Remote Linear Cutting Device

Abstract

To provide a remote linear cutting device that prevents cutting defects caused by wear of the saw blade of a saber saw. The remote linear cutting device 10 of the present invention comprises a frame 20 that can be installed on the XY plane of the workpiece to be cut; a saber saw 30 having a saw blade attached to the frame 20 in a direction intersecting the XY plane and capable of cutting the XY plane while moving linearly on the XY plane; Z-direction moving means for moving the saw blade 32 of the saber saw 30 in a Z direction perpendicular to the XY plane; an imaging means for measuring the surface temperature of the saw blade at the cutting point in the XY plane by the saber saw; The present invention is characterized by including a control means 70 that, when the measurement value of the imaging means 60 exceeds a predetermined set value for the surface temperature of the saw blade 32 of the saber saw 30, moves the saber saw 30 in the Z direction using the Z-direction moving means 40 to change the cutting position of the saw blade 32.

Description

[Technical Field]

[0001] The present invention relates to a remote linear cutting device that uses a saber saw to remotely cut a main surface of an object to be cut in a linear fashion. [Background technology]

[0002] There are cutting devices that can be operated remotely when carrying out demolition work in places where people cannot easily enter, such as high places or nuclear power plants. For remote operation, cutting devices that use compact, flameless saber saws are used. The cutting device disclosed in Patent Document 1 grips a brace and cuts it with a saber saw. During this process, a rotary drive mechanism swings the saber saw down toward the brace. This changes the brace cutting location to 1-3 positions depending on the angle position AG. With the saber saw swinging down motion described in Patent Document 1, the brace cutting location changes depending on the angle position of the saw blade, so the contact point between the saw blade and the brace also changes and does not converge to one location. However, when cutting a flat surface in a straight line, the cutting point of the saber saw blade remains fixed in one position. This poses a problem of increased wear and tear on the saw blade. Frequent saw blade replacement can take a long time, especially when the device is remotely operated and cannot easily be accessed by humans. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6626274 Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, the problem to be solved by the present invention is to provide a remote linear cutting device that can avoid cutting defects caused by wear of the saw blade of a saber saw. [Means for solving the problem]

[0005] As a first means for solving the above problems, the present invention provides a frame that can be installed on the XY plane of a workpiece to be cut, a saber saw having a saw blade attached to the frame in a direction intersecting the XY plane and capable of cutting the XY plane while moving linearly on the XY plane; Z-direction moving means for moving the saw blade of the saber saw in a Z direction perpendicular to the XY plane; an imaging means for measuring the surface temperature of the saw blade at the cutting point in the XY plane by the saber saw; To provide a remote linear cutting device characterized by comprising a control means for moving the saber saw in the Z direction using the Z-direction moving means to change the cutting position of the saw blade when the measurement value of the imaging means exceeds a predetermined set value for the surface temperature of the saw blade of the saber saw. According to the first aspect, breakage and performance degradation due to wear of the saw blade can be avoided. In addition, in the case of remote work, the risk of work stoppage due to a malfunction of the saw blade can be reduced.

[0006] As a second means for solving the above problem, the present invention provides a remote linear cutting device characterized in that, in the first means, the frame is provided with an electromagnetic attachment / detachment means that attaches and detaches by turning magnetic force on or off at the point of contact with the XY plane. According to the second means, the reaction force generated when cutting with the saber saw can be suppressed. Also, the device can be attached to the side or bottom of the workpiece in addition to the top.

[0007] As a third means for solving the above-mentioned problems, the present invention provides a remote linear cutting device according to the first or second means, characterized in that the frame is provided with drilling means for drilling an insertion hole for the tip of the saw blade of the saber saw in the XY plane. According to the third means, the subsequent steps of drilling and linear cutting can be carried out in a single step of setting the frame on the XY plane of the workpiece, and the work can be completed in a short time.

[0008] As a fourth means for solving the above-mentioned problems, the present invention provides a remote linear cutting device according to the first or second means, characterized in that the saber saw is equipped with a side guide that clamps and supports the tip of the saw blade. According to the fourth means, twisting of the saw blade during cutting can be suppressed, and breakage of the saw blade can be reduced. [Effects of the Invention]

[0009] According to the present invention, breakage and performance degradation due to wear of the saw blade can be avoided. In addition, in the case of remote work, the risk of work stoppage due to a malfunction of the saw blade can be reduced. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram of the configuration of a remote linear cutting device of the present invention; [Figure 2] FIG. [Figure 3] FIG. [Figure 4] 3 is a process diagram of the linear cutting of the remote linear cutting device of the present invention. FIG. [Figure 5] 1 is a process flow diagram of the remote linear cutting device of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of a remote linear cutting device of the present invention will be described in detail below with reference to the drawings. In this embodiment, when cutting a main surface of an object to be cut, for example, the top surface, the top surface is defined as the XY plane, and the direction perpendicular to the XY plane is defined as the Z direction.

[0012] [Remote Linear Cutting Device 10] FIG. 1 is a schematic diagram of the remote linear cutting device of the present invention. FIG. 2 is an explanatory diagram of a side guide. As shown in FIG. 1, the remote linear cutting device 10 of the present invention includes a frame 20 that can be installed on the XY plane, which is the main surface of the workpiece to be cut; a saber saw 30 with a saw blade 32 attached to the frame 20 in a direction intersecting the XY plane and moving linearly along the XY plane to cut the XY plane; a Z-direction moving means 40 that moves the saw blade 32 of the saber saw 30 in a Z direction perpendicular to the XY plane; an imaging means 60 that measures the surface temperature of the saw blade 32 at the cutting point of the XY plane by the saber saw 30; and a control means 70 that moves the saber saw 30 in the Z direction using the Z-direction moving means 40 to change the cutting position of the saw blade 32 when the measurement value of the imaging means 60 exceeds a predetermined surface temperature setting for the saw blade 32 of the saber saw 30. The workpiece to be cut in this embodiment is, for example, an SS400 steel plate having a thickness of several tens of millimeters.

[0013] (Frame 20) The frame 20 is made by combining multiple rectangular prisms into a rectangular parallelepiped, and is configured so that the horizontal dimension is the longest among the length, width, and depth. A pair of guide rails 22 is attached to the upper and lower edges of the frame 20 when viewed from the front. A first slider 24 is provided so as to straddle a block (not shown) that slides on the pair of guide rails 22. A screw shaft 23 is attached between the pair of guide rails 22, and a nut of the screw shaft 23 is fixed to the back surface of the first slider 24. A pair of Z-direction guide rails 26 is attached to the first slider 24 in a direction perpendicular to the guide rails 22. A second slider 28 is provided so as to straddle a block (not shown) that slides on the pair of Z-direction guide rails 26. A screw shaft 27 is attached between the pair of Z-direction guide rails 26, and a nut of the screw shaft 27 is fixed to the back surface of the second slider 28. A saber saw 30, with the cutting edge of the saw blade 32 facing downward (described later), and drilling means 50 are mounted on the second slider 28. In the frame 20 configured as described above, when the drive motor 25 of the screw shaft 23 is operated, the first slider 24 moves linearly along a pair of guide rails 22 (in the horizontal direction of the frame 20). In this embodiment, the guide rails 22, screw shaft 23, and first slider 24 form a linear movement means. Also, the second slider 28 moves linearly along a pair of Z-direction guide rails 26 (in the vertical direction of the frame 20). In this embodiment, the Z-direction guide rails 26, screw shaft 27, and second slider 28 form a Z-direction movement means 40.

[0014] The frame 20 has a hanging bracket 21 attached to its upper surface, and can be brought to the work site by, for example, a crane vehicle and installed on the top of the workpiece. An electromagnetic attachment / detachment means 80 is attached to the underside of the frame 20. The electromagnetic attachment / detachment means 80 can be, for example, a lifting magnet, and can be attached or detached to the main surface of the workpiece by turning the magnetic force on and off. This makes it possible to suppress the reaction force when cutting with the saber saw 30. It can also be attached to the side or bottom of the workpiece in addition to the top.

[0015] (Saber Saw 30) The saber saw 30 has a saw blade 32 that is longer than the cross-sectional dimension of the main surface of the workpiece to be cut, and can perform cutting by reciprocating the saw blade 32 at a constant frequency along the longitudinal direction of the saw blade 32. The saber saw 30 has side guides 34 that support the saw blade 32. The side guides 34 are attached to the ends of guide bars 35 that extend along the longitudinal direction of the saw blade 32. The side guides 34 are configured so that the width between the guides can be adjusted using spacers, and the saw blade 32 is supported in contact with and sandwiched between the guides, thereby preventing twisting of the saw blade 32 during cutting.

[0016] (Perforation means 50) The drilling means 50 is attached to the second slider 28 of the frame 20. The drilling means 50 is attached with its cutting edge facing downward to the Z-direction moving means 40, which has a similar configuration to the saber saw 30. As an example, the drilling means 50 is configured to be able to drill holes in the XY plane of the workpiece using an end mill. The holes are insertion holes into which the tip of the saw blade of the saber saw 30 is inserted. Note that the drilling means 50 may be omitted to reduce the weight of the device body. In this case, it is advisable to provide an insertion hole in advance at the cutting start position of the workpiece.

[0017] (imaging means 60) FIG. 3 is an explanatory diagram of the imaging means. The imaging means 60 is an infrared camera, or in other words, a thermal camera, attached to the frame 20 to capture images of the saw blade 32 of the saber saw 30 cutting the main surface of the workpiece, visualizing the temperature distribution. Specifically, the imaging means 60 is configured by attaching a focusing lens 64 to the lens of the thermal camera 62, which focuses the light from the subject onto a focal plane array via the focusing lens 64. Each optical element in the focal plane array detects far-infrared light. The more optical elements there are, the wider the temperature measurement range. The current value flowing through the optical element changes in proportion to the change in temperature of the optical element due to absorption of far-infrared light. This is utilized to calculate the temperature by back-calculating the current value. This allows the imaging means 60 to capture the surface temperature over a wide area, rather than just the local surface temperature of the saw blade 32. This allows the surface temperature measurement range to be covered even if the cutting location of the saw blade changes.

[0018] (Control means 70) The control means 70 can send and receive signals to and from a remote controller 72 carried by the operator, thereby controlling the on / off of the linear movement means, Z-direction movement means 40, saber saw 30, and drilling means 50. The control means 70 of the present invention performs PID (Proportional-Integral-Differential) control. PID control is a method of achieving desired control by combining operations proportional to deviation, operations corresponding to the integral of the deviation, and operations corresponding to the derivative of the deviation. Specifically, the feed speed of the saber saw 30, which is controlled by the linear movement means, is adjusted between a stop and maximum speed to control fluctuations in the current value. This allows continuous cutting without stopping the feed speed of the saw blade 32.

[0019] The control means 70 also sets a set value for the surface temperature of the saw blade 32. As an example, the surface temperature of a new saw blade 32 was 105°C, while the surface temperature of a worn saw blade 32 that had cut more than 10 meters of steel plate was 141°C. As the surface temperature of the saw blade 32 tends to rise as it wears, a set value for the surface temperature at which the saw blade 32 has worn to a certain extent and is thought to interfere with cutting is set in advance.

[0020] [Effect] A remote linear cutting method using the remote linear cutting device 10 of the present invention having the above configuration will be described below. Figure 4 is a process diagram of linear cutting using the remote linear cutting device of the present invention. Figure 5 is a process flow using the remote linear cutting device of the present invention. (Step 1) The remote linear cutting device 10 is hoisted by a crane and lowered onto the XY plane of the workpiece. The magnetic force of the electromagnetic attachment / detachment means 80 attached to the bottom of the frame 20 is turned on to attach the frame 20 to the XY plane of the workpiece (see Figure 4(1)).

[0021] (Step 2) The drilling means 50 drills a hole at the start position of the linear cutting in the XY plane to form an insertion hole for the saw blade 32 of the saber saw 30 (see FIG. 4(2)). (Step 3) The saw blade 32 is inserted tip-first into the insertion hole to start linear cutting (see FIG. 4(3)).

[0022] (Step 4) While the saber saw 30 is linearly moved by the linear movement means (see FIG. 4(4)), the cutting portion of the saw blade 32 is imaged by the imaging means 60, and the temperature of the saw blade is measured. (Step 5) The control means 70 determines whether the measurement value of the imaging means 60 exceeds a predetermined set temperature of the saw blade.

[0023] (Step 6) If the measured value in Step 5 exceeds the set value (YES), the temperature may be rising due to wear on the saw blade, etc., so the cutting position of the saw blade 32 is changed by moving it up or down using the Z-direction moving means 40. (Step 7) If the measured value does not exceed the setting in step 5 (NO), there is no abnormality such as wear in the saw blade 32, so the linear cutting continues. The control means 70 determines whether the linear cutting has been completed. If YES, the work ends. If NO, the process returns to step 4 and the linear cutting continues.

[0024] According to the present invention, breakage and performance degradation due to wear of the saw blade can be avoided. Furthermore, in the case of remote work, the risk of work stoppage due to a malfunction of the saw blade can be reduced. In this embodiment, a linear cut is made on the top surface of the object to be cut, but the object to be cut is not limited to this. As long as the object has a main surface, the side surface or bottom surface may also be cut.

[0025] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and various modifications can be made without departing from the spirit and scope of the present invention. Furthermore, the present invention is not limited to the combinations shown in the embodiments, but can be implemented in various combinations. [Explanation of symbols]

[0026] 10 Remote linear cutting device 20 frames 21 Hanging hardware 22 Guide rail 23 Screw shaft 24 First slider 25 Drive motor 26 Z-direction guide rail 27 Screw shaft 28 Second Slider 30 Saber Saw 32 saw blade 34 Side guide 35 Guide bar 40 Z direction movement means 50 Perforation means 60 Imaging means 62 Thermal Camera 64 focusing lens 70 Control Means 72 Remote Controller 80 Electromagnetic attachment / detachment means

Claims

1. a frame that can be installed on the XY plane of the workpiece; a saber saw having a saw blade attached to the frame in a direction intersecting the XY plane and capable of cutting the XY plane while moving linearly on the XY plane; a Z-direction moving means for moving the saw blade of the saber saw in a Z-direction perpendicular to the XY plane; an imaging means for measuring the surface temperature of the saw blade at the cutting point in the XY plane by the saber saw; A remote linear cutting device characterized by comprising a control means for changing the cutting position of the saw blade by moving the saber saw in the Z direction using the Z-direction moving means when the measurement value of the imaging means exceeds a predetermined set value for the surface temperature of the saw blade of the saber saw.

2. 2. The remote linear cutting device of claim 1, The remote linear cutting device is characterized in that the frame is provided with an electromagnetic attachment / detachment means at the contact point with the XY plane, which is attached and detached by turning on or off a magnetic force.

3. 3. A remote linear cutting device according to claim 1 or 2, The remote linear cutting device is characterized in that the frame is provided with drilling means for drilling an insertion hole for the tip of the saw blade of the saber saw in the XY plane.

4. 3. A remote linear cutting device according to claim 1 or 2, The remote linear cutting device is characterized in that the saber saw is provided with side guides that clamp and support the tip of the saw blade.

Images