JPH0236160Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a remote automatic operating device for a reciprocating cutting machine that cuts objects to be cut such as piping.

Conventionally, reciprocating cutting machines have been used to cut contaminated piping from nuclear facilities. As shown in FIG. 1, a conventional reciprocating cutting machine 1 has saw teeth 3 that are reciprocated by a drive motor 2, and is attached to a contaminated pipe 4 via a mounting jig 6 having a chain 5. Furthermore, the sawtooth 3 is supported by the mounting jig 6 via a support pin 7 so as to cross the contaminated pipe 4. According to such a conventional configuration, the contaminated pipe 4 of the cutting machine 1
The worker will perform the work of attaching the pipe to the contaminated pipe 4, and the worker will also perform the work of removing the jig (such as a chain) necessary for cutting from the contaminated pipe 4 after the cutting work. For this reason, when working under radiation, such as dismantling a nuclear reactor, problems arise such as radiation exposure and contamination for workers.

The purpose of this invention is to enable the worker to fix and separate the cutting machine from the workpiece without having to come into direct contact with the workpiece, and to avoid vibrations, shocks, etc. from the cutting machine directly from the work arm. The object of the present invention is to provide a remote automatic control device for a reciprocating cutting machine that does not require transmission of information to the machine or work cart.

In order to achieve the above object, the remote automatic device for the reciprocating cutting machine of the present invention has a work arm attached to the work cart that can be freely controlled remotely, and a work arm that can freely hold the object to be cut through an attachment/detachment device at the tip of the work arm. A handling device is attached, a reciprocating cutting machine is attached to the handling device, and a monitoring camera is attached to the work cart side.

According to the above configuration, the following effects can be expected. That is, the reciprocating cutting machine can be attached to the object to be cut by moving the work cart and activating the working arms and then holding the object to be cut with the handling device, and can be removed by reverse operation. . This allows the worker to fix and separate the cutting machine from the object to be cut without having to come into direct contact with the object, thereby preventing contamination of the worker. After the installation work has been carried out as mentioned above, the desired cutting work is carried out using a reciprocating cutting machine, but this cutting work can be constantly monitored using a monitor camera and can be easily carried out by one worker. Become. Furthermore, by detaching the work arm from the reciprocating cutting machine by detaching the attachment/detachment device, it is possible to reduce the effects of vibrations, shocks, etc. on the work trolley side, thereby extending the service life of the work trolley and preventing the occurrence of breakdowns. .

An embodiment of the present invention will be described below based on FIGS. 2 to 10.

In FIGS. 2 to 4, reference numeral 10 denotes a work cart that can be automatically driven by remote control, and a work arm 11 that can be remotely controlled is attached to the upper part of the work cart. This working arm 11 consists of a base arm 11A and a tip arm 11B, each of which has a cylinder device (an example of an actuating device) 12.
A and 12B operate separately. The tip arm 1
The object to be cut 1 is attached to the tip of 1B via the attachment/detachment device 13.
Attach a handling device 15 that can freely hold 4.
This handling device 15 is equipped with a reciprocating cutting machine 16.
is installed. As shown in FIGS. 3 to 7, the handling device 15 includes a machine frame 17, a pair of clamping arms 19A, which are swingably attached to the machine frame 17 via quadruple link mechanisms 18A and 18B, respectively. 1
9B, and a drive device 20 that swings these clamping arms 19A and 19B toward and away from each other. The drive device 20 is connected to a ball screw shaft 22 extending in the front-rear direction which is rotatably attached to the machine frame 17 via a bearing 21, a nut body 23 screwed onto the ball screw shaft 22, and a nut body 23. A link 24A that interlocks both quadruple link mechanisms 18A and 18B,
24B, a worm wheel 25 fixed to the ball screw shaft 22, and this worm wheel 25.
The drive motor 28 includes a worm gear 26 corresponding to the worm gear 26 and a drive motor 28 with a brake 27 interlocked with the worm gear 26 and attached to the machine frame 17. The attachment/detachment device 13 includes an armature 29 attached to the machine frame 17, and a yoke 3 that can be detachably fitted to the armature 29 and attached to the tip arm 11B.
0 and the coil 3 wound on the inner surface of this yoke 30.
Consists of 1. The reciprocating cutting machine 16 has a third
As shown in FIGS. 6, 8, and 9, it consists of a main body 33 having a push-pull drive device 32, and saw teeth 34 interlocked with the push-pull drive device 32. To attach it to the handling device 15 side, a rotating body 37 is attached to a shaft 35 that stands up from the machine frame 17 via a bearing 36, and the main body 33 is fixed to this rotating body 37 with a rod 38, a nut 39, etc. This is done by A key (not shown) is interposed between the rod (shaft) 38 and the main body 33 during the fixation. Therefore, the reciprocating cutting machine 16 can swing freely around the shaft 35, and the swing drive device 40 that causes the swing is connected to the rotating body 3.
7 and a pin 42 attached to the machine frame 17. The swing drive device 40 is composed of a motor 43, a reduction gear 44, and a rod cylinder 45. The rod cylinder 45 is made up of, for example, a nut fixed to the cylinder body, and a screw shaft that is screwed into the nut and is expandable and retractable by rotation. As shown in FIGS. 2 and 10, a monitor camera 46 is attached to the base arm 11A, and an operating section 47 including a remote control panel is provided with a monitor television or the like. The operation unit 47 and the work trolley 10 are connected by a cable 48
Further, the working arm 11 and the handling device 15 are connected by a cable 49.

The work is explained below.

First, the work cart 10 is moved by remote control in the operating section 47 and stopped at a location facing the object 14 to be cut. Next, the working arm 11 is operated by remote control, and the clamping arm 19A is opened and moved.
19B are placed opposite to the top and bottom of the object to be cut 14. In this state, the drive device 20 is operated to hold the gripping arms 19A,
19B are moved closer to each other, and as shown in FIGS. 2-9.
As shown in the figure, the handling device 15 can be attached (fixed) to the object to be cut 14 by sandwiching the object to be cut 14 from above and below. Even if the drive motor 28 is stopped at this time, the gripping arm 19A,
The clamping force (grip force) due to 19B can be maintained. Next, the swing drive device 40 is operated while the saw teeth 34 are cut by the operation of the push-pull drive device 32;
The sawtooth 34, which has been in cutting motion, is swung around the shaft 35 to perform the desired cutting. At this time, the second
As shown in the figure, the working arm 11 and the handling device 1
It is in a connected state with 5. By performing a reverse operation after cutting, the handling device 15 and the like can be removed from the object 14 to be cut.

Particularly when the object to be cut 14 is hard, such as stainless steel, and the vibration level of the reciprocating cutting machine 16 is high, by detaching the attachment/detachment device 13, the handling device 15 can be cut as shown in FIG. The work can be carried out by separating the work arm 11 from the work arm 11. In this case, the handling device 15,
The drive and control of the reciprocating cutting machine 16, the cutting machine driving device, etc. is performed by the working arm 11 and the handling device 15.
This is done via a cable 49 between the two. Furthermore, the attachment/detachment device 13 is fixed (coupled) with the armature 2.
This is done by fitting the yoke 30 onto the armature 9 and energizing the coil 31, and therefore, removing the yoke 30 from the armature 29 by stopping the energization.

A series of operations such as attachment, cutting, and release can be performed while being monitored by the operation unit 47 using the monitor camera 46.

In the above embodiment, the work corresponding to the work to be cut 14 in the horizontal direction was explained, but this
By setting B so that it can be gripped and moved from the left and right directions, it is also possible to work on the workpiece 14 in the vertical direction.

[Brief explanation of the drawing]

Figure 1 is a perspective view showing a conventional example, Figures 2 to 10
The figure shows an embodiment of the present invention, FIG. 2 is a side view,
Figure 3 is a side view of the main parts, Figure 4 is a plan view of the same, and Figure 5 is a side view of the main part.
The figure is a side view of the handling device, FIG. 6 is a plan view of the same, FIG. 7 is a partially cutaway side view of the same, FIG. 8 is a side view showing the arrangement of the swing drive device, and FIG. 9 is a plan view of the same. , FIG. 10 is a side view showing another working state. 10... Working trolley, 11... Working arm, 13...
Attachment/detaching device, 15... Handling device, 16...
Reciprocating cutting machine, 19A, 19B... clamping arm, 2
0... Drive device, 29... Armature, 30...
...Yoke, 31...Coil, 34...Sawtooth, 35
... shaft, 40 ... rocking drive device, 46 ... monitor camera, 47 ... operation section, 48, 49 ... cable.

Claims (1)

[Scope of utility model registration request] A remotely controllable working arm is attached to the work trolley, a handling device that can freely hold the object to be cut is attached to the tip of the working arm via an attachment/detachment device, a reciprocating cutting machine is attached to this handling device, and a reciprocating cutting machine is attached to the handling device. A remote automatic control device for a reciprocating cutting machine, characterized in that a monitoring camera is attached to the machine.