JPH1179019A - Wall-mounted cutting device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To remotely cut and dismantle tanks and pool lining materials of a nuclear power plant and the like. A suction mechanism in which an outer suction frame and an inner suction frame are movably combined, suction elements provided on the outer suction frame and the inner suction frame, and an outer suction frame. The suction element 16 of the inner suction frame 3 is floated while the suction element 12 is suction-fixed to the wall surface to be cut, and then moved to move the suction element 16 of the inner suction frame 3 to suction-fix the suction element 16 to the cut surface. In this state, a moving mechanism for moving the suction mechanism by alternately repeating the operation of lifting and moving the suction element 12 of the outer suction frame 2, a cutting mechanism mounted on the moving mechanism or the suction mechanism, and a main body of the suction mechanism , A control mechanism for controlling the moving mechanism and the cutting mechanism, respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to equipment and structures such as tanks installed in nuclear power plants and the like, cutting and dismantling work of pool linings and the like, and tanks installed in a wide range of applications in other industrial fields. The present invention relates to a movable wall cutting device for moving and cutting a wall of an object by remote control.

[0002]

2. Description of the Related Art For example, in a nuclear power plant,
When decommissioning, dismantling, dismantling, or replacing equipment for a reactor or plant that has reached its end of life, unnecessary equipment, devices, and structures require cutting and dismantling work. The target equipment for the cutting and dismantling work includes a tank and a pool lining material.

[0003] Conventionally, when cutting a tank wall or a pool lining material, the work is performed at a high place. Approaching and performing a cutting operation by hand using a cutting tool on hand.

[0004]

When a tank or pool lining material is cut in a nuclear power plant, the work is directly performed by using a cutting tool on hand and approaching the tank or pool to be cut. That is, there is a problem in the working environment that the worker is exposed to radiation.

[0005] Further, since cutting is a high-altitude operation, it is necessary to install a scaffold, and there is a problem that labor saving for repetition of installation and removal of the scaffold required for each cutting is desired.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is possible to perform a cutting operation while sucking and running on a tank or pool wall surface by remote control without manual operation.
It is an object of the present invention to provide a wall moving type cutting device that contributes to reduction of radiation exposure and man-hour.

[0007]

According to the first aspect of the present invention, there is provided the following:
A suction mechanism in which the first suction mechanism member and the second suction mechanism member are relatively movably combined; a suction element provided in each of the first suction mechanism member and the second suction mechanism member; The suction element provided on the second suction mechanism member is floated in a state where the suction element provided on the suction mechanism member is suction-fixed to the wall surface to be cut, and is moved to the second suction mechanism member by the next moving operation. The suction element provided is moved to be fixed by suction to the wall surface to be cut, and in this state, the operation of floating and moving the suction element provided on the first suction mechanism member is alternately repeated to move the suction mechanism. A moving mechanism, a cutting mechanism mounted on the moving mechanism or the suction mechanism, and a suction control unit for controlling the suction mechanism;
A moving control unit that controls the moving mechanism; and a cutting control unit that controls the cutting mechanism.
The suction mechanism member and the second suction constituent member are alternately operated in the order of suction and suction release (removal), and the cutting mechanism that moves and travels by sliding the member that has released the suction becomes movable by the moving mechanism. The moving mechanism can be moved at the time of cutting, and the first suction mechanism member can be turned by a turning motor via a gear with the second suction mechanism member.

According to the first aspect of the present invention, the work of cutting and dismantling tanks, pool lining materials and the like installed in a nuclear power plant or the like can be performed by remote control, thereby reducing radiation exposure of workers. Can be. In addition, compared to a case where a tool is attached to the tip of a manipulator-like device that is common as a remote working device, a large-scale work scaffold is not required, and preparation work is reduced.

Furthermore, since the work can be carried out by attaching a light and thin device to the wall surface, it can be applied to a narrow work space, and the working device can be easily transported.
Together with these effects, the cutting and disassembling operations can be performed safely, efficiently, and at low cost.

According to a second aspect of the present invention, in the first aspect, a horizontal relative movement mechanism and a rotational relative movement mechanism are provided between the first suction mechanism member and the second suction mechanism member. It is characterized by the following.

According to the second aspect of the present invention, there is a relative degree of freedom in the rotational direction between the plurality of suction mechanisms. Even if the cutting device is mounted slightly obliquely before the work is mounted on the object to be cut before the work, the mounting position can be easily corrected horizontally by rotating the suction mechanism relatively.

The invention according to claim 3 is characterized in that a relative movement mechanism having two horizontal degrees of freedom is provided between the first suction mechanism member and the second suction mechanism member. According to the third aspect of the present invention, it is possible to vertically move the plurality of suction mechanisms without rotating them.
Can move horizontally. For example, consider a case in which each suction element is fixed to an appropriate angle in advance according to the curvature of the wall surface to be cut (suction element = slope angle of a portion corresponding to the suction disk). According to the second aspect, the fixed angle of the suction element is not appropriate with respect to the wall surface due to the turning of the suction mechanism, and the angle needs to be corrected by some method. In claim 3, such a problem does not occur.

According to a fourth aspect of the present invention, a linear moving mechanism for increasing or decreasing the distance between the suction element and the wall surface to be cut is provided on an intermediate frame of the moving mechanism. According to the fourth aspect of the present invention, a case in which a wall having curvature is moved is considered. Since the relative movement between the outer suction frame and the inner suction frame is performed on the same plane, the relative movement changes the relative distance between the curved wall surface and the suction element. According to the fourth aspect of the present invention, interference between the suction element and the wall surface can be prevented by moving each suction element away from the wall surface during movement.

A fifth aspect of the present invention is characterized in that a free rotation mechanism for providing a degree of freedom of rotation is provided between the suction element and a suction mechanism member to which the suction element is attached.
According to the fifth aspect of the present invention, in the case of applying to a wall surface having a curvature, the angle of the suction element can be appropriately adjusted according to the inclination angle of the wall surface. This has the effect of suppressing the deformation of the suction element due to the oblique contact of the suction element with the wall surface and the occurrence of air leakage accompanying the deformation of the suction element.

According to a sixth aspect of the present invention, the suction element comprises a vacuum suction element having a linear moving mechanism and a vacuum suction board attached via a hinge pin at a distal end of the linear moving mechanism. . According to the sixth aspect of the present invention, by using vacuum suction as a suction principle, even a cutting object that is not a ferromagnetic material can be suctioned to a target wall surface.

According to a seventh aspect of the present invention, the attraction element includes a linear moving mechanism, and a magnetic attraction plate having a permanent magnet or an electromagnet attached to a distal end of the linear moving mechanism via a hinge pin. It is characterized by comprising an adsorption element.

According to the seventh aspect of the present invention, as compared with the sixth aspect of the present invention, no equipment such as a vacuum pump and a valve is required. Since the suction can be released, the control system is simplified.

According to an eighth aspect of the present invention, there is provided an exhaust air suction device, wherein the suction element includes a linear moving mechanism, and an exhaust air suction plate having a built-in fan attached to a distal end of the linear moving mechanism via a hinge pin. It is characterized by consisting of elements.

According to the eighth aspect of the present invention, a device for reducing the pressure of the air in the suction element can be provided on the main body of the suction-type moving mechanism, as compared with the sixth aspect of the invention. Therefore, unlike the invention of claim 6, there is no need to connect the main body and the vacuum device with an air hose or the like, and the movement of the suction-type moving mechanism is less restricted.

A ninth aspect of the present invention is characterized in that a control device for controlling a movement control function and a cutting control function provided to the moving mechanism and the cutting mechanism is provided. According to the ninth aspect, the cutting and dismantling work can be easily performed by performing the suction control and the movement control of the suction-type moving mechanism and the cutting control of the cutting device in cooperation with each other.

According to a tenth aspect of the present invention, the control device is provided with a self-position detecting mechanism for detecting a self-position and a self-posture and a self-posture detecting mechanism. Claim
According to 10, by having means for detecting the self-position and self-posture, it is possible to easily move along a predetermined cutting plan line.

According to an eleventh aspect of the present invention, the self-position detecting mechanism observes one of sounds, light, or radio waves generated from the moving side of the moving mechanism or the cutting mechanism at a plurality of fixed-side points, and Which detects the

According to the eleventh aspect, sound, light or radio waves generated from the moving side of the suction-type moving mechanism or the cutting device according to the first aspect are observed at a plurality of points on the fixed side to detect the generated position. By doing so, the absolute position can be easily detected, so that errors are not integrated. Further, it is possible to use the sound generated when the suction-type moving mechanism is moved and the sound and light generated when the cutting device is cut, and the signal generated on the moving side can be used. In addition, the size and weight of the moving side can be easily reduced.

According to a twelfth aspect of the present invention, the self-posture detecting mechanism comprises a sensor for detecting an inclination with respect to a vertical line. According to the twelfth aspect, since the self-posture is detected by the sensor that detects the inclination with respect to the vertical line, errors are not integrated, the structure is simple, and the size, weight, and reliability can be easily improved. Can be.

According to a thirteenth aspect of the present invention, the control device controls the suction mechanism by judging a suction state of the suction element and a speed control function corresponding to a cutting speed of a cutting device of the cutting mechanism. Features.

According to the thirteenth aspect, the speed control function corresponding to the cutting speed of the cutting processing device and the suction state of the suction element are determined and the suction mechanism is controlled, so that the occurrence of a defective cutting portion can be eliminated, thereby ensuring more reliable. Since the next operation is performed after confirming the suction, a fall accident or the like due to incomplete suction can be prevented, and reliability and safety can be improved.

The invention according to claim 14 is characterized in that the control device has at least one of a cutting start position detecting mechanism and a cutting state monitoring mechanism of the cutting mechanism. Claim 14
According to the method, by monitoring the cutting start position and the cutting state of the cutting device with a visual sensor such as a television camera, the cutting start position can be easily adjusted and the quality control of the cutting process can be easily performed.

According to a fifteenth aspect of the present invention, the control device includes a cutting procedure planning mechanism for planning a cutting procedure on a two-dimensional or three-dimensional map, the self-position / self-posture detection result, the cutting-position detection result, It is characterized by comprising a mechanism for displaying and storing at least a part such as distinction of cut or uncut.

According to the fifteenth aspect, the cutting procedure can be planned on a two-dimensional or three-dimensional map, and the status of the suction-type moving mechanism and the cutting device can be easily displayed and stored. Can be achieved.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIG.
A first embodiment of the wall moving and cutting device according to the invention corresponding to 5 and 6 will be described. Wall moving type cutting device 1
The main components are a suction mechanism including an outer suction frame 2 and an inner suction frame 3, a moving mechanism (not shown) for moving the suction mechanism, a cutting mechanism 5 for cutting a cutting portion of the tank 4, and a cutting mechanism 5 for cutting them. A suction control unit 6, a movement control unit 7, for controlling a suction mechanism, a movement mechanism, and a cutting mechanism;
A control device 9 having a cutting control unit 8.

The outer suction frame 2 and the inner suction frame 3 correspond to the first suction mechanism member and the second suction mechanism member of the first aspect, and are formed on the side wall surface of the tank 4 under the control of the suction control unit 6. It is constituted so that it can be attached and detached detachably, and the wall surface type cutting device 1 can be fixed to the side wall surface.

To move the outer suction frame 2 and the inner suction frame 3 relatively, a moving mechanism shown in FIGS. 2 to 5 is provided. In FIG. 1, suction is performed on the wall surface of the tank 4), and the suction element of the second suction mechanism member is released from suction, that is, the second suction mechanism member is lifted.
By alternately repeating the operation of moving the suction mechanism member relative to the first suction mechanism member, the wall moving cutting device 1 can move along the vertical cutting line 10a and the horizontal cutting line 10b shown in FIG. 1, for example. You can move.

Further, there is provided a cutting mechanism 5 mounted on the wall moving type cutting device 1 so as to be capable of scanning in the horizontal and vertical directions, and is moved to a predetermined position on the wall by the suction mechanism and the moving mechanism. By performing the cutting while appropriately moving the cutting mechanism 5, the wall of the tank 4 is cut, for example, by a cutting line.
10a, and can be cut as shown by a cutting line 10b.

The cutting mechanism 5 incorporates a cutting device such as a gas cutting machine, a laser cutting machine, a hand saw or a cutter, and is movably installed on the outer suction frame 2. The cutting mechanism 5 can be installed on the inner suction frame 3 or on a stage 20 described later.

Although FIG. 1 shows a state in which the movable wall type cutting device 1 is fixed to the outside of the cylindrical tank 4 by suction, it is also applicable to a side surface inside the tank and a flat surface such as a pool lining. It is possible.

Next, from FIGS. 2A and 2B, FIG.
With reference to (a) and (b), the principle that the wall-movable cutting device 1 moves along the wall surface of the tank 4 will be described in detail. In each of the figures, (a) is a front view, and (b) is a side view.

FIG. 2 shows a case where the cutting mechanism is removed from the wall moving type cutting apparatus 1. FIGS. 3 to 5 show the outer suction frame 2, the inner suction frame 3, and the main components of the suction mechanism.
And an intermediate frame 11 of the moving mechanism. As shown in FIGS. 3A and 3B, the outer suction frame 2 includes a vacuum suction disk 25 of a plurality of outer suction elements 12, a linear moving mechanism 28, and an outer frame 13 for fixing the outer suction elements 12. On the outer frame 13, two linear guide rails 14 as members as a moving mechanism are attached, and one guide rail rack 15 is provided.

As shown in FIGS. 4 (a) and 4 (b), the inner suction frame 3 is composed of a vacuum suction disk 25 of a plurality of inner suction elements 16, a vacuum moving mechanism 28, and inner frames 17a and 17b for fixing them. A bearing 18, which is a member of the moving mechanism, is provided on the inner frame 17a.

The intermediate frame 11 shown in FIGS. 5A and 5B
Is provided with a linear guide 19 paired with the linear guide rail 14 shown in FIG. 3 to guide the relative parallel movement of the outer suction frame 2 and the intermediate frame 11, and the linear guide 19 is fixed. A stage 20 and a translation motor 21 and a turning motor 22 installed on the stage 20 are provided.

Here, the moving mechanism is a moving guide and a driving source between a plurality of suction mechanism members, and includes a parallel moving motor 21, a turning motor 22, a gear 23, a pinion 24, a rack 15, a linear guide 19, and a linear guide rail. 14, stage 20, bearing 18 and the like.

The stage 20 is fitted with the bearing 18 and guides the relative rotational movement between the inner suction frame 3 and the intermediate frame 11. The side surface of the inner frame 17a is cut with teeth, and meshes with a gear 23 to which an output shaft of the turning motor 22 is attached. The pinion gear 24 of the translation motor 21 meshes with the rack 15.

With the above-described configuration, the wall moving type cutting device 1 drives the turning motor 22 to
As shown in (a), the relative movement of the outer suction frame 2 and the inner suction frame 3 can be performed. Further, by driving the motor 21 for parallel movement, the relative movement of the outer suction frame 2 and the inner suction frame 3 as shown in FIG.

FIG. 7 is an enlarged view of a first example of the suction element (vacuum suction element by vacuum) in the outer suction element 12 and the inner suction element 16 of FIG. 5 corresponds to the invention of claim 6. In FIG. 7, the vacuum suction element is, for example, a vacuum suction disk 25 molded of rubber or the like, a vacuum device (not shown), an air hose 26 connecting the vacuum device to the vacuum suction disk 25, and the vacuum suction disk 25 pressed against a wall surface 27, or And a control system (not shown). The vacuum device includes a vacuum pump, a valve, and a control system thereof. The linear moving device 28 can be constituted by, for example, a cylinder mechanism.

The linear moving mechanism 28 presses the vacuum suction plate 25 against the wall surface 27 and operates the vacuum device to operate the vacuum suction device.
The vacuum between the vacuum suction disk 25 and the inner surface of the vacuum suction disk 25 can be suctioned to the wall surface 27 by reducing the pressure by drawing air. The suction between the vacuum suction plate 25 and the wall surface 27 is released by opening the air hose 26 to the atmosphere by operating a vacuum device.
This can be done by sending air into the air.

The vacuum suction disk 25 is fixed to the outer frame 13 or the inner frame 17a so as to have a rotational degree of freedom. In FIG. 7, as an example, a hinge pin is attached to the linear movement mechanism 28.
29 shows a case where it is fixed, and is rotatable in the illustrated direction. For this reason, even when applying to a curved wall such as a cylindrical container, the angle of the vacuum suction disk 25 can be adjusted according to the wall surface. This has an effect of suppressing deformation of the vacuum suction plate 25 caused by obliquely hitting the wall surface and occurrence of air leakage accompanying the deformation.

As a method of appropriately adjusting the angle of the vacuum suction disk 25, a method of adjusting the angle to an appropriate angle determined by the radius of curvature of the tank wall before installation and fixing the vacuum suction disk 25 in advance is used. There is a method of freely rotating around, and a method of naturally pressing the wall 27 at an appropriate angle by pressing it against the wall surface 27 can be used.

Next, a method of moving the wall moving type cutting apparatus having the above configuration along the wall will be described in detail. First, FIG.
The case of horizontal movement will be described with reference to FIGS. 10 (a) and 10 (b) from (a) and (b). FIGS. 8A and 8B show the stopped state. With the inner suction frame 3 still adsorbed on the wall surface 27, the suction of the outer suction frame 2 is released and separated from the wall surface 27, and the translation motor 21 is driven to move the outer suction frame 2 to the left with respect to the inner suction moving mechanism 3. (Or right). This state is shown in FIGS. 9A and 9B.

Next, after adsorbing the outer suction frame 2 to the wall surface 27, the suction of the inner suction frame 3 is released and separated from the wall surface 27, and the parallel moving motor 21 is driven to move the inner suction frame 3 to the outer suction motion. Move the mechanism 2 to the left (or right). This state is shown in FIGS. 10A and 10B. By repeating this operation, the wall-movable cutting device 1 can move the wall surface 27 in the horizontal direction.

Next, the case of vertical movement will be described with reference to FIGS. 11 (a) to 11 (d). FIG. 11A shows a stopped state. The inner suction frame 3 releases the suction of the outer suction frame 2 while being suctioned to the wall surface 27, separates the outer suction frame 2 from the wall surface 27, and drives the turning motor 22 to move the outer suction frame 2 to the inner suction frame 3.
Turn 90 °. This state is shown in FIG.

Next, the motor 21 for parallel movement is driven to move the outer suction frame 2 upward (or downward) with respect to the inner suction frame 3. This state is shown in FIG. Next, after adsorbing the outer suction frame 2 to the wall surface 27, the suction of the inner suction frame 3 is released and separated from the wall surface 27, and the translation motor 21 is driven to move the inner suction frame to the outer suction moving mechanism. Move up (or down). This state is shown in FIG. By repeating this operation, the wall moving cutting device 1
Can be moved vertically.

In the above example, the operation of separating the suction plate 25 from the wall surface in FIG. 7 is performed by operating the linear moving mechanism 28 provided on the suction elements 12 and 16 as described above.
On the other hand, without providing the linear moving mechanism 28 for each of the suction elements 12 and 16 as described above, the space between the outer suction frame 2 and the inner suction frame 3 as shown in another example of the suction mechanism in FIG. The suction disk 25 can also be separated from the wall surface 27 by providing a short linear moving mechanism 28a and changing the relative distance between the outer suction frame 2 and the inner suction frame 3 as shown in FIG. FIG. 12B shows a state in which the outer suction frame 2 has floated.

In the first example described above, the wall surface is moved by the reciprocation of the plurality of vacuum suction disks.
However, the present invention is not limited to this. For example, a configuration may be adopted in which a plurality of suction disks are installed on an endless track and the wall surface is continuously moved by driving the endless track.

FIG. 13 shows a second example (a magnetic force attracting element using a permanent magnet) of the attracting element in FIG. 1 corresponding to the invention of claim 7, and FIG. 9 shows a third example of the attracting element (a magnetic attracting element using an electromagnet). The second example and the third example correspond to the invention of claim 7, and the only difference from the first example is the portion of the suction plate 25 in FIG. ing.

In the second example, instead of the vacuum suction in the first example, the magnetic force is applied to the wall surface 27 by magnetic force, and the present invention is applicable when the wall surface 27 is made of a ferromagnetic material. One method is to use a permanent magnet 31. By bringing the permanent magnet 31 closer to or away from the wall surface 27, it is possible to adsorb and release the adsorption.

FIG. 13 shows a second example, in which a permanent magnet 31 is provided in a magnetic suction disk 30. When the permanent magnet 31 is brought closer to the wall surface 27 by a linear feed mechanism (not shown), it is adsorbed, and when it is moved away, the adsorption can be released. Fig. 14 shows a method using an electromagnet 33,
An electromagnet 33 is installed in the
By applying electricity to this through cable 35,
Suction can be released by turning off the power.

In the second and third examples of the attraction element described above, the wall surface 27 is moved by reciprocating motion of a plurality of magnets. However, the present invention is not limited to this. For example, a plurality of magnets are installed on an endless track. Then, the wall 27 may be moved by the endless orbit and driven by the endless track. In addition, a wall moving mechanism that continuously moves the wall by driving the wheel while adsorbing the wall with the magnetic force of the magnet while the magnet is lifted from the wall by a guide such as a wheel, or magnetizing the wheel itself to the wall. It may be implemented by a method such as mounting a cutting tool on a wall moving mechanism configured to adsorb.

FIG. 15 shows a fourth example of the suction element in FIG. 1 and corresponds to the invention of claim 8. The only difference between the fourth example and the first example is the vacuum suction disk 25 shown in FIG. 7, so that the other parts are omitted. In this fourth example, instead of the vacuum suction of the first example,
The inside of the suction board 36 is evacuated and decompressed by an exhaust device installed in the portion 36, thereby adsorbing the exhaust air suction board 36 to the wall surface 27.

In FIG. 15, as an example, a fan 37 is connected to a motor 38.
It is exhausted by turning it. The motor 38 is controlled by a suction control device 40 via a cable 39. The suction can be released by rotating the fan 37, and the suction can be released by stopping or slowing the rotation of the fan 37. Reference numeral 41 denotes an exhaust hole provided in the exhaust air suction plate 36.

Next, a second embodiment corresponding to the third aspect of the present invention will be described with reference to FIGS. The difference between the second embodiment and the first embodiment is that the second embodiment has a relative movement of two horizontal degrees of freedom between a plurality of suction mechanisms.
Since only the moving mechanism is different, FIG. 16 does not show a portion related to the cutting device in the wall moving type cutting device 1a. FIGS. 17 to 19 show the outer suction frame 2 as its main components in FIG. 17, the inner suction frame 42 in FIG. 18, and the intermediate frame 43 in FIG. The outer suction frame 2 includes a plurality of suction elements (vacuum suction board 25, linear moving mechanism), an outer frame 13 for fixing the suction elements, a linear guide rail 14, and the like.

The intermediate frame 43 is paired with the linear guide rail 14 shown in FIG. 17 to guide the relative parallel movement between the outer suction frame 2 and the intermediate frame 43 shown in FIG. First and second intermediate linear guide rails 46 and 47 fixed to 48 and a power source for parallel movement (not shown) are provided. The inner suction frame 42 shown in FIG. 18 is paired with a plurality of suction mechanisms 25, an inner frame 44 for fixing the same, and the first and second intermediate linear guide rails 46 and 47 shown in FIG. It is constituted by an inner linear guide 45 for guiding a parallel movement relative to the intermediate frame 43.

In the second embodiment, FIG.
By moving the linear guide rail 14 and the linear guide 38 relatively as shown in FIG. 2B, the outer suction frame 2 and the inner suction frame 42 can be relatively horizontally moved. Also, as shown in FIGS. 21A and 21B, the first and second intermediate linear guide rails 46 and 47 and the inner linear guide 45 are relatively moved, so that the outer suction frame 2 and the inner suction guide 2 are moved. The frame 42 can be relatively moved in the vertical direction.

These movements can be performed by a combination of a rack and pinion mechanism and an electric motor, for example, as in the case where the outer suction frame 2 and the inner suction frame 3 are relatively horizontally moved in the first embodiment. . The vacuum suction disk 25 and the linear movement mechanism 28 of the suction mechanism shown in FIGS. 17 to 19 have the same configuration and operation as those of the first embodiment.

With the above-described configuration, the outer suction frame 2 and the inner suction frame 42 are alternately sucked and released from the wall surface in the same manner as in the first embodiment.
a can be moved horizontally and vertically.

Next, a third embodiment according to the ninth aspect of the present invention will be described with reference to FIG. In the present embodiment, as shown in FIG. 22, the suction mechanism 49, the moving mechanism 50, and the cutting mechanism 5
Is provided in the control device 9 having the function of controlling

The movable wall-type cutting device 1b comprises an adsorption mechanism 49 composed of an actuator and a sensor for driving the adsorption mechanism.
And a moving mechanism 50 composed of an actuator and a sensor for driving the moving mechanism, and a cutting mechanism 5 for driving the cutting device.
It is composed of The control device 9 includes a suction control unit 6 connected to the suction mechanism 49 and a movement control unit 7 connected to the movement mechanism 50.
And a cutting control unit 8 and an operation input unit 51 connected to the cutting mechanism 5.

According to the present embodiment, the suction mechanism 49 includes an actuator, a sensor, and the like corresponding to the suction element. For example, in the case of a vacuum suction type suction element, it is constituted by a vacuum pump, a solenoid valve, a pressure sensor and the like as shown in FIG. FIG. 13 and FIG.
As shown in FIG. 14, one or both of the permanent magnet 31 and the electromagnet 33 and a contact sensor or a proximity sensor are provided. The moving mechanism 50 includes, for example, an electric motor or a cylinder, a limit switch, a rotary encoder, and the like. The cutting mechanism 5 corresponds to a cutting device.
It is composed of a cutting start / stop circuit and the like.

Next, in the operation of the embodiment, the actuator of the suction mechanism 49 of the wall moving type cutting device 1b is automatically or manually driven by the operation input unit 51 of the control device 9 by the suction control unit 6 and then moved. The drive of the mechanism 50 is controlled by the movement control unit 7. In this manner, the suction movement is repeated to move the wall movable cutting device 1b to a predetermined cutting start position, and the cutting control unit 8 drives and controls the cutting mechanism 5 at the cutting start position to start the cutting and perform the suction movement. It is easy to stop the cutting operation at the cutting completion position.

Next, a fourth embodiment according to the tenth aspect of the present invention will be described with reference to FIG. In the present embodiment, the control device 9 is provided with a signal processing unit 54 for controlling the self-position detecting means 52 and the self-posture detecting means 53.

FIG. 23 differs from FIG. 22 in that a self-position detecting means 52, a self-posture detecting means 53 and a signal processing section 54 are provided. Self-position detecting means 52
Is to detect the relative movement amount of the wall moving type cutting device 1c or the absolute position with respect to the cut surface such as a tank. As the relative movement amount detection, for example, the movement amount of a moving mechanism is detected. An internal sensor such as a rotary encoder or a resolver is used.

As an example of detecting the absolute position, an external field sensor such as a laser range finder or an ultrasonic sensor is used to determine the distance between the wall movable cutting device 1c and an external reference position. On the other hand, the self-posture detecting means 53 detects the inclination of the wall-movable cutting device 1c, and uses a tilt sensor such as an inclinometer or a posture sensor such as a gyro or an accelerometer.

Next, the signal processing section 54 is provided with the self-position detecting means 52.
And the signal of the self-posture detecting means 53, the current position and the posture of the wall movable cutting device 1c are determined, and the suction control unit 6, the movement control unit 7, and the cutting control unit 8 of the wall movable cutting device 1c are determined. It can be used as a control feedback signal. According to the present embodiment, the wall moving cutting device 1c
By detecting the position and posture of the camera, it is possible to move along a predetermined cutting plan line.

Next, a fifth embodiment according to the eleventh aspect of the present invention will be described with reference to FIGS. In the present embodiment, the means for detecting the self-position detects sound, light or radio waves generated from the moving side of the suction mechanism, the moving mechanism or the cutting mechanism at a plurality of points on the fixed side, and detects the generated position. It is in.

The self-position detecting means 52 shown in FIG. 23 transmits a signal such as a sound, light, or radio wave generated from a signal source 55 of the wall moving type cutting apparatus 1 for sucking and moving the wall 27 to be cut, to a plurality of fixed side. Receiving units 56a, 56b, 56c to observe at the point of
It is composed of a signal processing unit 54.

In FIG. 24, L ₁ and L ₂ are receiving units 56a, 56b, 56
c, and La, Lb, and Lc are signal generation sources 55.
And the distance between the receiving units 56a, 56b and 56c. FIG. 25 shows FIG.
The ultrasonic signal is output from the signal generation source 55 of the ultrasonic wave, and the ultrasonic signals propagating through the wall 27 to be cut are received by the ultrasonic microphones 58a, 58b, 58c via the probes 57a, 57b, 57c, and the signal is amplified. vessel
The signal is output to the signal processing unit 54 via 59a, 59b and 59c.

FIG. 26 shows an example of the generated signal S0 and the reception timing. The position of the wall-movable cutting device 1 is calculated from the propagation speed confirmed in advance and the measured propagation times ta, tb and tc. be able to.

That is, (1) in FIG. 26 shows the signal generation timing of the signal generation source 55 in FIG. In FIG.
(2) converts the generated signal S0 of (1) to the receiving section 56a of FIGS.
Indicates the reception timing of the received signal Sa, and the propagation time ta corresponds to the signal propagation time of the distance La.

(3) in FIG. 26 illustrates the generated signal S0 of (1).
24, the reception timing of the reception signal Sb received by the reception unit 56b of FIG. 25, and the propagation time tb corresponds to the signal propagation time of the distance Lb.

(4) in FIG. 26 illustrates the generated signal S0 of (1).
24, the reception timing of the reception signal Sc received by the reception unit 56c of FIG. 25, and the propagation time tc corresponds to the signal propagation time of the distance Lc.

In general, the distance can be calculated by “distance = (propagation velocity in target object + temperature factor) × propagation time”. As a result, since the installation intervals L1 and L2 shown in FIG. 24 are already determined values when the receiving units 56a, 56b and 56c are installed, for example, a signal is obtained from the distance La and the distance Lb calculated from the installation interval L1 and the propagation times ta and tb. The position of the source 55 can be easily calculated based on the principle of triangulation.

Similarly, the installation interval L 2 and the propagation times tb, t
From the distance Lb and the distance Lc calculated from c, the position of the signal source 55 can be easily calculated based on the principle of triangulation. When a signal having good directivity, for example, light or the like is generated from the signal generation source 55, the reception unit can calculate the distances La, Lb, and Lc by a method of detecting a reception angle. Further, the signal generation source 55 can use sound, light or the like generated when the cutting device is cut.

Next, a sixth embodiment according to the twelfth aspect of the present invention will be described with reference to FIG. In the present embodiment, the self-orientation detecting means is a sensor for detecting an inclination with respect to a vertical line. For example, an inclinometer or an accelerometer can be used as the sensor. Figure 27 shows an example of an inclinometer.
A weight 62 is attached to a shaft 61 of an angle sensor 60 such as a potentiometer, and the angle sensor 60 is attached to the main body of the movable wall cutting device 1. Weight 62 attached to shaft 61 of angle sensor 60
Is in a free state, and indicates a vertical line G.

For this reason, when the cutting device 1 is inclined with respect to the vertical line G, the axis of the angle sensor 60 is rotated, and the inclination of the cutting device 1 can be detected from this angle. In the figure, reference numeral 27 denotes a wall of a tank or the like provided perpendicular to the floor surface 63. According to the present embodiment, it is possible to move along the predetermined cutting plan line by detecting the attitude of the wall surface moving type cutting apparatus 1.

Next, a seventh embodiment of the present invention will be described with reference to FIG. In the present embodiment, the control device 9 controls the suction mechanism by determining the speed control function corresponding to the cutting speed of the cutting device of the cutting mechanism and the suction state of the suction element.

According to the present embodiment, the control device 9 detects the position and the posture of the wall-movable cutting device 1 by the signal processing unit 54 connected to the self-position detecting means 52 and the self-posture detecting means 53. Thus, it is possible to move along the predetermined cutting plan line and perform speed control corresponding to the cutting speed of the cutting device of the cutting mechanism. Further, for example, in the case of the vacuum suction type, the suction state of the suction element can be determined using the signal of the pressure sensor, and in the case of the magnetic suction type, the signal of the contact sensor or the proximity sensor can be used to control the suction mechanism.

Next, an eighth embodiment of the present invention will be described with reference to FIG. In the present embodiment, the control device has one or both of means for detecting the cutting start position of the cutting device of the cutting mechanism and means for monitoring the cutting state.

In FIG. 28, a cutting state monitoring means, that is, a visual sensor 66 is provided via a protective window 65 at a position for monitoring a cutting end 64 of a wall moving type cutting apparatus 1d for sucking and moving a wall surface 27.
Is installed. In the drawing, reference numeral 67 denotes a cut line that has been cut, and reference numeral 68 denotes a planned cutting planned position this time.

According to the present embodiment, when starting cutting, it is necessary to reliably position the cutting end 64 at the cutting position of the cutting line 67.
And the cutting line 67 are visually observed, or a displacement is detected by image processing or the like to perform positioning. Thus, the cutting start position of the cutting device can be reliably detected, and the cutting state can be monitored.

Next, a ninth embodiment of the present invention will be described with reference to FIG. This embodiment differs from the seventh embodiment in FIG.
9. The storage unit 70 is provided. That is, the control device 9 includes a means for planning a cutting procedure on a two-dimensional or three-dimensional map, a result of detecting the self-position and self-posture, a result of detecting the cutting start position, and information on whether cut or uncut has been performed. Alternatively, it has means for displaying and storing a part.

According to the present embodiment, a cutting procedure is planned on a two-dimensional or three-dimensional map, and a self-position / self-posture detection result, a cutting start position detection result, and whether a cut or uncut is determined. And the like can be performed on the display unit 69, and all or a part of the display and the storage unit 70 can store the information. By providing the display unit 69 and the storage unit 70 in this manner, operability and reliability are improved, and the work status can be easily grasped.

[0090]

According to the present invention, claims 1, 2, 3, 4, 5, 6, and 8 are provided.
According to the invention, the cutting and disassembling work of the metal large tank, the lining material on the pool surface, and the like can be performed by remote control, so that the radiation exposure of the worker and the man-hour can be reduced. In other words, compared to a case where a tool is attached to the tip of a manipulator device, which is a general remote work device, a large-scale work scaffold is not required, and preparation work is reduced. In addition, since the work is performed by attaching a light and thin device to the wall surface, it can be applied to a narrow work space, and the work man-hour can be reduced, for example, the transfer of the work device is simple. Further, since the radiation exposure dose can be reduced with the reduction in the number of operation steps, the cutting and disassembling operation can be performed safely, with high efficiency, and at low cost.

According to the invention of claim 7, compared to the invention of claim 6, equipment such as a vacuum pump and a valve is not required.
In particular, in an example using an electromagnet, the power is simply turned on / off.
The control system can be simplified because suction / suction release can be performed only by the control.

According to the ninth aspect of the present invention, the cutting / disassembling operation can be easily performed by emphasizing the suction control, the movement control, and the cutting control of the suction mechanism, the moving mechanism, and the cutting mechanism. Can be. According to the invention of claim 10,
By having means to detect self-position and self-posture,
It can be easily moved along a predetermined cutting plan line.

According to the eleventh aspect of the present invention, sound, light or radio waves generated from the moving side such as the suction mechanism, the moving mechanism or the cutting mechanism according to the first aspect are observed at a plurality of points on the fixed side. , The absolute position can be easily detected, so that no error is accumulated.
In addition, it is possible to use the sound generated when the suction-type moving mechanism moves and the sound and light generated when the cutting device cuts the signal generated on the moving side. In this case, no new load is required. Thus, the size and weight of the moving side can be easily reduced.

According to the twelfth aspect of the present invention, since the self-posture is detected by the sensor for detecting the inclination with respect to the vertical line, no error is accumulated, the structure is simple, the size and weight are reduced, and the reliability is improved. Can be easily achieved.

According to the thirteenth aspect of the present invention, the speed control function corresponding to the cutting speed of the cutting device and the suction state of the suction element are determined and the suction mechanism is controlled to eliminate the occurrence of a defective cutting portion. Since the next operation is performed after confirming that the suction is securely performed, a fall accident due to incomplete suction can be prevented, and reliability and safety can be improved.

According to the fourteenth aspect, by monitoring the cutting start position and the cutting state of the cutting device with a visual sensor such as a television camera, the cutting start position can be easily adjusted, and the quality control of the cutting process can be easily performed. become.

According to the fifteenth aspect, two-dimensional or three-dimensional
The cutting procedure can be planned on the three-dimensional map, and the status of the suction-type moving mechanism and the cutting device can be easily displayed and stored, and the operability can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a partial block diagram of a state in which a movable wall type cutting device according to a first embodiment of the present invention is attached to a tank.

FIG. 2A is an enlarged front view showing a main part of the wall moving type cutting apparatus in FIG. 1, and FIG. 2B is a side view of FIG.

3A is a front view showing an outer suction frame of the suction mechanism in FIG. 2, and FIG. 3B is a side view of FIG.

4A is a front view showing an inner suction frame of the suction mechanism in FIG. 2, and FIG. 4B is a side view of FIG.

5A is a front view showing a moving mechanism (intermediate frame) in FIG. 2, and FIG. 5B is a side view of FIG.

6 (a) is a front view showing a relative turning motion by the operation of the moving mechanism in FIG. 1, and FIG. 6 (b) is a front view showing a relative parallel motion as in FIG.

FIG. 7 is a configuration diagram showing a first example (vacuum suction element) of the suction element in FIG. 1;

8A is a front view showing the principle of moving the wall of the moving mechanism in FIG. 2, and FIG. 8B is a side view of FIG.

9A is a front view showing a state in which the inner suction frame has moved to the right in FIG. 8, and FIG. 9B is a side view of FIG.

10A is a front view showing a state in which the inner suction frame has moved to the left in FIG. 8, and FIG. 10B is a side view of FIG.

11A is a front view showing the principle of moving the wall of the moving mechanism in FIG. 2, FIG. 11B is a front view showing a state in which the inner suction frame of FIG. 11A has moved to the left, and FIG. FIG. 4D is a front view showing a raised state, and FIG.

12A is a side view for explaining another example of the suction mechanism in FIG. 1, and FIG. 12B is a side view showing a state in which the outer suction frame floats in FIG.

FIG. 13 is a configuration diagram showing a second example (magnetic attraction element) of the attraction element in FIG. 1;

FIG. 14 is a configuration diagram showing a third example (magnetic attraction element) of the attraction element in FIG. 1;

FIG. 15 is a configuration diagram showing a fourth example (an exhaust air suction element) of the suction element in FIG. 1;

FIG. 16 (a) is a front view showing a main part of a wall moving type cutting device according to a second embodiment of the present invention, and FIG. 16 (b) is a side view of FIG.

17A is a front view showing an outer suction frame of the suction mechanism in FIG. 16, and FIG. 17B is a side view of FIG.

18A is a front view showing an inner frame of the suction mechanism in FIG. 16, and FIG. 18B is a side view of FIG.

19A is a front view showing the moving mechanism (intermediate frame) in FIG. 16, and FIG. 19B is a side view of FIG.

20 (a) is a front view for explaining an operation example of the side wall movable cutting device in FIG. 16, and FIG. 20 (b) is a front view showing a state where the inner frame has moved to the right from the state of FIG.

21 (a) is a front view for explaining another operation example of the wall moving type cutting device in FIG. 16, and FIG. 21 (b) shows a state where the inner frame has moved upward from the state of FIG. Front view.

FIG. 22 is a block diagram for explaining a third embodiment of the present invention.

FIG. 23 is a block diagram for explaining fourth and seventh embodiments of the present invention.

FIG. 24 is a perspective view showing partial blocks for describing a fifth embodiment of the present invention.

FIG. 25 is a block diagram showing the configuration of a self-position detecting unit in FIG. 24;

26 is a waveform chart showing the timing of a detection signal in FIG. 24.

FIG. 27 is a side view showing a partial cross section for describing a sixth embodiment of the present invention.

FIG. 28 (a) is an elevation view schematically showing an eighth embodiment of the present invention, and FIG. 28 (b) is a side view showing a main part of FIG.

FIG. 29 is a block diagram for explaining a ninth embodiment of the present invention;

[Explanation of symbols]

1, 1a, 1b, 1c, 1d ... wall moving type cutting device, 2
... Outer suction frame (first suction mechanism member), 3 ... Inner suction frame (second suction mechanism member), 4 ... Tank, 5 ... Cutting mechanism,
6: suction control unit, 7: movement control unit, 8: cutting control unit, 9
... Control device, 10a ... vertical cutting line, 10b ... circumferential cutting line, 11 ... intermediate frame, 12 ... outer suction element, 13 ... outer frame, 14 ... linear guide rail, 15 ... rack, 16 ...
Inner suction element, 17a, 17b ... Inner frame, 18 ... Bearing, 19 ... Linear guide, 20 ... Stage, 21 ... Parallel movement motor, 22 ... Slewing motor, 23 ... Gear, 24 ... Pinion gear, 25 ... Vacuum suction disk , 26 ... air hose, 27 ... wall, 28
... linear moving mechanism, 28a ... short linear moving mechanism, 29 ... hinge pin, 30 ... magnetic suction disk, 31 ... permanent magnet, 32 ... electromagnetic suction disk, 33 ... electromagnet, 34 ... electromagnetic suction control device, 35 ... cable, 36 ... Exhaust air suction board, 37 ... Fan, 38 ... Motor, 39 ... Cable, 40 ... Exhaust air suction controller, 41 ... Exhaust hole, 42 ... Inner suction frame, 43 ... Intermediate frame, 44 ... Inner frame, 45 ... Inner linear Guides, 46: first intermediate guide rail, 47: second intermediate guide rail, 48: intermediate linear guide, 49: suction mechanism, 50: moving mechanism, 51: operation input unit, 52: self-position detecting means, 53 ... Self attitude detection means, 54 ... Signal processing unit, 55
... Signal generation sources, 56a-c ... Receiving units, 57a-c ...
58a-c ... ultrasonic microphone, 59a-c signal amplifier circuit, 60 ...
Angle sensor, 61: axis, 62: weight, 63: floor surface, 64: cut edge, 65: protective window, 66: visual sensor, 67: cut line, 68: planned cutting position, 69 ... display, 70 ...
Storage unit.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hideharu Okano 8th Shinsugitacho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Inside Toshiba Yokohama Office (72) Hisashi Hozumi 8th Shinsugita-cho, Isogo-ku, Yokohama-shi, Kanagawa (72) Inventor Gozo Takenouchi 66-2 Horikawa-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Prefecture Inside Toshiba Engineering Co., Ltd. Toshiba Yokohama Office

Claims (15)

[Claims] 1. A suction mechanism in which a first suction mechanism member and a second suction mechanism member are relatively movably combined, and provided on the first suction mechanism member and the second suction mechanism member, respectively. The suction element and the suction element provided on the second suction mechanism member are lifted in a state where the suction element provided on the first suction mechanism member is suction-fixed to a wall surface to be cut, and the suction operation is performed by the next moving operation. The suction element provided on the second suction mechanism member is moved to be fixed by suction to the wall surface to be cut, and in this state, the operation of floating and moving the suction element provided on the first suction mechanism member is alternately performed. A moving mechanism that repeatedly moves the suction mechanism, a cutting mechanism mounted on the moving mechanism or the suction mechanism, a suction control unit that controls the suction mechanism, a movement control unit that controls the moving mechanism, Mechanism A wall moving type cutting device, comprising: a cutting control unit for controlling. 2. The wall moving device according to claim 1, wherein a horizontal relative moving mechanism and a rotational relative moving mechanism are provided between the first suction mechanism member and the second suction mechanism member. Type cutting device. 3. The cutting apparatus according to claim 1, wherein a relative movement mechanism having two horizontal degrees of freedom is provided between the first suction mechanism member and the second suction mechanism member. 4. The cutting apparatus according to claim 1, wherein a linear moving mechanism for increasing or decreasing a distance between the suction element and the wall surface to be cut is provided on an intermediate frame of the moving mechanism. 5. The cutting apparatus according to claim 1, further comprising a rotation free mechanism for providing a degree of rotation between the suction element and a suction mechanism member to which the suction element is attached. . 6. The vacuum suction element according to claim 1, wherein said suction element comprises a linear moving mechanism, and a vacuum suction plate attached to a distal end of said linear moving mechanism via a hinge pin. Wall movable cutting device. 7. The attracting element comprises a magnetic attracting element having a linear moving mechanism, and a magnetic attracting plate having a built-in magnet attached to a distal end of the linear moving mechanism via a hinge pin. The wall moving type cutting device according to claim 1. 8. The air suction element comprises a linear moving mechanism, and an exhaust air suction element having a built-in exhaust air suction plate having a fan attached to a distal end of the linear moving mechanism via a hinge pin. The cutting device according to claim 1, wherein the cutting device is a movable wall-type cutting device. 9. The cutting apparatus according to claim 1, further comprising a controller for controlling a movement control function and a cutting control function provided to the moving mechanism and the cutting mechanism. 10. The wall-movable cutting device according to claim 9, wherein the control device is provided with a self-position detecting mechanism and a self-posture detecting mechanism for detecting a self-position and a self-posture. 11. The self-position detecting mechanism detects one of sounds, light or radio waves generated from a moving side of the moving mechanism or the cutting mechanism at a plurality of fixed-side points and detects a generated position. 11. The movable wall cutting device according to claim 10, wherein: 12. The cutting apparatus according to claim 10, wherein the self-orientation detecting mechanism comprises a sensor for detecting an inclination with respect to a vertical line. 13. The control device according to claim 1, wherein the control device controls the suction mechanism by determining a speed control function corresponding to a cutting speed of a cutting device of the cutting mechanism and a suction state of the suction element. 2. The wall-movable cutting device according to 1. 14. The apparatus according to claim 1, wherein the control device includes at least one of a cutting start position detecting mechanism and a cutting state monitoring mechanism of the cutting mechanism. 15. The cutting device for planning a cutting procedure on a two-dimensional or three-dimensional map, the self-position / self-posture detection result, the cutting position detection result, a cut or uncut state 2. The moving wall-type cutting device according to claim 1, further comprising a mechanism for displaying and storing at least a part of the discrimination of the wall.