9)

It is suspended in the building by a lifting machine installed outside the building to be demolished, and the horizontal suspension state is supported by adjusting the length of the legs provided to support the work floor. A work platform suspended by a lifting machine;
A manipulator that is suspended by each of a plurality of rows of traversing means arranged on the lower surface of the work platform of the work platform, and is operated by a power supply provided on the work floor by remote control to divide and crush debris in the work space. A rubble deposited in the building while correcting the suspension state of the work platform based on a change in the load balance of each leg of the work platform that occurs during operation of the manipulator. A structure dismantling unit that is divided and crushed to a state where it can be carried out of the building by a manipulator group. The working platform construction demolition unit according to claim 1, characterized by further comprising an imaging unit can image the work space of the manipulator.   The work platform further includes a dust collector that collects dust generated in the work space surrounded by a cover on the work floor and exhausts clean air to the outside through a filter. The structure dismantling unit according to claim 1 or claim 2.   The structure dismantling unit according to any one of claims 1 to 3, wherein the work platform includes a generator and supplies power to the apparatus. The working platform is provided with control means capable of outputting status information collected by each unit to an external operation Tsukasa instructor, on the basis of the state signal received from the output of the control means, the operation of the crane 5. The structure dismantling unit according to any one of claims 1 to 4, wherein the position is adjusted. The working platform is provided with an output capable of controlling means state information collected to the outside of the operation Tsukasa instructor in each section, based on the state signal received from the output of the control means, from said operating Tsukasa instructor The structure dismantling unit according to any one of claims 1 to 5, wherein the manipulator group is remotely operated. The manipulator group, Ta structure disassembly unit according to claim 6, characterized in that it is remotely controlled by the operation signal from the operation Tsukasa instructor based on the video information by a shadow device. The state signal from the output unit of the control unit or the operation signal from the operation command unit to the control unit is transmitted and received as a radio signal between the transmission / reception unit provided in the lifting machine and the control unit. The structure dismantling unit according to any one of claims 5 to 7, wherein: A structure dismantling unit with the work platform as the main structure is suspended in the building by a lifting machine installed outside the building to be demolished, and the work platform is suspended by the lifting machine during the debris disposal operation. And
The work platform according to a change state of a load balance of a leg portion of the work platform generated when operating a group of manipulators suspended on each of a plurality of rows of traversing means arranged on a lower surface of the work platform. The structure demolition method characterized in that the rubble accumulated in the building is divided and crushed by the manipulator group while correcting the suspended state of the building.

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