JP6457142B1 - Cylindrical structure dismantling apparatus and cylindrical structure disassembling method - Google Patents

Abstract

Disclosed is a cylindrical structure dismantling apparatus that can disassemble a tubular structure and an outer structure from above without disposing an operator, and suspend the dismantled article on the ground.
A fixed portion 3 is fixed to the barrel 10 by pressing the inner surface of the barrel 10, and a barrel cutting portion 4 and a swivel base (swing base) combined in a rotatable manner with respect to the fixed portion 3 are provided. 5A, 5B) can turn around the turning axis RX along the center line of the cylinder 10. When the barrel cutting part 4 turns with respect to the fixed part 3, the inner surface of the cylinder 10 is cut in the circumferential direction by the circular saw 41 of the barrel cutting part 4. Further, when the swivel base (5A, 5B) swivels with respect to the fixed portion 3, the outer structure cutting parts (6A to 6C) fixed or suspended on the swivel base (5A, 5B) become the outer structure to be cut. In this state, the outer structure 11 to be cut is gripped and cut by the outer structure 11.
[Selection] Figure 2

Description

  The present invention relates to a dismantling apparatus for a tubular structure such as an exhaust stack or a chimney and a disassembling method thereof, for example, a configuration and a disassembling method of an exhaust stack tower disassembling apparatus.

  As a method of dismantling cylindrical structures such as exhaust pipes and chimneys, the lower part of the cylinder is sequentially cut and removed while the upper part of the cylinder is lifted by a steel tower that supports the cylinder (see Patent Document 1 below) And a construction method (see Patent Document 2 below) in which a work scaffold is installed around the cylinder and is disassembled in order from the top.

JP 2003-343094 A JP-A-11-166315

  However, the conventional method of disassembling the cylinder from the bottom cannot be used when the strength of the steel tower is reduced due to aging or the like. In addition, the conventional method of disassembling the cylinder from above requires work at a high place, and ensuring the safety of the worker is a problem.

  In the case of a relatively low tubular structure, the cylinder may be crushed directly from the top by heavy machinery lifted by a crane. However, if the crushed material is dropped on the ground as it is, the surrounding environment will be adversely affected by dust. . Therefore, when disassembling a large cylindrical structure in particular, it is necessary to disassemble the cylinder body and the steel tower so that the dismantled article has an appropriate size and suspend the dismantled object on the ground. However, in the conventional construction method, it is difficult to disassemble both the barrel and the steel tower from the upper part without arranging an operator, and to suspend the dismantled object on the ground.

  The present invention has been made in view of such circumstances, and an object of the present invention is to disassemble the tubular structure and the outer structure from the upper part without placing an operator, and to suspend the disassembled object on the ground. It is providing the cylindrical structure dismantling apparatus and cylindrical structure disassembling method which can do.

  A tubular structure disassembling apparatus according to a first aspect of the present invention is a tubular structure disassembling apparatus including a tubular body and an outer structure provided outside the tubular body. Cylinder cutting that has a fixed part fixed to the cylinder by pressing the inner surface, and one or more cutting tools that can turn relative to the fixed part, and cuts the inner surface in the circumferential direction of the cylinder by turning the cutting tool Part, one or more outer structure cutting parts for gripping and cutting the outer structure, and positioned on the outer side of the cylinder, can be pivoted with respect to the fixing part, and the outer structure cutting part is fixed or suspended Swivel. The cylindrical body cutting part and the swivel base are combined so as to be capable of turning with respect to the fixed part, respectively, and pass through the center of the cross section perpendicular to the longitudinal direction of the cylindrical body when the fixed part is fixed to the inner surface of the cylindrical body. Each is driven to pivot about a pivot axis along the center line.

  According to the tubular structure disassembling apparatus, the fixed part is fixed to the cylinder by pressing the inner surface of the cylinder, and the cylindrical cutting unit and the swivel are combined so as to be rotatable with respect to the fixed part. The platform can turn around a turning axis along the center line of the cylinder. When the tube cutting part turns with respect to the fixed part, the inner surface of the tube is cut in the circumferential direction by one or more cutting tools of the tube cutting part. When the swivel base is swiveled with respect to the fixed part, one or more outer structure cutting parts fixed or suspended on the swivel base are arranged toward the outer structure to be cut. The outer structure to be cut is gripped and cut by the outer structure cutting portion. Therefore, it is possible to cut the cylinder and the outer structure without arranging an operator on the upper part of the cylindrical structure. Also, by suspending the fixed part on the ground with a crane or the like, it is possible to suspend the cut part of the barrel fixed to the fixed part or the cut part of the outer structure gripped by the outer structure cutting part on the ground. It becomes possible.

Preferably, the swivel base may include at least one beam portion extending in a direction perpendicular to the swivel axis, and the outer structure cutting portion may be suspended from the beam portion.
According to this structure, it becomes possible to arrange | position an outer structure cutting part in the appropriate position below a beam part, suppressing the weight of a turntable.

Preferably, the swivel base includes four beam portions provided in a cross shape around the swivel axis, and an outer structure cutting portion may be suspended from each of the four beam portions.
According to this configuration, the center of gravity is easily located in the vicinity of the center of the four beam portions provided in a cross shape, and the posture of the turning shaft along the center line of the cylinder is easily maintained stably.

Preferably, the beam portion may include a moving suspension unit that is driven in a forward direction and a backward direction with respect to the pivot axis, and the outer structure cutting unit may be suspended from the moving suspension unit.
According to this configuration, it is possible to change the distance of the outer structure cutting portion with respect to the pivot axis by moving the movable hanging portion, and appropriately position the outer structure cutting portion with respect to the outer structure to be cut. It becomes easy to set.

Preferably, the tubular structure dismantling device is inserted into at least one of the three ropes connected to the outer structure cutting portion and the beam portion and the three ropes, and the length in the vertical direction can be changed. And at least one length control unit.
According to this configuration, it is possible to control the posture of the outer structure cutting unit by changing the length of the length control unit in the vertical direction, so that the outer structure cutting with respect to the outer structure to be cut is performed. It becomes easy to set the posture of the part appropriately.

Preferably, the outer structure cutting part is fixed to the second support part, the first support part connected to the three ropes, the second support part combined in a pivotable manner with respect to the first support part, A gripping part that grips the outer structure and a cutting part that is fixed to the second support part and cuts the outer structure may be included. The second support part may be driven to pivot about an axis perpendicular to a straight line passing through the two connectors that connect the two ropes and the first support part. The length control unit may be inserted into a rope other than at least the two ropes.
According to this configuration, the two ropes are coupled to the first support portion by the two coupling tools, and the length control unit is inserted into a rope other than the two ropes. Therefore, when the length of the length control unit in the vertical direction is changed, the first support unit turns around a straight line passing through the two coupling tools. In addition, when the second support part is driven to pivot with respect to the first support part, the second support part pivots around an axis perpendicular to a straight line passing through the two coupling tools. That is, by changing the length of the length control unit and turning the second support unit independently, the gripping unit and the cutting unit fixed to the second support unit are moved around the mutually perpendicular axes. It is possible to rotate independently. Therefore, the posture of the outer structure cutting portion with respect to the outer structure to be cut can be set more appropriately.

Preferably, the outer structure cutting part may include a suspension balance that is pivotally attached to the first support part. Two connecting tools connected to two ropes and a connecting tool connected to a rope other than the two ropes via a length control unit may be provided on the suspension balance. The axis on which the suspension balance pivots with respect to the first support part is perpendicular to the axis with which the second support part pivots with respect to the first support part, and is perpendicular to the straight line passing through the two connectors. It may be.
According to this configuration, by adjusting the length of the length control unit, the turning angle of the second supporting unit with respect to the first supporting unit, and the turning angle of the suspension balance with respect to the first supporting unit, respectively, It becomes easier to appropriately set the posture of the outer structure cutting portion with respect to the structure.

Preferably, the outer structure cutting part may have at least one first drill part provided with a drill blade that pierces the outer structure and fits into the hole.
According to this configuration, it is difficult for the cut portion of the outer structure cut by the outer structure cutting portion to fall off from the outer structure cutting portion.

Preferably, the swivel base may include at least one beam portion extending in a direction perpendicular to the swivel axis, and the outer structure cutting portion includes a gripping robot arm that grips the outer structure, and a gripping robot arm. A cutting robot arm that cuts the gripped outer structure. The gripping robot arm and the cutting robot arm may be fixed to the beam portion.
According to this configuration, it is possible to cut and recover a relatively small outer structure.

Suitably, a fixing | fixed part may contain the at least 1 press part which presses the inner surface of a cylinder. The pressing unit may include a plurality of pressing mechanisms that respectively generate pressing forces that press the inner surface of the cylinder in the radial direction. The plurality of pressing mechanisms may apply a pressing force to a plurality of positions on the inner surface spaced apart at equal intervals in the circumferential direction of the cylinder.
According to this structure, since the several position in the inner surface of a cylinder is pressed with substantially equal pressing force, a fixing | fixed part is stably fixed with respect to a cylinder.

Preferably, the fixed portion includes at least one second drill portion including a drill blade that is formed in the inner surface of the tube body on the top side of the tube body from the cutting position of the tube body cutting portion and fits into the hole. You may have.
According to this structure, the cut part of the cylinder cut | disconnected by the cylinder cutting part becomes difficult to drop out from a fixing | fixed part.

Preferably, the fixing portion may include a plurality of second drill portions corresponding to a plurality of pressing mechanisms of the pressing portion. One pressing mechanism corresponding to one second drill portion is formed on the bottom side of the barrel from the position of the hole drilled by the one second drill portion, and from the cutting position of the barrel cutting portion. You may press the inner surface of a cylinder on the top side.
According to this structure, the vibration at the time of cut | disconnecting the inner surface of a cylinder by a cylinder cutting part is suppressed in the press part of a press mechanism, and it becomes difficult to be transmitted to the drill blade of a 2nd drill part.

Preferably, the fixing portion may include two pressing portions that press the inner surface of the cylinder at different positions in the longitudinal direction of the cylinder. The cylinder cutting part may cut the inner surface at an intermediate position between the pressing positions of the two pressing parts.
According to this configuration, the inner surface of the cylinder is cut at an intermediate position between the pressing positions of the two pressing parts, so that the position of the fixing portion with respect to the cylinder is stabilized before and after the cutting of the cylinder. It becomes easy. In addition, after the cylinder is cut, the pressure is released at the pressing portion arranged on the bottom side of the cylinder and the pressure is maintained at the pressing portion arranged on the top side of the cylinder, thereby cutting the cylinder. It becomes possible to hang down while fixing the part to the fixed part.

A cylindrical structure disassembling method according to a second aspect of the present invention is a cylindrical structure disassembling method including a cylindrical body and an outer structure provided outside the cylindrical body, A fixed part fixed to the cylinder by pressing the inner surface, a cylindrical cutting part having one or more cutting tools that can turn with respect to the fixed part, and one or more outer sides that grip and cut the outer structure A device having a structure cutting portion and a swivel base that is pivotable with respect to the fixed portion and on which the outer structure cutting portion is fixed or suspended is lifted, and the fixed portion and the barrel cutting portion are placed inside the barrel. And the step of positioning the swivel base on the outside of the cylinder, the step of pressing the inner surface of the cylinder to the fixing part to fix the fixing part to the cylinder, and the outer structure cutting part of the outer structure Swirl along the center line passing through the center of the cross section perpendicular to the longitudinal direction of the cylinder so as to approach the target part A step of turning the swivel around the step, a step of gripping the target portion by the outer structure cutting portion and cutting the target portion from the other portion of the outer structure, and one or more cutting tools of the barrel cutting portion The process of turning around the turning axis and cutting the inner surface in the circumferential direction of the cylinder body by turning the cutting tool, the state where the fixed part is fixed to a part of the cut cylinder body, and the cut target part is the outer structure A step of lifting the device in a state of being gripped by the object cutting unit and removing a part of the cut cylinder and the cut target part from the cylindrical structure.
According to the tubular structure dismantling method described above, a part of the barrel and the target portion of the outer structure are cut off without placing an operator on the upper part of the tubular structure, and these cut objects are placed on the ground. It can be hung down.

  According to the present invention, a tubular structure dismantling apparatus and a tubular structure that can disassemble a tubular structure and an outer structure of a tubular structure from above without locating an operator and suspend the dismantled product on the ground. A material dismantling method can be provided.

FIG. 1 is a diagram illustrating an example in which a tubular structure disassembling apparatus according to the present embodiment is suspended by a crane and installed on a tubular body of a tubular structure. 2A to 2B are diagrams illustrating an example of a tubular structure disassembling apparatus used for removal of a tubular body and an accessory. 3A to 3C are diagrams illustrating an example of a tubular structure dismantling apparatus used for removing a cylinder and a steel tower (main pillar). 4A to 4C are diagrams illustrating an example of a cylindrical structure dismantling apparatus used for removing a cylinder and a steel tower (oblique material). FIG. 5A to FIG. 5B are diagrams illustrating an example of a main part of a fixing part and a cylinder cutting part arranged inside the cylinder. 6A to 6B are diagrams illustrating an example of two pressing portions in the fixing portion. Drawing 7A-Drawing 7C are figures showing an example of a press part and a drill part arranged at the upper part of a cylinder cutting part. 8A to 8B are diagrams illustrating an example of a drill unit provided on the upper side of the pressing mechanism. 9A to 9D are diagrams illustrating an example of the barrel cutting unit. 10A to 10B are diagrams illustrating an example of an outer structure cutting unit used for cutting the main pillar. FIG. 11A to FIG. 11B are diagrams illustrating an example of a mechanism that grips the column member in the grip portion of the outer structure cutting portion. 12A to 12B are diagrams illustrating an example of a mechanism for cutting the column member at the cutting portion of the outer structure cutting portion. Drawing 13A-Drawing 13B are figures showing an example of a mechanism which cuts a pillar member in a cutting part of an outside structure cutting part. FIG. 14 is a diagram illustrating a mechanism for turning the turning base at the cutting portion of the outer structure cutting portion. 15A to 15B are diagrams illustrating the main part of the cutting part of the outer structure cutting part. 16A to 16C are diagrams illustrating the operation of the cutting position adjusting mechanism in the cutting portion of the outer structure cutting portion. FIG. 17A to FIG. 17B are diagrams illustrating an example of an outer structure cutting portion used for cutting diagonal materials. FIG. 18A to FIG. 18B are diagrams illustrating an operation of installing a cylindrical structure disassembling apparatus used for removal of the cylinder and its accessories on the cylinder. FIG. 19A to FIG. 19C are diagrams illustrating an operation of cutting an accessory attached to the outside of the cylinder by the outer structure cutting portion. 20A to 20B are diagrams illustrating an operation of fixing a conduit to a ladder or the like using a robot arm. 21A to 21D are diagrams illustrating the operation of cutting the inner surface of the cylinder in the circumferential direction by the cylinder cutting unit. 22A to 22D are diagrams illustrating an operation of cutting the inner surface of the cylinder in the longitudinal direction after cutting the inner surface of the cylinder in the circumferential direction. FIG. 23 is a diagram illustrating an operation of removing a part of the barrel cut by the barrel cutting unit while being fixed to the fixing unit. 24A to 24B are diagrams illustrating an operation of installing a tubular structure dismantling apparatus used for removing a tubular body and a steel tower (diagonal material) on the tubular body. FIG. 25A to FIG. 25C are diagrams illustrating an operation of controlling the position and posture of the outer structure cutting portion for cutting diagonal materials. 26A to 26F are diagrams illustrating an operation of gripping and clamping the diagonal member in the outer structure cutting portion for cutting the diagonal member. FIGS. 27A to 27D are diagrams illustrating an operation of cutting the diagonal member (column member) at the cutting portion of the outer structure cutting portion. FIG. 28A-FIG. 28B are the figures which illustrated the operation | movement which installs the cylindrical structure dismantling apparatus used for removal of a cylinder and a steel tower (main pillar) in a cylinder. FIG. 29A to FIG. 29C are diagrams illustrating an operation of cutting the main pillar at the outer structure cutting portion and removing the cut portions of the cylindrical body and the steel tower collectively.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a tubular structure disassembling apparatus and a tubular structure disassembling method according to embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a tubular structure dismantling apparatus 2 (hereinafter, abbreviated as “dismantling apparatus 2”) according to the present embodiment suspended by a crane 90 to form a tubular structure 1 such as an exhaust stack or a chimney. It is a figure which shows the example installed in the body.

  As shown in FIG. 1, the tubular structure 1 is a structure including a tubular body 10 that is built perpendicular to the ground and an outer structure 11 that is provided outside the body 10. . The outer structure 11 includes a tower 12 that supports the tubular body 10 from the surroundings, a ladder 15 that is used when ascending to the tower 12, a back cage 16 that surrounds the ladder 15, a conduit 17 for passing electric wires, Including a corridor 18 used as a scaffold (see FIGS. 19A to 19C described later). When the dismantling device 2 is installed on the upper part of the cylinder 10, it cuts a part of the cylinder 10 and the outer structure 11 and grasps the cut portion without depending on the manual operation at the installation site. . The crane 90 suspends the dismantling device 2 on the ground in a state where the dismantling device 2 grips these cut portions. In the dismantling method according to the present embodiment, by repeating this step, the tubular structure 1 is disassembled from above without placing an operator on the tubular structure 1.

  The remote control unit 25 that controls the dismantling device 2 is installed at a location away from the cylindrical structure 1. A camera and a sensor for monitoring the operation of each mechanism unit are attached to various parts of the dismantling device 2. The operator of the remote control unit 25 remotely operates the dismantling device 2 while confirming the captured image of the camera attached to the dismantling device 2 and the detection result of the sensor.

  Specifically, the dismantling apparatus 2 according to the present embodiment has three types of cylindrical structure disassembling apparatuses 2A, 2B, and 2C (hereinafter referred to as "disassembling apparatus 2A") that are used properly according to the object to be cut of the outer structure 11. , “Dismantling device 2B” and “Dismantling device 2C”). That is, the dismantling apparatus 2A is used when removing the incidental objects (ladder 15, back cage 16, electric conduit 17, etc.) other than the steel tower 12 in the outer structure 11. The dismantling apparatus 2B is used when the main pillar 13 extending in the vertical direction in the steel tower 12 is removed. The dismantling apparatus 2 </ b> C is used when the diagonal member 14 greatly inclined from the vertical direction is removed in the steel tower 12.

2A to 2B are diagrams illustrating an example of a disassembling apparatus 2A used for removing the cylinder 10 and the attached objects (ladder 15, back basket 16, conduit tube 17 and the like). 2A is a perspective view of the disassembling apparatus 2A, and FIG. 2B is a side view of the disassembling apparatus 2 seen from the lateral direction.
3A to 3C are diagrams illustrating an example of the disassembling apparatus 2B used for the removal of the tubular body 10 and the main pillar 13. 3A is a perspective view of the dismantling device 2B as viewed from above, FIG. 3B is a plan view of the dismantling device 2B as viewed from above, and FIG. 3C is a side view of the dismantling device 2B as viewed from the side.
4A to 4C are diagrams illustrating an example of the disassembling apparatus 2C used for the removal of the cylindrical body 10 and the diagonal member 14. 4A is a perspective view of the dismantling apparatus 2C, FIG. 4B is a plan view of the disassembling apparatus 2C viewed from above, and FIG. 4C is a side view of the disassembling apparatus 2C viewed from the lateral direction.
Here, the structure of the dismantling apparatuses 2A to 2C will be described.

[Demolition device 2A]
2A to 2C is a barrel cutting device having a fixed portion 3 that is fixed to the barrel 10 by pressing the inner surface of the barrel 10 and a cutting tool that is pivotable with respect to the fixed portion 3. Part 4, an outer structure cutting part 6 </ b> A for gripping and cutting ancillary objects (ladder 15, back basket 16, conduit 17, etc.) outside the cylinder 10, and a fixed part located outside the cylinder 10 3 and a turntable 5A to which the outer structure cutting part 6A is fixed. The barrel cutting unit 4 and the swivel base 5A are combined so as to be capable of swiveling with respect to the fixed unit 3, respectively. Further, the barrel cutting unit 4 and the turntable 5A are driven to turn around the turning axis RX, respectively. In a state where the fixed portion 3 is fixed to the cylinder body 10, the pivot axis RX is in a state along a center line passing through the center of the cross section perpendicular to the longitudinal direction of the cylinder body 10 as shown in FIG. . The barrel cutting unit 4 cuts the inner surface of the barrel 10 in a circumferential direction (a direction along a cross section perpendicular to the longitudinal direction of the barrel 10) by turning the cutting tool around the turning axis RX.

  As shown in FIGS. 2A and 2B, the swivel base 5A has beam portions 51-1 and 51-2 (hereinafter referred to as “beam portions 51” without distinction) extending in a direction perpendicular to the swivel axis RX. There is.) The beam portions 51-1 and 51-2 are rectangular parallelepiped frames in the example of the figure, and extend linearly in a direction perpendicular to the turning axis RX. The beam portions 51-1 and 51-2 have a substantially symmetric outer shape with respect to the turning axis RX. On the upper surface of the central portion of the swivel base 5A, four coupling tools (hanging brackets) 503 for coupling the hanging rope brackets are provided. Also. Near the center of the swivel base 5A, a control panel 507 in which various control devices (computers and the like) are housed and generators 505 and 506 used as power sources for motors and control devices are installed. A turntable support portion 20A is attached to the lower surface of the central portion of the turntable 5A. The swivel base 5A is slidably combined with a frame 30 (to be described later) of the fixed part 3 via a cylindrical swivel base support part 20A extending along the swivel axis RX. For example, the swivel support 20A is fixed to the frame 30 of the fixed part 3 with bolts or the like, and is attached to the swivel 5A via a swivel bearing or the like. The swivel base 5A swivels with respect to the fixed portion 3 by driving the swivel bearing by a motor (not shown) provided on the swivel base 5A.

  An outer structure cutting portion 6A is fixed to the lower surface of the end portion of the beam portion 51-1 away from the turning axis RX via a support frame 501. The outer structure cutting unit 6A includes a gripping robot arm 61 to which a robot hand for gripping an accessory is mounted, and a cutting robot arm to which a cutting tool (such as a circular saw) for cutting the accessory is mounted. 62. These robot arms (61, 62) are, for example, multi-joint type robots having six axes or the like, and can grip and cut incidental objects in various postures. The support frame 501 is provided with control panels 508 and 509 in which control devices for these robot arms (61 and 62) are housed.

  On the other hand, the barrel cutting robot arm 60 is fixed to the lower surface of the end portion of the beam portion 51-2 away from the turning axis RX via a support frame 502. The barrel cutting robot arm 60 includes a cutting tool (such as a circular saw) for cutting the barrel 10. The barrel cutting robot arm 60 is used to cut from the outside of the barrel 10 a portion where the barrel cutting unit 4 cannot cut from the inside of the barrel 10. The support frame 502 is provided with a control panel 510 containing control equipment for the barrel cutting robot arm 60.

  FIG. 5A to FIG. 5B are diagrams showing examples of the main parts of the fixing portion 3 and the barrel cutting portion 4 that are arranged inside the barrel 10. FIG. 5A shows a perspective view of the fixing portion 3 and the barrel cutting portion 4. FIG. 5B shows a cross-sectional view taken along line VV in FIG. 5A. 6A to 6B are diagrams illustrating examples of the two pressing portions 31 and 32 in the fixing portion 3. FIG. 6A is a plan view of the pressing portion 31 as viewed from above, and FIG. 6B is a plan view of the pressing portion 32 as viewed from above.

  As shown in FIGS. 2A to 2B, the fixing portion 3 includes two pressing portions 31 and 32 that press the inner surface of the barrel 10 at different positions in the longitudinal direction of the barrel 10. The pressing part 31 presses the inner surface of the cylindrical body 10 above the pressing part 32 (on the top side of the cylindrical body 10). The cylindrical body cutting part 4 cuts the inner surface of the cylindrical body 10 in the circumferential direction at an intermediate position between the pressing positions of the two pressing parts 31 and 32.

  As shown in FIG. 6A, the upper pressing portion 31 includes four pressing mechanisms 310-1 to 310-4 that generate pressing forces that press the inner surface of the cylindrical body 10 in the radial direction (hereinafter, without distinction, “ A pressing mechanism 310 ”). The four pressing mechanisms 310 apply pressing forces to four positions on the inner surface of the cylinder 10 that are spaced apart at equal intervals in the circumferential direction of the cylinder 10. The four pressing mechanisms 310 apply pressing forces to four positions on the inner surface of the barrel 10 along four radial directions extending in a cross shape around the turning axis RX.

  As shown in FIG. 6A, the four pressing mechanisms 310 include a telescopic arm portion 311 that expands and contracts in the radial direction of the barrel 10, and a contact portion that is provided at the tip of the telescopic arm portion 311 and that contacts the inner surface of the barrel 10. 312 respectively.

  As shown in FIG. 6B, the lower pressing portion 32 includes four pressing mechanisms 320-1 to 320-4 (hereinafter, not distinguished from each other) that generate pressing forces that press the inner surface of the cylindrical body 10 in the radial direction. It may be referred to as “pressing mechanism 320”). The four pressing mechanisms 320 apply pressing forces to four positions on the inner surface of the cylinder 10 that are spaced apart at equal intervals in the circumferential direction of the cylinder 10. The four pressing mechanisms 310 apply pressing forces to four positions on the inner surface of the barrel 10 along four radial directions extending in a cross shape around the turning axis RX.

  As shown in FIG. 6B, the four pressing mechanisms 320 include a pressing mechanism 320 that expands and contracts in the radial direction of the cylinder body 10, and a contact portion 322 that is provided at the tip of the pressing mechanism 320 and contacts the inner surface of the cylinder body 10. Have each.

  Thus, the two pressing parts 31 and 32 are each provided with four pressing mechanisms (310, 320). The four pressing positions of the cylindrical body 10 pressed by the four pressing mechanisms 310 of the pressing part 31 and the four pressing positions of the cylindrical body 10 pressed by the four pressing mechanisms 320 of the pressing part 32 are the circumferential direction of the cylindrical body 10. In general. That is, the four pressing positions by the four pressing mechanisms 310 and the four pressing positions by the four pressing mechanisms 320 are substantially overlapped when viewed from a direction parallel to the turning axis RX.

  In addition to the pressing parts 31 and 32 described above, the fixing part 3 includes four drill parts 33-1 to 33-4 (hereinafter, without distinction) each provided with a drill blade 331 for making a hole in the inner surface of the cylindrical body 10. It may be written as “drill part 33”). The drill portion 33 is for preventing the cut portion from falling off the fixed portion 3 when the cut portion of the tubular body 10 is suspended from the ground. The drill portion 33 is formed with a drill blade 331 on the inner surface of the barrel 10 on the top side (upper side) of the barrel 10 with respect to the cutting position of the barrel cutting portion 4, and the drill blade 331 is fitted into the hole. I will.

  The four drill parts 33-1 to 33-4 are provided corresponding to the four pressing mechanisms 310-1 to 310-4 of the pressing part 31. That is, the drill part 33-i (i represents an arbitrary integer from 1 to 4) corresponds to the pressing mechanism 310-i of the pressing part 31. As shown in FIGS. 5A and 5B, the pressing mechanism 310-i corresponding to the drill portion 33-i has a bottom side (lower side) of the cylinder body 10 from the position where the hole is drilled by the drill blade 331 of the drill portion 33-i. Side), and the inner surface of the barrel 10 is pressed on the top side (upper side) of the barrel 10 from the cutting position of the barrel cutting portion 4.

  7A to 7C are diagrams illustrating an example of the pressing unit 31 and the drill unit 33 that are disposed on the upper side of the barrel cutting unit 4. FIG. 7A shows a side view of the pressing portion 31 and the drill portion 33 as viewed from the lateral direction, and FIGS. 7B and 7C are cross-sectional views of the pressing portion 31 and the drill portion 33 taken along a plane parallel to the turning axis RX. Show. 7B shows a state in which the drill blade 331 of the drill portion 33 and the abutting portion 312 of the pressing mechanism 310 are retracted from the inner surface of the cylindrical body 10, and FIG. 7C shows the drill blade 331 and the abutting portion 312 being cylindrical. The state which advanced toward the inner surface of 10 is shown. As shown in FIGS. 7A to 7C, the drill portion 33-i corresponding to the pressing mechanism 310-i of the pressing portion 31 is installed in the extendable arm portion 311 of the press mechanism 310-i, and the extendable arm portion 311. The cylinder 10 moves in the radial direction in conjunction with the expansion and contraction of the tube 10.

  8A to 8B are diagrams illustrating an example of the drill unit 33 provided on the upper side of the pressing mechanism 310 of the pressing unit 31. FIG. 8A shows a cross-sectional view in a state in which the drill blade 331 is retracted from the inner surface of the cylinder 10, and FIG. 8B shows a cross-sectional view in a state in which the drill blade 331 has advanced toward the inner surface of the cylinder 10. As shown in FIGS. 7A to 7C and FIGS. 8A to 8B, the drill portion 33-i installed on the telescopic arm portion 311 of the pressing mechanism 310-i expands and contracts the telescopic arm portion 311 of the pressing mechanism 310-i. A drill blade moving mechanism 332 that moves the drill blade 331 in a direction parallel to the direction (the radial direction of the cylinder 10) is provided. The drill blade moving mechanism 332 moves the drill body 330 that rotates the drill blade 331 together with the drill blade 331.

  The two pressing parts 31 and 32 and the four drill parts 33 constituting the fixing part 3 are installed on a common frame 30 located in the vicinity of the turning axis RX. When the fixing portion 3 is fixed to the barrel 10, the frame 30 of the fixing portion 3 is fixed to the barrel 10, and the swivel support portion 20 </ b> A coupled to the frame 30 is also fixed to the barrel 10. Is done. Therefore, when the swivel base 5 </ b> A is swiveled with respect to the turntable support portion 20 </ b> A, the swivel base 5 </ b> A swivels around the center line (swivel axis RX) of the cylinder body 10.

  9A to 9D are diagrams illustrating an example of the barrel cutting unit 4. FIG. 9A shows a plan view of the barrel cutting part 4 as viewed from above. FIG. 9C to FIG. 9D show side views of the tubular cutting section 4 as seen from the lateral direction.

  As shown in FIGS. 9A to 9D, the cylindrical cutting unit 4 includes four circular saws 41 as cutting tools for cutting the inner surface of the cylindrical body 10, and four circular saw support mechanisms that support these circular saws 41. 42-1 to 42-4 (hereinafter, sometimes referred to as “circular saw support mechanism 42” without distinction) and four circular saw support mechanisms 42 are installed so as to be rotatable with respect to the fixed portion 3. And a combined frame 40. The four circular saws 41 are supported by the four circular saw support mechanisms 42 so as to cut the inner surface of the cylindrical body 10 at different positions in the circumferential direction of the cylindrical body 10.

  The frame 40 is driven to turn around the turning axis RX in a state where the fixing portion 3 is fixed to the inner surface of the cylindrical body 10. For example, the frame 40 is attached to the frame 30 of the fixed portion 3 via a swivel bearing. By driving the turning bearing by a motor or the like provided on the frame 40 (or the frame 30), the frame 40 of the barrel cutting unit 4 rotates with respect to the frame 30 of the fixed unit 3.

  As shown in FIGS. 9A to 9D, the four circular saw support mechanisms 42 include a circular saw moving mechanism 421 and a circular saw rotating mechanism 422, respectively.

  The circular saw moving mechanism 421 moves the circular saw 41 in a direction approaching the inner surface of the cylindrical body 10 and a direction away from the inner surface of the cylindrical body 10.

  The four circular saw moving mechanisms 421 provided on the four circular saw support mechanisms 42 are advanced toward four positions on the inner surface of the cylindrical body 10 that are equally spaced in the circumferential direction of the cylindrical body 10, and The four circular saws 41 are moved in the backward direction from the four positions. Specifically, the four circular saw moving mechanisms 421 move the four circular saws 41 along four radial directions that extend in a cross shape (that is, point-symmetrically) about the turning axis RX. 9A and 9B show a state in which the four circular saws 41 are retracted from the inner surface of the barrel 10, and FIGS. 9C and 9D show a state in which the four circular saws 41 have advanced toward the inner surface of the barrel 10. Show.

  The circular saw rotating mechanism 422 rotates the circular saw 41 so that the cutting direction of the circular saw 41 is switched between the circumferential direction of the cylindrical body 10 and the longitudinal direction of the cylindrical body 10. 9A to 9C show a state in which the cutting direction of the circular saw 41 is set in the circumferential direction of the cylindrical body 10, and FIG. 9D shows a state in which the cutting direction of the circular saw 41 is set in the longitudinal direction of the cylindrical body 10. Indicates.

  As shown in FIG. 9C, when the cutting direction of each circular saw 41 is set to the circumferential direction of the cylinder 10 by the circular saw rotating mechanism 422, two circular saws adjacent in the circumferential direction of the cylinder 10 are The cutting positions in the longitudinal direction are shifted from each other. In the example of FIG. 9C, the cutting positions of the two circular saws 41 supported by the circular saw support mechanism 42-2 and the circular saw support mechanism 42-3, and the circular saw support mechanism 42-3 and the circular saw support mechanism 42- The cutting positions of the two circular saws 41 supported by 4 are shifted in the longitudinal direction of the cylindrical body 10 (vertical direction in the figure). Therefore, when two circular saws 41 adjacent in the circumferential direction of the cylinder 10 cut the inner surface of the cylinder 10 in the circumferential direction, two cutting lines by the two circular saws 41 are in the longitudinal direction of the cylinder 10. A predetermined deviation occurs. Accordingly, it is possible to avoid a cutting failure caused by inserting one circular saw 41 of two circular saws 41 adjacent in the circumferential direction of the cylinder 10 into the cutting line of the other circular saw 41.

  As shown in FIG. 9D, when the cutting direction of each circular saw 41 is set to the longitudinal direction of the barrel 10 by the circular saw rotating mechanism 422, each circular saw 41 has two predetermined deviations as described above. The inner surface of the barrel 10 can be cut so as to intersect both cutting lines (two cutting lines by two circular saws 41 adjacent in the circumferential direction). Thereby, it becomes possible to connect the four cutting lines extended in the circumferential direction and the four cutting lines extended in the longitudinal direction, and the inner circumference of the cylinder 10 can be cut over the entire circumference.

  As shown in FIG. 9C, two circular saws 42 adjacent to each other with one circular saw 41 in the circumferential direction of the cylinder 10 (in the example of FIG. 9C, the circular saw support mechanism 42-2 and the circular saw support mechanism). The two circular saws 41) supported by 42-4 have the same cutting position in the longitudinal direction when the inner surface of the cylindrical body 10 is cut in the circumferential direction.

[Dismantling device 2B]
The disassembling apparatus 2B shown in FIG. 3A to FIG. 3C has a fixed part 3 that is fixed to the cylindrical body 10 by pressing the inner surface of the cylindrical body 10, and a cylindrical cutting that has a cutting tool that can be turned with respect to the fixed part 3. Part 4, outer structure cutting part 6 </ b> B that holds and cuts main pillar 13 of steel tower 12, and is positioned outside tube body 10, and can be turned with respect to fixed part 3, and outer structure cutting part 6 </ b> B. Has a swivel base 5B. The same reference numerals in FIGS. 2A to 2B and FIGS. 3A to 3C represent the same components. That is, the fixing part 3 and the barrel cutting part 4 are the same as the dismantling apparatus 2A already described. Here, it demonstrates centering on the component different from the dismantling apparatus 2A.

  As shown in FIGS. 3A and 3B, the swivel base 5B includes four beam portions 52-1 to 52-4 (hereinafter referred to as “beam portions 52” without distinction) extending in a direction perpendicular to the swivel axis RX. There are cases.) The swivel base 5B as a whole has a rotationally symmetric shape with the swivel axis RX as an axis of symmetry, and four beam portions 52 are provided in a cross shape with the swivel axis RX as the center. In the example of the figure, the cross-sectional shape of the beam portion 52 perpendicular to the turning axis RX is rectangular, and the width in the vertical direction is continuously reduced as the distance from the turning axis RX increases. As shown in FIG. 3B, the central part of the swivel base 5B is substantially a regular octagon when viewed from a direction horizontal to the swivel axis RX. On the upper surface of the central portion, four coupling tools (hanging metal fittings) 504 for connecting the hanging rope metal fittings are provided. Also. Near the center of the swivel base 5B, a control panel 511 in which various control devices (computers and the like) are housed and a control panel 507 used as a power source for motors and control devices are installed. A swivel support unit 20B is attached to the lower surface of the central portion of the swivel 5B. The swivel base 5B is slidably combined with the frame 30 of the fixed part 3 via a cylindrical swivel base support part 20B extending along the swivel axis RX. For example, the swivel support unit 20B is fixed to the frame 30 of the fixed unit 3 with a bolt or the like, and is attached to the swivel stand 5B through a swivel bearing or the like. The swivel base 5B is swiveled with respect to the fixed portion 3 by driving the swivel bearing by a motor or the like (not shown) provided on the swivel base 5B.

  Each of the four beam portions 52 includes a movable suspension portion 53. The movable suspension part 53 is movably attached to the lower surface of the frame body of the beam part 52, and is driven in a forward direction and a backward direction with respect to the turning axis RX. Outer structure cutting sections 6B are suspended from the movable suspension sections 53 of the four beam sections 52, respectively. When the moving suspension part 53 moves, the outer structure cutting part 6B moves horizontally in the radial direction around the turning axis RX.

  10A to 10B are diagrams illustrating an example of the outer structure cutting portion 6B used for cutting the main pillar 13. FIG. 10A shows a perspective view seen from the front side, and FIG. 10B shows a perspective view seen from the back side. The outer structure cutting unit 6B is a column member cutting device that cuts a cylindrical column member, and includes two gripping units 71-1 and 71-2 (hereinafter referred to as “grip”) that grip a column member (main column 13) to be cut. , And may be referred to as “gripping part 71”), a cutting part 72 for cutting the column member, and a clamp part 70 for inserting the two drill blades 791 so as to sandwich the column member. In a state where the beam unit 52 is suspended from the movable suspension unit 53, a clamp unit 70, a gripping unit 71-1, a cutting unit 72, and a gripping unit 71-2 are arranged in this order from the top.

  On the top surface of the clamp unit 70 arranged on the uppermost side, there are two connecting tools 701A used for connecting the two ropes 21 connected to the movable suspension unit 53, and other components connected to the movable suspension unit 53. A connecting tool 701B used for connecting to the one rope 21 is provided. The connector 701B is connected to the rope 21 via the length control unit 22 that can change the length in the vertical direction. By changing the length of the length control unit 22, the outer structure cutting unit 6B can be turned around the straight line L1 passing through the two coupling tools 701A, and the posture of the outer structure cutting unit 6B can be adjusted. .

  The clamp part 70 has two drill parts 73 each having a drill blade 791. The drill portion 73 is for preventing the cut portion from dropping off when the cut portion of the column member (main column 13) is suspended from the ground. The drill part 73 makes a hole in the pillar member with the drill blade 791 and fits the drill blade 791 into the hole.

  The grip portion 71 includes a mechanism for gripping the column member in a state where a center line passing through the center of the cross section perpendicular to the longitudinal direction of the column member (main column 13) is along a predetermined turning center line RL. 11A to 11B are diagrams illustrating an example of a mechanism for gripping the column member in the gripping portion 71 of the outer structure cutting portion 6B, and each showing a plan view seen from a direction parallel to the turning center line RL. FIG. 11A shows a state where the pillar member (main pillar 13) is not gripped, and FIG. 11B shows a state where the pillar member is gripped. In the example of FIGS. 11A and 11B, the gripper 71 includes a fixed piece 783 that positions the column member, two movable pieces 781-1 and 781-2 that sandwich the column member, and two movable pieces 781-1 and 781. -2 to drive two actuators 780-1 and 780-2.

  The fixed piece 783 has a curved surface that comes into contact with the outer peripheral surface of the column member, and is fixed to the housing of the grip portion 71. By bringing the column member into contact with the curved surface of the fixed piece 783, the center line of the column member is substantially along the turning center line RL. The two movable pieces 781-1 and 781-2 are arranged so as to face each other with the column member in contact with the fixed piece 783 sandwiched from both sides. The movable piece 781-1 is rotatably supported by a rotation shaft 784-1 provided in the casing of the gripper 71, and the movable piece 781-2 is rotated in the casing of the gripper 71. The shaft 784-2 is rotatably supported. Actuators 780-1 and 780-2 each include a cylinder that expands and contracts. One end of the actuator 780-1 is rotatably supported by a rotation shaft 785-1 provided in the housing of the gripper 71, and the other end of the actuator 780-1 is movable by a connecting part 782-1. -1 and pivotally connected. One end of the actuator 780-2 is rotatably supported by a rotation shaft 785-2 provided in the housing of the gripping portion 71, and the other end of the actuator 780-2 is movable piece 781 by the connecting portion 782-2. -2 is rotatably connected.

  When the length of the actuator 780-1 is extended, the movable piece 781-1 is rotated around the rotation shaft 784-1, and the outer surface of the movable piece 781-1 on the fixed piece 783 side is moved toward the fixed piece 783. Then, it comes into contact with the column member positioned on the fixed piece 783. Further, when the length of the actuator 780-2 is extended, the movable piece 781-2 is rotated around the rotation shaft 784-2, and the outer surface of the movable piece 781-2 on the fixed piece 783 side is directed toward the fixed piece 783. To contact the column member positioned on the fixed piece 783. Therefore, when the lengths of the actuators 780-1 and 780-2 are extended, the column member is sandwiched and gripped by the two movable pieces 781-1 and 781-2. On the contrary, when the lengths of the actuators 780-1 and 780-2 contract, the two movable pieces 781-1 and 781-2 are separated from the column member, and the gripping of the column member is released.

  FIGS. 12A to 12B and FIGS. 13A to 13B are diagrams illustrating an example of a mechanism for cutting the column member (main column 13) at the cutting portion 72 of the outer structure cutting portion 6B, each parallel to the turning center line RL. The top view seen from various directions is shown. In these drawings, the cutting section 72 includes a first circular saw 710-1 and a second circular saw 710-2 that cut the outer surface of the pillar member gripped by the gripping section 71 in the circumferential direction, and a first circular saw 710-. A circular saw turning mechanism 720 for turning the first and second circular saws 710-2.

  The circular saw turning mechanism 720 includes a first circular saw 710-1 such that the cutting position by the first circular saw 710-1 and the cutting position by the second circular saw 710-2 move in the circumferential direction on the outer surface of the column member. And the second circular saw 710-2 is turned around the turning center line RL. 12A and 12B show a state in which the turning positions of the first circular saw 710-1 and the second circular saw 710-2 are in the standard position, and FIGS. 13A and 13B show the first circular saw with respect to this standard position. The state where the saw 710-1 and the second circular saw 710-2 are turned in different directions is shown.

  More specifically, the circular saw turning mechanism 720 includes a turning base 760 that turns around the turning center line RL, and a first circular saw rotation that rotates the first circular saw 710-1 on the first rotation shaft 731-1. A mechanism 730-1 and a second circular saw rotating mechanism 730-2 for rotating the second circular saw 710-2 on the second rotating shaft 731-2 are provided. The first circular saw rotating mechanism 730-1 and the second circular saw rotating mechanism 730-2 are provided on the turning base 760, respectively, and together with the first circular saw 710-1 and the second circular saw 710-2, the turning center line. Turn around RL.

  The circular saw turning mechanism 720 also includes a first circular saw moving mechanism 740-1 that moves the position of the first rotary shaft 731-1 of the first circular saw 710-1, and a second rotation of the second circular saw 710-2. And a second circular saw moving mechanism 740-2 for moving the position of the shaft 731-2. 12A shows a state in which the first rotating shaft 731-1 and the second rotating shaft 731-2 are separated from the turning center line RL, and FIGS. 12B, 13A, and 13B show the first rotating shaft 731-1 and the first rotating shaft 731-1. A state where the two rotation shafts 731-2 approach the turning center line RL is shown.

The first circular saw moving mechanism 740-1 keeps the first rotary shaft 731-1 of the first circular saw 710-1 parallel to the turning center line RL while maintaining the first rotating shaft 731-1 and the turning center line. The distance to RL is changed. Specifically, the first circular saw moving mechanism 740-1 is arranged around the first turning shaft 741-1 parallel to the first rotating shaft 731-1 and away from the first rotating shaft 731-1. The rotation mechanism 730-1 is turned, thereby changing the distance between the first rotation shaft 731-1 and the turning center line RL.
Similarly, the second circular saw moving mechanism 740-2 keeps the second rotary shaft 731-2 of the second circular saw 710-2 parallel to the turning center line RL, and the second rotary shaft 731-2. The distance from the turning center line RL is changed. Specifically, the second circular saw moving mechanism 740-2 is arranged around the second turning shaft 741-2 parallel to the second rotating shaft 731-2 and away from the second rotating shaft 731-2. The rotation mechanism 730-2 is turned, thereby changing the distance between the second rotation shaft 731-2 and the turning center line RL.

  FIG. 14 is a diagram illustrating a mechanism for turning the turning base 760 in the cutting part 72 of the outer structure cutting part 6B. For example, as shown in FIG. 14, the turning base 760 has a horseshoe shape when viewed from a direction parallel to the turning center line RL. The first turning shaft 741-1 is rotatably supported on the turning base 760 at one end of the horseshoe shape, and the second turning shaft 741-2 is rotatable on the turning base 760 at the other end of the horseshoe shape. Supported by

  As shown in FIG. 14, guide frames 703-1 and 703-2 are arranged on the concave side of the horseshoe shape in the turning base 760. The guide frames 703-1 and 703-2 are curved along the concave outer edge of the turning base 760, and guide the trajectory when the turning base 760 turns around the turning center line RL.

  As shown in FIG. 14, the circular saw turning mechanism 720 includes a gear 750 that is rotationally driven when the turning base 760 is turned. The gear 750 is supported by the frame 700 and meshes with a rack 761 provided on the convex outer edge of the horseshoe shape of the turning base 760. Since the frame 700 is fixed with respect to the gripping portion 71, when the gear 750 rotates, the turning base 760 rotates with respect to the column member gripped by the gripping portion 71.

  In FIG. 14, “704-1” indicates a motor that rotates the first circular saw 710-1 in the first circular saw rotation mechanism 730-1, and “704-2” indicates the second circular saw rotation. The motor which rotationally drives the 2nd circular saw 710-2 in the mechanism 730-2 is shown. Further, “705-1” indicates a motor that rotationally drives the first turning shaft 741-1 in the first circular saw moving mechanism 740-1, and “705-2” indicates the second circular saw moving mechanism 740-2. The motor which rotationally drives the 2nd turning shaft 741-2 is shown.

  15A to 15B are diagrams illustrating the main part of the cutting part 72 of the outer structure cutting part 6B. 15A is a perspective view showing a left half of the center of the plan view shown in FIG. 12A cut in the vertical direction. FIG. 15B is a perspective view showing a part of the right half opposite to the left half shown in FIG. 15A. As shown in FIGS. 15A and 15B, the first circular saw 710-1 and the second circular saw 710-2 are accommodated in the inner case 709, and the inner case 709 is further accommodated in the outer case 708. . When the pillar member is cut, the inner case 709 comes out of the outer case 708, and the blade portions of the circular saws (710-1, 701-2) exposed from the inner case 709 cut the pillar member.

  As shown in FIGS. 15A to 15B, the circular saw turning mechanism 720 includes a cutting position of the first circular saw 710-1 and a cutting position of the second circular saw 710-2 in a direction parallel to the turning center line RL. A cutting position adjusting mechanism 770 that adjusts the relative positional relationship is provided. Specifically, the cutting position adjusting mechanism 770 includes a first moving mechanism 771 (FIG. 15A) that moves the first circular saw rotating mechanism 730-1 in a direction parallel to the turning center line RL with respect to the turning base 760, and , A second moving mechanism 772 (FIG. 15B) that moves the second circular saw rotating mechanism 730-2 in a direction parallel to the turning center line RL with respect to the turning base 760. The first moving mechanism 771 moves the first circular saw rotating mechanism 730-1 along the first turning shaft 741-1, and the second moving mechanism 772 turns the second circular saw rotating mechanism 730-2 in the second turning. Move along axis 741-2. The first moving mechanism 771 moves the first circular saw rotating mechanism 730-1 up and down by the power of the motor 706-1 shown in FIG. 14, and the second moving mechanism 772 is driven by the power of the motor 706-2 shown in FIG. 2 The circular saw rotating mechanism 730-2 is moved up and down. Note that the cutting position adjusting mechanism 770 may include only one of the first moving mechanism 771 and the second moving mechanism 772.

  16A to 16C are diagrams illustrating the operation of the first moving mechanism 771 of the cutting position adjusting mechanism 770, and are cross-sectional views taken along the line XVI-XVI of FIG. 15A. 16A shows a state in which the first circular saw rotating mechanism 730-1 is in the standard position, and FIG. 16B shows a state in which the first circular saw rotating mechanism 730-1 is in a position raised from the standard position. 16C shows a state where the first circular saw rotating mechanism 730-1 is in a position lowered from the standard position. The cutting position adjusting mechanism 770 is provided with a position sensor 712 as shown in FIGS. 16A to 16C, for example, and the position of the first circular saw rotating mechanism 730-1 (that is, the first position) Fine adjustment of the cutting position of one circular saw 710-1 is possible.

[Demolition device 2C]
4A to 4C is a barrel cutting device having a fixed portion 3 fixed to the barrel 10 by pressing the inner surface of the barrel 10 and a cutting tool that can be turned with respect to the fixed portion 3. Part 4, outer structure cutting part 6 </ b> C that grips and cuts diagonal member 14 of steel tower 12, and is located outside cylindrical body 10, and can be turned with respect to fixed part 3, and outer structure cutting part 6 </ b> B. Has a swivel base 5B. The same reference numerals in FIGS. 3A to 3B and FIGS. 4A to 4C represent the same components. That is, the disassembling apparatus 2C is obtained by replacing the outer structure cutting unit 6B in the disassembling apparatus 2B with the outer structure cutting unit 6C, and the other configuration is the same as that of the disassembling apparatus 2C. Therefore, here, the outer structure cutting part 6C will be mainly described.

  17A to 17B are diagrams illustrating an example of the outer structure cutting portion 6C used for cutting the diagonal member 14. FIG. FIG. 17A shows a perspective view seen from the front side, and FIG. 17B shows a perspective view seen from the back side. The outer structure cutting portion 6C is a column member cutting device that cuts a cylindrical column member, and is capable of turning with respect to the first support portion 84 connected to the three ropes 21 and the first support portion 84. The combined second support portion 85, the gripping portions 81-1 to 81-4 that are fixed to the second support portion 85 and grip the column member (diagonal material 14), and the second support portion 85 are fixed to the pillar. It has the cutting parts 82-1 and 82-2 which cut | disconnect a member, and the clamp part 80 which inserts the two drill blades 891 so that a pillar member may be inserted | pinched. In the state suspended from the movable suspension part 53 of the beam part 52, the gripping part 81-1, the cutting part 82-1, the gripping part 81-2, the clamp part 80, the gripping part 81-3, the cutting part in order from the top. 82-2 and the gripping part 81-4 are arranged.

  The clamp part 80 has two drill parts 83 each having a drill blade 891. The drill portion 83 is for preventing the cut portion from dropping off when the cut portion of the pillar member (slanting material 14) is suspended from the ground. The drill part 83 makes a hole in the pillar member with the drill blade 891, and fits the drill blade 891 into the hole.

  The mechanism for gripping the pillar member in the gripping portions 81-1 to 81-4 is the same as the gripping portion 71 (FIGS. 11A to 11B) already described. Moreover, the mechanism which cut | disconnects a pillar member in the cutting parts 82-1 and 82-2 is the cutting part 72 (FIGS. 12A-12B, FIG. 13A-13B, FIG. 14, FIG. 15A-15B, FIG. 16A already demonstrated. To FIG. 16C).

  The first support portion 84 is a rectangular parallelepiped frame in the example of FIGS. 17A to 17B. A second support portion 85 is attached to the side surface of the first support portion 84 so as to be rotatable with respect to the first support portion 84. As shown in FIG. 17B, the second support portion 85 is attached to the first support portion 84 via a first turning mechanism 86 including a turning bearing and the like. The second support portion 85 turns around the turning axis AX1 with respect to the first support portion 84 by the turning drive of the first turning mechanism 86.

  A suspension balance 88 is attached to the top surface of the first support portion 84 so as to be rotatable with respect to the first support portion 84. As shown in FIG. 17B, the suspension balance 88 is attached to the first support portion 84 via a second turning mechanism 87 including a turning bearing. The suspension balance 88 turns around the turning axis AX <b> 2 with respect to the first support portion 84 by the turning drive of the second turning mechanism 87.

  The suspension balance 88 is connected to two connecting tools 801 </ b> A used for connection to the two ropes 21 connected to the movable suspension unit 53 and to one other rope 21 connected to the movable suspension unit 53. And a connector 801B used in the above. The connecting tool 801B is connected to the rope 21 via the length control unit 22 that can change the length in the vertical direction. By changing the length of the length control unit 22, the suspension balance 88 can be swung around the straight line L2 passing through the two coupling tools 801A, thereby adjusting the posture of the outer structure cutting unit 6C.

  As shown in FIG. 17A, a straight line L2 that becomes a turning axis by changing the length of the length control unit 22, a turning axis AX <b> 1 by turning driving of the first turning mechanism 86, and a turning axis by turning driving of the second turning mechanism 87. AX2 are perpendicular to each other. That is, the turning angle of the second support portion 85 around the three axes (L2, AX1, AX2) perpendicular to each other can be adjusted. Therefore, by controlling the length control unit 22, the first turning mechanism 86, and the second turning mechanism 87, the posture of the outer structure cutting unit 6C is set to an appropriate posture that matches the diagonal material 14 to be cut. be able to.

(Disassembly procedure by dismantling apparatus 2A)
Here, a procedure for removing the tubular body 10 and the accompanying objects (ladder 15, back basket 16, conduit tube 17 and the like) from the cylindrical structure 1 using the dismantling apparatus 2A described above will be described.

  FIG. 18A to FIG. 18B are diagrams illustrating an operation of installing the dismantling apparatus 2A used for removing the cylinder 10 and the attached objects on the cylinder 10. First, as shown in FIG. 18A, the dismantling apparatus 2 </ b> A is lifted using a crane 90, the fixing unit 3 and the barrel cutting unit 4 are positioned inside the barrel 10, and the swivel base 5 </ b> A is positioned outside the barrel 10. Let

  Next, as shown in FIG. 18B, the fixing portion 3 is pressed against the inner surface of the cylinder 10 to fix the fixing portion 3 to the cylinder 10. That is, a pressing force is applied to the inner surface of the cylinder 10 by each pressing mechanism 310 of the pressing part 31 and each pressing mechanism 320 of the pressing part 32, and a hole in which the drill blade 331 of each drill part 33 is formed in the inner surface of the cylinder 10. Fit in.

  Next, the gripping robot arm 61 and the cutting robot arm 62 of the outer structure cutting unit 6A are brought close to the target portion of the accessory on the outside of the barrel 10. That is, the swivel base 5A is swung around the swivel axis RX so that the outer structure cutting part 6A approaches the target portion of the accessory.

  When the outer structure cutting unit 6A approaches the target part of the accessory, the target part is gripped by the gripping robot arm 61, and the gripped target part is cut from the other part of the accessory by the cutting robot arm 62.

  19A to 19C are diagrams illustrating an operation of cutting an accessory attached to the outside of the tubular body 10 by the outer structure cutting portion 6A. FIG. 19A shows a state in which the target portion of the accessory is gripped and cut by the gripping robot arm 61 and the cutting robot arm 62 of the outer structure cutting unit 6A. FIG. 19B is a view of the state shown in FIG. 19A viewed from another angle. FIG. 19C is a diagram illustrating an example of the ladder 15, the back basket 16, and the conduit 17 as an accessory.

20A to 20B are diagrams illustrating the operation of fixing the conduit 17 to the ladder 15 or the like using the robot arm.
When the electric pipe 17 is cut, the electric pipe 17 hangs down from the cut portion, which may hinder removal. Therefore, the cut electric pipe 17 is fixed to the ladder 15 or the like by the gripping robot arm 61 using a clamping device 601 as shown in FIG. 20B. The holder 602 is equipped with a wire rope 603 configured to be wound up in a spring manner, and a plurality of clamp devices 601 are connected by such a wire rope 603. Of the plurality of clamp devices 601 connected to the holder 602, one clamp device 601 is attached to the ladder 15 and the other clamp device 601 is attached to the cut electric pipe 17. As a result, the electric pipes 17 to which the clamp device 601 is attached are connected to the ladder 15 or the like by the wire rope 603, and a state in which the electric pipe 17 hangs down and hinders removal can be avoided.

  On the other hand, on the inside of the barrel 10, in a state where the fixing portion 3 is fixed to the barrel 10, the cutting tool (the circular saw 41) of the barrel cutting portion 4 is swung around the turning axis RX to Cut the inner surface in the circumferential direction.

  21A to 21D are diagrams illustrating the operation of cutting the inner surface of the cylinder 10 in the circumferential direction by the cylinder cutting unit 4. FIG. 21A shows a state in which the inner surface 101 of the cylindrical body 10 is pressed by the pressing mechanisms 310 and 320 of the fixing portion 3. FIG. 21B shows a state where the drill blade 331 of the drill portion 33 is further inserted into the inner surface 101 of the cylindrical body 10 in the pressed state shown in FIG. 21A. After the fixing portion 3 is fixed to the cylinder 10, the cutting direction of the inner surface 101 by the four circular saws 41 is set in the circumferential direction, and the positions of the two circular saws 41 adjacent in the circumferential direction are the positions of the cylinder 10. The four circular saws 41 are applied to the inner surface 101 of the barrel 10 as shown in FIG. Then, as shown in FIG. 21D, the inner surface 101 is cut in the circumferential direction by turning the four circular saws 41 applied to the inner surface 101 in the circumferential direction of the cylindrical body 10.

22A to 22D are diagrams illustrating an operation of cutting the inner surface of the cylindrical body 10 in the longitudinal direction after the inner surface 101 of the cylindrical body 10 is cut in the circumferential direction.
As shown in FIG. 21D, when the circumferential cutting of the inner surface 101 is advanced while turning the four circular saws 41, four cutting lines are generated by the four circular saws 41. Since the positions of the two circular saws 41 adjacent in the circumferential direction are alternated in the longitudinal direction as shown in FIGS. 9C and 21C, the two cutting lines adjacent in the circumferential direction are shifted from each other in the longitudinal direction. Therefore, until both ends of the four cutting lines overlap with the ends of the other cutting lines in the circumferential direction (until the turning angle of the four circular saws 41 exceeds approximately 45 °), the inner surfaces 101 are formed by the four circular saws 41. Then, the four circular saws 41 are separated from the inner surface 101 as shown in FIGS. 22A and 22B. Then, the cutting direction by the four circular saws 41 is switched from the circumferential direction to the longitudinal direction.

  After switching the cutting direction of the four circular saws 41 to the longitudinal direction, the four circular saws are applied to the inner surface 101 as shown in FIGS. 22C and 22D. At this time, the inner surface 101 is cut in the longitudinal direction so that each of the four circular saws 41 intersects the ends of the two cutting lines shifted in the longitudinal direction. As a result, the four cutting lines that are staggered in the longitudinal direction are connected by the four longitudinal cutting lines, so that the inner surface 101 of the cylinder 10 is cut over the entire circumference.

  When the cylindrical body 10 is cut over the entire circumference, as shown in FIG. 23, the pressing by the lower pressing portion 32 is released while the pressing by the upper pressing portion 31 is maintained. As a result, it is possible to separate the fixing portion 3 from the remaining portion (lower portion) of the barrel 10 while fixing the cut portion (upper portion) of the barrel 10 to the fixing portion 3. In this state, the dismantling device 2 </ b> A is lifted by the crane 90, and the tubular body 10 and the cut parts of the attached objects are removed from the tubular structure 1.

(Disassembly procedure by dismantling device 2C)
Next, a procedure for removing the tubular body 10 and the diagonal member 14 from the tubular structure 1 using the dismantling apparatus 2C described above will be described.

  24A to 24B are diagrams illustrating an operation of installing the dismantling apparatus 2C used for removing the cylinder 10 and the diagonal member 14 on the cylinder 10. As shown in this figure, also in the dismantling apparatus 2C, the fixing unit 3 and the barrel cutting unit 4 are positioned inside the barrel 10, and the swivel base 5B is positioned outside the barrel 10. The procedure for fixing the fixing part 3 to the cylinder 10 and the procedure for cutting the cylinder 10 by the cylinder cutting part 4 are substantially the same as in the case of the dismantling apparatus 2A.

  25A to 25C are diagrams illustrating an operation of controlling the position and posture of the outer structure cutting unit 6C. As shown in FIG. 25A, the outer structure cutting unit 6C can freely change its posture by changing the length of the length control unit 22 and the turning angles of the first turning mechanism 86 and the second turning mechanism 87, respectively. Can be adjusted. Therefore, the length of the length control unit 22, the first turning mechanism 86, and the second turning mechanism 87 are adjusted so that the posture of the outer structure cutting portion 6C becomes a posture suitable for gripping the diagonal member 14 to be cut. Set the turning angle of each.

  Further, the turning angle of the swivel base 5B is controlled so that the four outer structure cutting parts 6C approach the diagonal member 14 to be cut (FIG. 25B), and the movable suspension part 53 of each beam part 52 is turned on the turning axis. Move toward RX (FIG. 25C).

  26A to 26F are diagrams illustrating the operation of gripping and clamping the diagonal member 14 in the outer structure cutting portion 6C. When the posture of the outer structure cutting part 6C and the turning angle of the swivel base 5B are appropriately set, and the movable suspension part 53 is moved toward the turning axis RX as shown in FIG. 25C, it is shown in FIGS. 26A and 26B. As described above, the diagonal member 14 is introduced in the vicinity of the turning center line RL of the outer structure cutting portion 6C. As shown in FIG. 26B, with the diagonal member 14 being introduced near the turning center line RL, the gripping portions 81-1 to 81-4 are operated to grip the diagonal member 14 as shown in FIG. 26C. As shown in FIG. 27D, the clamp portion 80 is operated to insert the drill blade 891 into the diagonal member 14. As a result, as shown in FIGS. 26E and 26F, the center line of the diagonal member 14 is fixed along the turning center line RL of the outer structure cutting portion 6C.

  27A to 27D are diagrams illustrating the operation of cutting the diagonal member 14 at the cutting portion 82-1 and the cutting portion 82-2 of the outer structure cutting portion 6C. After the diagonal member 14 is gripped as shown in FIG. 27A, the first circular saw moving mechanism 740-1 and the second circular saw moving mechanism 740-2 are operated as shown in FIG. -1 and the second circular saw 710-2 are moved toward the diagonal 14. Then, as shown in FIGS. 27C and 27D, the first circular saw 710-1 and the second circular saw 710-2 are turned around the turning center line RL, and the outside of the diagonal member 14 is cut over the entire circumference. To do.

  The cutting by the first circular saw 710-1 and the second circular saw 710-2 is performed separately. When cutting with one circular saw first and then with the other circular saw, the cutting position of the subsequent circular saw is adjusted so that it is almost close to the position of the cutting line with the previous circular saw. Adjust by mechanism 770. Further, when the cutting position of the subsequent circular saw is shifted with respect to the cutting line of the previous circular saw while the cutting with the subsequent circular saw is proceeding, the cutting position of the subsequent circular saw is adjusted to the cutting position adjusting mechanism 770. Adjust by. As a result, the load when the subsequent circular saw is inserted into the cutting line formed by the previous circular saw is reduced, and cutting defects are less likely to occur.

  In this way, after the diagonal member 14 is cut by the outer structure cutting portion 6C, the diagonal member 14 is gripped by the outer structure cutting portion 6C, and then the fixing portion 3 is released and the dismantling apparatus 2A is lifted. Then, the diagonal member 14 is removed from the cylindrical structure 1. At this time, the cut part of the cylinder 10 by the cylinder cutting unit 4 is removed from the cylindrical structure 1 together with the diagonal member 14.

(Disassembly procedure by dismantling device 2B)
Next, a procedure for removing the tubular body 10 and the main pillar 13 from the tubular structure 1 using the disassembling apparatus 2B described above will be described.

  FIG. 28A to FIG. 28B are diagrams illustrating an operation in which the dismantling device 2B used for removing the cylinder 10 and the main pillar 13 is installed in the cylinder and the outer structure cutting part 6B is brought close to the main pillar 13. As shown in this figure, also in the dismantling device 2B, as with the dismantling device 2C, the fixing unit 3 and the barrel cutting unit 4 are positioned inside the barrel 10, and the swivel base 5B is placed outside the barrel 10. Position. The procedure for fixing the fixing part 3 to the cylinder 10 and the procedure for cutting the cylinder 10 by the cylinder cutting part 4 are substantially the same as in the case of the dismantling apparatus 2A.

  The outer structure cutting section 6B that cuts the main pillar 13 can adjust the posture (the turning angle around the straight line L1 shown in FIG. 10A) by changing the length of the length control section 22. Therefore, the length of the length control unit 22 is set so that the posture of the outer structure cutting unit 6B becomes a posture suitable for gripping the main pillar 13 to be cut. Further, the turning angle of the swivel base 5B is controlled so that the four outer structure cutting parts 6B come close to the main pillar 13 to be cut (FIG. 28A), and the movable suspension part 53 of each beam part 52 is turned on the turning axis. Move toward RX (FIG. 28B). The operation of gripping and cutting the main pillar 13 in the outer structure cutting portion 6B is the same as the operation of gripping and cutting the diagonal member 14 in the outer structure cutting portion 6C (FIGS. 26A to 26F and FIGS. 27A to 27D). It is almost the same.

  29A to 29C are diagrams illustrating an operation of cutting the main pillar 13 in the outer structure cutting part 6B and collectively removing the cut portions of the tubular body 10 and the steel tower 12. As shown in FIG. 29A, after the main pillar 13 is gripped by the outer structure cutting part 6B, the gripped main pillar 13 is cut by the outer structure cutting part 6B as shown in FIG. 29B. Then, in a state where the cut main pillars 13 are respectively gripped by the four outer structure cutting portions 6B, and the cutting portion of the barrel 10 by the barrel cutting portion 4 is fixed to the pressing portion 31, the pressing portion 32 The fixation to the remaining cylinder 10 is released, and the dismantling apparatus 2B is lifted by the crane 90. As a result, as shown in FIG. 29C, the cut portions of the tubular body 10 and the main pillar 13 are removed from the tubular structure 1 in a lump.

(Summary)
According to this embodiment, the fixed part 3 is in a state of being fixed to the cylinder 10 by pressing the inner surface of the cylinder 10, and the cylinder cutting part 4 combined with the fixed part 3 so as to be rotatable. The swivel base (5A, 5B) can swivel around the swivel axis RX along the center line of the barrel 10. When the barrel cutting part 4 turns with respect to the fixed part 3, the inner surface of the cylinder 10 is cut in the circumferential direction by the circular saw 41 of the barrel cutting part 4. Further, when the swivel base (5A, 5B) swivels with respect to the fixed portion 3, the outer structure cutting parts (6A to 6C) fixed or suspended on the swivel base (5A, 5B) become the outer structure to be cut. It becomes the state arrange | positioned toward the thing 11, and the outer structure 11 of the said cutting | disconnection object is hold | gripped and cut | disconnected by the outer structure cutting part (6A-6C) in this state. Therefore, it is possible to cut the tubular body 10 and the outer structure 11 without arranging an operator on the upper part of the tubular structure 1. In addition, by suspending the fixing portion 3 on the ground with a crane or the like, the cut portion of the cylinder 10 fixed to the fixing portion 3 or the outer structure 11 held by the outer structure cutting portions (6A to 6C). The cut part can be suspended from the ground.

  According to the present embodiment, as shown in FIGS. 2A to 2B, FIGS. 3A to 3C, FIGS. 4A to 4C, and the like, at least one beam portion (51, 51) extending in a direction perpendicular to the pivot axis RX is obtained. 52) is provided on the swivel base (5A, 5B), and the outer structure cutting portions (6B, 6C) are suspended from the beam portions (51, 52). Therefore, the outer structure cutting part (6B, 6C) can be arranged at an appropriate position below the beam part (51, 52) while suppressing the weight of the swivel base (5A, 5B).

  According to the present embodiment, as shown in FIGS. 3A to 3C, FIGS. 4A to 4C, etc., the outer structure cutting portion (in each of the four beam portions 52 provided in a cross shape around the pivot axis RX ( 6B, 6C) are suspended, the center of gravity is easily located near the center of the four beam portions 52 provided in a cross shape, and the posture of the turning axis RX along the center line of the cylinder 10 is stable. It becomes easy to be kept.

  According to the present embodiment, as shown in FIGS. 3A to 3C, FIGS. 4A to 4C, and the like, the movable suspension portion 53 driven in the forward and backward directions with respect to the pivot axis RX is the beam portion 52. The outer structure cutting part (6B, 6C) is suspended from the movable suspension part 53. Since the distance of the outer structure cutting part (6B, 6C) with respect to the pivot axis RX can be changed by moving the movable suspension part 53, the outer structure cutting part (6B, 6C) with respect to the outer structure 11 to be cut. It becomes easy to set the position of.

  According to this embodiment, as shown in FIGS. 10A to 10B, FIGS. 17A to 17B, etc., at least one of the three ropes 21 connected to the outer structure cutting part (6B, 6C) and the beam part 52 is provided. The length control unit 22 is inserted into the one, and the length of the length control unit 22 in the vertical direction can be changed. By changing the length of the length control unit 22 in the vertical direction, the posture of the outer structure cutting unit (6B, 6C) can be controlled, so the outer structure with respect to the outer structure 11 to be cut. It becomes easy to set the posture of the cutting parts (6B, 6C) appropriately.

  According to this embodiment, as shown to FIG. 17A-FIG. 17B, the two ropes 21 are connected with the 1st support part 84 of the outer structure cutting part 6C by the two connection tools 801A, and the two A length control unit 22 is inserted into the rope 21 other than the rope 21. Therefore, when the length of the length control unit 22 in the vertical direction is changed, the first support unit 84 turns around the straight line L2 passing through the two coupling tools 801A. Further, when the second support portion 85 is driven to turn relative to the first support portion 84, the second support portion 85 turns around the turning axis AX1 perpendicular to the straight line L2 passing through the two coupling tools 801A. That is, by changing the length of the length control unit 22 and turning the second support unit 85 independently, the gripping units 81-1 to 81-4 fixed to the second support unit 85 and cutting are performed. The parts 82-1 to 82-2 can be independently swung around the mutually perpendicular axes (L2, AX1). Accordingly, the posture of the outer structure cutting portion 6C with respect to the outer structure 11 to be cut can be set more appropriately.

  According to this embodiment, as shown in FIGS. 10A to 10B, FIGS. 17A to 17B, etc., the drill blade (791) of the drill part (73, 83) provided in the outer structure cutting part (6B, 6C). , 891), a hole is made in the outer structure 11 (main pillar 13, diagonal member 14), and a drill blade (791, 891) is fitted into the hole. Therefore, when the dismantling device (2A, 2C) is suspended by a crane or the like, the cut portion of the outer structure 11 cut by the outer structure cutting portion (6B, 6C) is replaced with the outer structure cutting portion (6B, 6C). ) Can be made difficult to drop off.

  According to the present embodiment, as shown in FIGS. 2A to 2B, the cylindrical structure 1 has a simple configuration in which the gripping robot arm 61 and the cutting robot arm 62 are fixed to the beam portion 51 of the swivel base 5 </ b> A. A relatively small incidental object (ladder 15, back basket 16, electric conduit 17, etc.) in the outer structure 11 can be efficiently cut and recovered.

  According to the present embodiment, as shown in FIGS. 6A to 6B, the plurality of pressing mechanisms (310, 320) that generate pressing forces that press the inner surface of the cylindrical body 10 in the radial direction are The pressing forces of the plurality of pressing mechanisms (310, 320) are applied to a plurality of positions that are provided at the portions (31, 32) and are spaced at equal intervals in the circumferential direction on the inner surface of the barrel 10. Thereby, since the several position in the inner surface of the cylinder 10 is pressed with substantially equal pressing force, the fixing | fixed part 3 can be stably fixed with respect to the cylinder 10. FIG.

  According to this embodiment, as shown to FIG. 7A-FIG. 7C, a hole is drilled in the inner surface of the cylinder 10 with the drill blade 331 of the drill part 33 provided in the fixing | fixed part 3, and the drill blade 331 is in the hole. Fit. Therefore, when the dismantling device (2A, 2C) is suspended by a crane or the like, it is possible to make it difficult for the cut portion of the barrel 10 cut by the barrel cutting portion 4 to fall off from the fixed portion 3.

  According to the present embodiment, as shown in FIGS. 5A to 5B, in the fixing portion 3, the pressing mechanism 310-i corresponding to the drill portion 33-i is drilled by the drill blade 331 of the drill portion 33-i. The inner surface of the tube body 10 is pressed on the bottom side of the tube body 10 relative to the position where the tube body 10 is to be pressed and on the top side of the tube body 10 than the cutting position of the tube body cutting unit 4. Accordingly, vibration transmitted from the cutting portion when the inner surface of the cylinder 10 is cut by the cylinder cutting unit 4 is suppressed at the pressing portion of the pressing mechanism 310-i and is not easily transmitted to the drill blade 331 of 33-i. Can do.

  According to the present embodiment, as shown in FIGS. 5A to 5B, the two pressing portions 31 and 32 press the inner surface of the cylindrical body 10 at different positions in the longitudinal direction of the cylindrical body 10, and the two pressing portions 31. And the inner surface is cut by the barrel cutting part 4 at an intermediate position between the pressing positions of 32 and 32. Thereby, before and after cutting of the barrel 10, one pressing portion 32 is fixed to the remaining portion of the barrel 10, so that the position of the fixing portion 3 with respect to the barrel 10 is easily stabilized. Further, after the tube body 10 is cut, the pressure is released at the pressing portion 32 disposed on the bottom side of the tube body 10 and the pressure is maintained at the pressing portion 31 disposed on the top side of the tube body 10. It becomes possible to hang down while the cut portion of the cylinder 10 is fixed to the fixing portion 3.

  According to the present embodiment, when the tubular structure 1 is disassembled, the dismantling device (2A to 2C) is lifted by a crane or the like, and the fixed portion 3 and the tubular body cutting portion 4 are disposed inside the tubular body 10. At the same time, the swivel base (5A, 5B) is disposed outside the barrel 10, the inner surface of the barrel 10 is pressed by the fixing portion 3, and the fixing portion 3 is fixed to the barrel 10. In this state, along the center line passing through the center of the cross section perpendicular to the longitudinal direction of the swivel base (5A, 5B) so that the outer structure cutting part (6A to 6C) approaches the target portion of the outer structure 11. The swivel base (5A, 5B) swivels around the swivel axis RX. When the outer structure cutting part (6A to 6C) approaches the target part of the outer structure 11, the target part is gripped by the outer structure cutting part (6A to 6C), and the target part from the other part of the outer structure 11 Is disconnected. In addition, the circular saw 41 of the cylindrical cutting unit 4 rotates around the turning axis RX, and the inner surface is cut in the circumferential direction of the cylindrical body 10 by the turning of the circular saw 41. In a state where a part of the cut cylinder 10 is fixed to the fixing portion 3 and a target portion of the cut outer structure 11 is held by the outer structure cutting portions (6A to 6C). The dismantling apparatus (2A to 2C) is lifted by a crane or the like, and a part of the cut cylinder 10 and the target portion of the cut outer structure 11 are removed from the cylindrical structure 1. Therefore, it is possible to cut a part of the barrel 10 and the target portion of the outer structure 11 without hanging an operator on the upper part of the tubular structure 1 and suspend these cut objects on the ground. Become.

  As mentioned above, although several embodiment of this invention was described, this invention is not limited to embodiment mentioned above, Various modifications are included.

  In the disassembling procedure of the cylindrical structure 1 described above, an example in which both the cut portion of the tubular body 10 and the cut portion of the outer structure 11 are lifted and removed is given. Alternatively, only the cut portion of the outer structure 11 may be lifted and removed.

  DESCRIPTION OF SYMBOLS 1 ... Cylindrical structure, 10 ... Tube body, 101 ... Inner surface, 11 ... Outer structure, 12 ... Steel tower, 13 ... Main pillar, 14 ... Diagonal material, 15 ... Ladder, 16 ... Back basket, 17 ... Conduit, 18 ... walkway, 2, 2A, 2B, 2C ... dismantling device, 20A, 20B ... swivel support part, 21 ... rope, 22 ... length control part, 25 ... remote control part, 3 ... fixed part, 30 ... frame, 31 ... Pressing part, 310-1 to 310-4 ... Pressing mechanism, 311 ... Extensible arm part, 312 ... Abutting part, 32 ... Pressing part, 320-1 to 320-4 ... Pressing mechanism, 321 ... Extensible arm part, 322 ... Abutting part, 33 ... Drill part, 330 ... Drill body, 331 ... Drill blade, 332 ... Drill blade moving mechanism, 4 ... Cylinder cutting part, 40 ... Frame, 41 ... Circular saw, 42-1 to 42- 4 ... Circular saw support mechanism, 421 ... Circular saw moving mechanism, 422 ... Circular saw rotating mechanism, 5A 5B ... swivel, 51, 52 ... beam, 53 ... moving suspension, 501, 502 ... support frame, 503 ... connector, 504 ... connector, 6A, 6B, 6C ... outer structure cutting part, 60 ... Cylinder cutting robot arm, 61: gripping robot arm, 62 ... cutting robot arm, 601 ... clamping device, 602 ... holder, 603 ... wire rope, 70 ... clamping part, 71-1 to 71-2 ... gripping part , 72 ... cutting part, 73 ... drill part, 791 ... drill blade, 700 ... frame, 701A, 701B ... connector, 703-1 to 703-2 ... guide frame, 708 ... outer cover, 709 ... inner cover, 712 ... Position sensor, 710-1 ... first circular saw, 710-2 ... second circular saw, 720 ... circular saw turning mechanism, 730-1 ... first circular saw rotating mechanism, 730-2 ... second circular saw rotating mechanism, 731- ... 1st rotating shaft, 731-2 ... 2nd rotating shaft, 740-1 ... 1st circular saw moving mechanism, 740-2 ... 2nd circular saw moving mechanism, 741-1 ... 1st turning axis, 741-2 ... Second swivel axis, 750... Gear, 760 ... swivel base, 761... Rack, 770... Cutting position adjusting mechanism, 771... First moving mechanism, 772 .. second moving mechanism, 780-1 to 780-2. -1 to 781-2 ... movable piece, 782-1 to 782-2 ... connecting portion, 783 ... fixed piece, 784-1 to 784-2 ... rotating shaft, 785-1 to 785-2 ... rotating shaft, 791 ... Drill blade, 80 ... Clamp part, 81-1 to 81-4 ... Gripping part, 82-1 to 82-2 ... Cut part, 83 ... Drill part, 84 ... First support part, 85 ... Second support part 86 ... 1st turning mechanism, 87 ... 2nd turning mechanism, 88 ... Suspension balance, 801A, 801 B ... Connector, 891 ... Drill blade, 90 ... Crane, RX ... Swivel axis, L1, L2 ... Line, RL ... Swivel center line

Claims (14)

A tubular structure dismantling apparatus comprising a tubular body and an outer structure provided outside the tubular body,
A fixing portion fixed to the cylinder body by pressing the inner surface of the cylinder body;
A barrel cutting unit that has one or more cutting tools that can pivot with respect to the fixed portion, and that cuts the inner surface in the circumferential direction of the barrel by the turning of the cutting tool;
One or more outer structure cutting parts for gripping and cutting the outer structure;
A swivel which is located outside the cylindrical body and can be swiveled with respect to the fixed part, and the outer structure cutting part is fixed or suspended;
The barrel cutting part and the swivel are
Each of the fixed parts is combined so as to be pivotable,
In a state where the fixed portion is fixed to the inner surface of the cylinder, the fixed part is driven to rotate around a rotation axis along a center line passing through the center of a cross section perpendicular to the longitudinal direction of the cylinder,
Cylindrical structure dismantling device. The swivel base includes at least one beam portion extending in a direction perpendicular to the swivel axis,
The outer structure cutting part is suspended from the beam part,
The cylindrical structure dismantling apparatus according to claim 1. The swivel base includes the four beam portions provided in a cross shape around the swivel axis, and the outer structure cutting portion is suspended from each of the four beam portions.
The cylindrical structure dismantling apparatus according to claim 2. The beam portion includes a moving suspension portion that is driven in a forward direction and a backward direction with respect to the pivot axis,
The outer structure cutting part is suspended by the moving suspension part;
The cylindrical structure dismantling apparatus according to claim 2 or 3. Three ropes connected to the outer structure cutting part and the beam part;
Having at least one length control unit inserted into at least one of the three ropes and capable of changing the length in the vertical direction;
The cylindrical structure dismantling apparatus as described in any one of Claims 2-4. The outer structure cutting part is
A first support connected to the three ropes;
A second support portion that is pivotably combined with the first support portion;
A gripping part fixed to the second support part and gripping the outer structure;
A cutting part fixed to the second support part and cutting the outer structure;
The second support part is driven to pivot about an axis perpendicular to a straight line passing through two connecting tools connecting the two ropes and the first support part,
The length control unit is inserted into a rope other than at least the two ropes,
The cylindrical structure dismantling apparatus according to claim 5. The outer structure cutting part includes a suspension balance attached to the first support part so as to be pivotable,
The two balances connected to the two ropes, and a link connected to a rope other than the two ropes via the length control unit are provided on the suspension balance,
The axis on which the suspension balance pivots with respect to the first support part is perpendicular to the axis on which the second support part pivots with respect to the first support part, and passes through the two connectors. Perpendicular to the straight line,
The cylindrical structure dismantling apparatus according to claim 6. The outer structure cutting part has at least one first drill part provided with a drill blade that opens a hole in the outer structure and fits into the hole.
The cylindrical structure dismantling apparatus as described in any one of Claims 1-7. The swivel includes at least one beam portion extending in a direction perpendicular to the swivel axis,
The outer structure cutting part is
A gripping robot arm for gripping the outer structure;
A cutting robot arm for cutting the outer structure in a state of being gripped by the gripping robot arm,
The gripping robot arm and the cutting robot arm are fixed to the beam portion,
The cylindrical structure dismantling apparatus according to claim 1. The fixing portion includes at least one pressing portion that presses the inner surface of the cylindrical body,
The pressing portion includes a plurality of pressing mechanisms each generating a pressing force for pressing the inner surface of the cylindrical body in a radial direction,
The plurality of pressing mechanisms apply the pressing force to a plurality of positions on the inner surface that are equally spaced in the circumferential direction of the cylinder.
The cylindrical structure dismantling apparatus as described in any one of Claims 1-9. The fixing portion includes at least one second drill portion provided with a drill blade that opens a hole in the inner surface of the tube body on the top side of the tube body from a cutting position of the tube body cutting portion and fits into the hole. Having
The cylindrical structure dismantling apparatus according to claim 10. The fixing portion includes a plurality of second drill portions corresponding to the plurality of pressing mechanisms of the pressing portion,
The one pressing mechanism corresponding to one second drill part includes a bottom side of the cylinder body and a cutting position of the cylinder cutting part with respect to the position of the hole opened by the one second drill part. Than pressing the inner surface of the cylinder on the top side of the cylinder,
The cylindrical structure dismantling apparatus according to claim 11. The fixing portion includes the two pressing portions that press the inner surface of the cylindrical body at different positions in the longitudinal direction of the cylindrical body,
The cylindrical cutting part cuts the inner surface at an intermediate position between the pressing positions of the two pressing parts.
The cylindrical structure dismantling apparatus as described in any one of Claims 10-12. A method for disassembling a cylindrical structure comprising a cylinder and an outer structure provided outside the cylinder,
A fixed part fixed to the cylindrical body by pressing the inner surface of the cylindrical body, a cylindrical cutting part having one or more cutting tools that can pivot with respect to the fixed part, and the outer structure And lifting the device having one or more outer structure cutting portions to be cut by cutting and a swivel base that is pivotable with respect to the fixed portion and on which the outer structure cutting portion is fixed or suspended. And a step of positioning the barrel cutting part on the inside of the barrel, and positioning the swivel base on the outside of the barrel;
A step of pressing the inner surface of the cylindrical body to the fixing portion to fix the fixing portion to the cylindrical body;
A step of swiveling the swivel around a swivel axis along a center line passing through a center of a cross section perpendicular to the longitudinal direction of the cylinder so that the outer structure cut portion approaches a target portion of the outer structure. When,
Gripping the target portion by the outer structure cutting section and cutting the target portion from other portions of the outer structure; and
Turning the one or more cutting tools of the cylindrical cutting section around the pivot axis, and cutting the inner surface in a circumferential direction of the cylindrical body by turning the cutting tool;
In a state where the fixed portion is fixed to a part of the cut cylinder and the cut target portion is gripped by the outer structure cutting portion, the apparatus is lifted, and one of the cut cylinders And a step of removing the cut target portion from the cylindrical structure.

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