WO2007105755A1 - Method of removing building material containing asbestos and apparatus for removing building material containing asbestos - Google Patents

Abstract

It is intended to protect the environment surrounding a work area from contamination with dusts generated from building materials containing asbestos, etc. and protect the environment from the secondary contamination which occurs in moving out wastes and used materials from the work area. Throughout the preparation, carry-in, removal and carry-out steps, a work space, a preparation room, a housing and a removal apparatus are isolated from the outside so as to prevent scattering of the dusts, etc., which are generated by the work for removing building materials containing asbestos, from the work space, the preparation room, the housing and the removal apparatus into the outside. Thus, the contamination of the environment surrounding the work area with the dusts, etc. generated from the building materials containing asbestos can be prevented and, moreover, the surroundings can be protected from the secondary contamination in the course of moving out the removal apparatus, i.e., the material employed in the removing operation from the work area.

Description

 Specification

 Asbestos-containing building material removal system, asbestos-containing building material removal work equipment

 TECHNICAL FIELD [0001] The present invention relates to a technology for an asbestos-containing building material removal system and an asbestos-containing building material removal work device.

 Background art

 [0002] Asbestos-containing building materials such as asbestos-containing spray materials, heat insulating materials, and fireproof covering materials have been produced until recently, and have been used in many buildings during high-growth periods.

 In recent years, there has been concern about the health problems that dust and the like scattered from such asbestos-containing building materials have on users of buildings, which has become a serious social problem. Moreover, when removing existing asbestos-containing building materials, there is a concern that dust from asbestos-containing building materials may be scattered around the work site and contaminate the surrounding environment.

 For this reason, it is an urgent social issue to remove the existing asbestos-containing building materials that have been used in buildings and prevent the contamination of the surrounding environment.

[0003] Conventionally, devices for removing existing asbestos-containing building materials that have been used in buildings have been developed.

 According to the equipment, the building containing asbestos-containing building materials is covered with a tent, etc., and asbestos-containing building material dust generated during the removal work is scattered around the work site and contaminates the surrounding environment. (For example, refer to Patent Document 1.) o

 Patent Document 1: Registered Utility Model No. 3116813

 Disclosure of the invention

 Problems to be solved by the invention

[0004] However, according to the conventional asbestos-containing building material removal work device, when the equipment used in the removal work is moved from the work site, the asbestos-containing building material dust and the like are scattered from the surrounding environment. There is a risk of secondary contamination.

[0005] In addition, the present situation is that the removal work relies on manual work in which field workers enter the work space and perform work. The work space is extremely dangerous as the asbestos-containing building material is extremely dusty. It is a steep space. The contents of the removal work include spraying the wetting agent, peeling work, finishing work, packing the removed asbestos-containing building material, spraying the solidifying agent, etc., but manual removal work (conventional method) For work performed in the space, field workers must enter the work space themselves. Therefore, the worker must enter a very dangerous space for a long time and perform harsh work. In addition, workers are required to wear protective clothing with strict exposure prevention measures.However, it is dangerous to wear protective clothing because it is a long-time operation after entering dangerous work spaces. There is no change. For this reason, there is a risk that health hazards may occur at site workers due to dust from asbestos-containing building materials generated during removal operations.

 [0006] The present invention has been made in view of the above-described problems, and prevents dust and the like of asbestos-containing building materials from contaminating the surrounding environment of the work site, and transfers waste and equipment used from the work site. The purpose is to prevent cross-contamination of the surrounding environment when moving, and to reduce the chances of field workers entering the work space and prevent health problems for field workers.

 Means for solving the problem

[0007] The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

 [0008] That is, the asbestos-containing building material removal system of the present invention is an asbestos-containing building material removal system for removing asbestos-containing building materials on the ceiling, wall surface, etc. of a building, wherein the working space includes the asbestos-containing building material. And a work preparation room, and a preparation process for isolating the work space and the work preparation room from an external cover,

 A storage device that stores the removal work device in a state of being isolated from the outside communicates with the work preparation chamber, isolates the work space, the work preparation chamber, and the storage device from the outside, and removes the storage device from the storage device. A carrying-in step of moving the removal working device to the working space;

 A removal work process for removing asbestos-containing building materials in the work space by the removal work device;

After completion of the removal work process, the work space, the work preparation chamber, and the storage device are communicated with each other and separated from the outside, and the work space is transferred to the storage device from the work space. A removal step of removing the storage device from the work preparation chamber after moving the removal work device, and carrying out the removal work device in a state of being isolated from the external force;

 Is included.

 [0009] In the asbestos-containing building material removal system of the present invention, the removal work device executes all or part of the removal work process by remote control or teaching 'program of external force in the work space.

 [0010] In the asbestos-containing building material removal system of the present invention, in the removal work step, the range of work objects to be removed is subdivided into unit work ranges, and the removal work in each unit work range is sequentially performed. By repeating the procedure, the asbestos-containing building materials within the scope of the work are removed.

 [0011] In the asbestos-containing building material removal system of the present invention, the removal work device is equipped with a dustproof jacket, and the atmospheric pressure in the dustproof jacket is maintained at a higher pressure than the work space, After completion of the removal work process, the dustproof jacket is removed and discarded from the removal work device in a state of being isolated from the outside.

 [0012] In the asbestos-containing building material removal system of the present invention, the internal pressure of the work space, the work preparation room, and the storage device is kept at a lower pressure than the outside.

[0013] In the asbestos-containing building material removal system of the present invention, ionized gas is discharged into the work space and floated! /, And the asbestos-containing building material dust is discharged.

[0014] In the asbestos-containing building material removal system of the present invention, the dust or the like of the asbestos-containing building material floating in the work space is charged to the positive electrode or the negative electrode, and the dust collecting member is charged to a different polarity.

 [0015] Further, in the asbestos-containing building material removal work device of the present invention, a moving means for moving in the work space, a fixing means for temporarily fixing in the work space, and a multi-joint arm described later Elevating means for elevating and lowering a gantry provided with a robot, wherein each means is remotely operated or taught by a 'program,

Remote operation or teaching of a plurality of tools used for each work or removal target included in the removal work process, and each work included in the removal work process and replacement of the tool performed at the end of each work. Robot with articulated arm to be executed by the program And

 An approach to the work object by the moving means of the carriage, execution of each work included in the removal work process, replacement of the tool performed between each work, and movement to the next work object. Are sequentially repeated.

 [0016] The asbestos-containing building material removal work apparatus of the present invention is provided with means for confirming images of work environment, work status, and work position.

 [0017] In the asbestos-containing building material removal work device of the present invention, the range of work objects to be removed is subdivided into unit work ranges, and each unit work range is operated by remote operation or teaching 'program. The asbestos-containing building materials in the range to be worked are removed by repeatedly performing the removal work in step 1 and repeating the removal work in each unit work range in order.

 [0018] In the asbestos-containing building material removal work apparatus of the present invention, the work reference point of each unit work range and the inclination of the unit work range, which is a subdivision of the work target range to be removed, are detected. Detecting means for

 Storage means for storing a teaching program that starts the removal work in the unit work range from a work reference point, executes the work according to the inclination, and repeatedly executes the removal work in each unit work range sequentially;

 With

 Based on the detection signal of the detection means, the work reference point and inclination of the teaching program are corrected to the detected work reference point and inclination and executed.

[0019] In the asbestos-containing building material removal work device of the present invention, a position reference point is set in the work space including the asbestos-containing building material, and the position information of the work target to be removed is coordinated from the position reference point. A data storage unit for storing information;

 Detecting means for detecting position information of the removal work device,

 When the position information of the removal work device by the detecting means is lost due to slippage of the carriage, the position information is reset by returning to the position reference point by remote operation or teaching 'program.

[0020] The asbestos-containing building material removal work apparatus of the present invention has the articulated arm. The robot is detachable from the carriage base, and the robot having the articulated arm can be attached to a traveling carriage that can be used at high places.

 The invention's effect

 [0021] As the effects of the present invention, the following effects are obtained.

 [0022] In the asbestos-containing building material removal system of the present invention, the work space, work preparation room, storage device, and removal work device are isolated from the outside through the preparation process, carry-in process, removal work process, and carry-out process. Therefore, dust generated by removing asbestos-containing building materials can be prevented from scattering outside from the work space, work preparation room, storage device, and removal work device. Therefore, it is possible to prevent dust from building materials containing asbestos from contaminating the surrounding environment of the work site, and to prevent secondary contamination of the surrounding environment when moving the removal equipment used as equipment from the work site. it can. Moreover, since the removal work process is performed by the removal work device, the opportunity for the field worker to enter the work space can be reduced, and the health problems of the field worker can be prevented.

 [0023] In the asbestos-containing building material removal system of the present invention, the removal work device executes all or part of the removal work process by the remote operation or teaching 'program from outside the work space. Work of field workers is reduced. For this reason, opportunities for field workers to enter the work space can be reduced, and health problems for field workers can be prevented.

 [0024] In the asbestos-containing building material removal system of the present invention, even if the work target has a complicated shape by subdividing the work target range to be removed into sub-unit work ranges. Can be regarded as a set of unit work ranges. By removing the operation of the removal work performed in the unit work range in advance and repeating this operation for each unit work range, even if the work target has a complicated shape, the operation of the simple removal work can be repeated. This can be done easily. Even if the removal device is executed by a remote operation or teaching 'program, the removal operation can be performed by a simple remote operation or simple teaching' program.

[0025] In the asbestos-containing building material removal system of the present invention, the air pressure in the dust-proof jacket mounted on the removal work device is maintained at a higher pressure than the work space. As a result, it becomes difficult for dust, etc. to adhere to the removal equipment, where asbestos-containing building materials do not easily enter the chamber. This facilitates cleaning of dust and the like after completion of the removal work process, and it is also easy to prevent secondary contamination of the surrounding environment when the removal work device is moved at the work site.

 [0026] In the asbestos-containing building material removal system according to the present invention, the internal pressure of the work space, the work preparation room and the storage device is kept at a lower pressure than the outside. Contamination can be prevented.

 [0027] In the asbestos-containing building material removal system of the present invention, by removing static electricity from dust and the like that has been charged and floating, the dust and the like are likely to sink, and the floating time can be shortened. For this reason, it becomes easy to remove dust and the like from the work space, it is possible to prevent contamination of the surrounding environment due to scattering of dust and the like, and it is possible to shorten the time required for removing asbestos-containing building materials.

 [0028] In the asbestos-containing building material removal system according to the present invention, dust can be collected from the working space because it can float and collect dust and the like using a cooler. Therefore, it is possible to prevent contamination of the surrounding environment due to scattering of dust and the like, and to shorten the time required for removing asbestos-containing building materials.

 [0029] Further, in the asbestos-containing building material removal work apparatus according to the present invention, the removal work process is performed by the removal work apparatus that is operated by remote operation or teaching 'program, thereby reducing the opportunity for field workers to enter the work space. Can prevent health problems for field workers.

 [0030] In the asbestos-containing building material removal work apparatus of the present invention, the operator can execute the removal work apparatus by remote operation or teaching 'program while confirming the image of the work environment, work status, and work position. Therefore, the removal work by the removal work device can be performed reliably.

[0031] In the asbestos-containing building material removal work apparatus according to the present invention, even if a work target having a complicated shape is divided into a unit work range by subdividing the range of the work target to be removed, the unit work It can be considered as a set of ranges. The operation of removal work to be performed in the unit work range by the remote operation or teaching 'program is determined in advance, and this operation Can be easily performed by repeating the operation of simple removal work even if the work object has a complicated planar shape.

 [0032] In the asbestos-containing building material removal work apparatus of the present invention, according to the teaching 'program, the removal work in the unit work range starts from the work reference point, is executed in accordance with the inclination, and is performed in each unit work range. The removal operation can be sequentially repeated. Further, the removal work in each unit work range can be executed repeatedly while correcting the teaching program according to the work reference point detected by the detecting means and the inclination of the work range. Therefore, even a three-dimensionally complicated work target can be easily performed by repeating a simple removal operation.

 [0033] In the asbestos-containing building material removal work device of the present invention, even if the position information of the removal work device by the detecting means is lost due to slipping of the carriage, the operation is performed by remote control or instruction program. By returning to the position reference point and resetting the position information, it is possible to prevent the removal work from continuing or stopping while the position information of the removal work device is lost, and to store data. It is possible to quickly return to the removal work using the position information of the work target to be removed stored in the section. The position reference point may be two or more. For example, by using two position reference points, it becomes easier to match the position information in the data storage unit with the position reference point, and the removal work device can quickly obtain the position information.

 [0034] In the asbestos-containing building material removal work apparatus of the present invention, it cannot be reached by the ascending / descending of the platform provided on the carriage! / By attaching a robot with an articulated arm to the carriage, it is possible to perform removal work at a high place. Further, since it is not necessary to prepare a robot having a plurality of articulated arms according to the height of the work target, the removal work can be performed economically.

 Brief Description of Drawings

FIG. 1 is a schematic diagram of an asbestos-containing building material removal system according to Embodiment 1 of the present invention.

 FIG. 2 is a schematic diagram of a work space 11, a work preparation room 12, a container 13 as a storage device, and a removal work device 21 according to the first embodiment.

FIG. 3 is a simplified perspective view of the asbestos-containing building material removal work apparatus 21 according to Embodiment 1 of the present invention. [Fig.4] Schematic diagram of the tour.

圆 5] Schematic view of marking 18 on the work target.

圆 6] Schematic view of the removal work device 21 moved below the unit work range 17.圆 7] Schematic diagram of the asbestos-containing building material removal work device 21 according to Example 6 of the present invention. Explanation of symbols

 11 Workspace

 12 Work preparation room

 13 Container as enclosure

 14, 15 passage

 16 Building materials containing asbestos

 17 Unit work range

 18 Marking

 21 Removal work device

 22 trolley

 23 frame

 24 guide rail

 25 wheels

 26 Anchor jack

 27a, 27b tank

 32 Touro plate

 33 Work surface detection tool

 34 Spraying tool for wetting agents

 35 Peeling tool

 35a Spatial members

 35b Pneumatic vibrator

 36 Finishing tools

 36a Rotating part

36b wire 37 Spraying tools for solidifying agents

 41 Robot with articulated arm

 42 Tool mounting

 43 Master plate

 44 Dustproof jacket

 51 Camera

 52 Stationary camera

 53 Control unit

 54 Control panel

 55 Monitor

 61 Aerial platforms

 62 Boom

 BEST MODE FOR CARRYING OUT THE INVENTION

 Next, an embodiment of the invention will be described with reference to the drawings.

 Example 1

 [0038] An asbestos-containing building material removal system according to Example 1 of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a system for removing asbestos-containing building materials according to Embodiment 1 of the present invention, and FIG. 2 shows a work space 11, a work preparation room 12, a container 13 as a storage device, and a removal work device according to Embodiment 1. Fig. 21 is a schematic diagram of Fig. 3, Fig. 3 is a simplified perspective view of the asbestos-containing building material removal working device 21 according to Example 1 of the present invention, Fig. 4 is a schematic diagram of the tool, and Fig. 5 is a marking 18 for the work target. FIG. 6 is a schematic diagram of a state where the removal work device 21 is moved below the unit work range 17. In this example, it is assumed that the work is carried out in a relatively large public facility such as a school or a gymnasium as a building, but the asbestos-containing building material according to the present invention can be used even in a house, condominium, venue, etc. A removal system can be applied.

 [0039] (Preparation process)

As shown in FIG. 1, the preparation process is a process in which the work space 11 including the asbestos-containing building material 16 and the work preparation chamber 12 are communicated with each other, and the work space 11 and the work preparation chamber 12 are isolated from the outside. . As shown in Fig. 2, the interior of the work space 11 is a vinyl sheet. Strictly cure with a curing sheet such as, and separate work space 11 from the outside. The work space 11 is sucked with a dust remover (not shown) or the like so as to be maintained at a pressure lower than the atmospheric pressure. In addition, a separate passage 14 is provided to communicate with the work preparation room 12 described later.

As shown in FIG. 1, a work preparation chamber 12 is communicated with the outside of the work space 11. As shown in FIG. 2, as the work preparation room 12, for example, a room adjacent to the work space 11 is used. The entire work preparation room 12 is carefully cured with a curing sheet such as a vinyl sheet to isolate the work preparation room 12 from the outside. If there is no adjacent room and it cannot be used as the work preparation room 12, the work preparation room 12 is configured by dividing the work space 11 with a vinyl sheet or the like. A passage 14 provided in the work space 11 communicates with the work preparation chamber 12, and the passage 14 is partitioned by a door or the like so that the work space 11 and the work preparation chamber 12 can be isolated from each other. The work preparation chamber 12 is sucked with a dust remover (not shown) or the like so as to be maintained at a pressure lower than the atmospheric pressure. Further, the work preparation room 12 is provided with a separate passage 15 for communicating with a container 13 as a storage device described later.

 [0041] (Import process)

 Next, as shown in FIG. 1, the carry-in process is a process of moving the post-processing removal work device 21 stored in the storage device to the work space 11. The removal work device 21 will be described in detail later, but a carriage 22 for moving in the work space 11, a plurality of tools used to remove the asbestos-containing building material 16, and an articulated joint that performs the removal work of the asbestos-containing building material 16 And a robot 41 having an arm. As shown in FIG. 2, the storage device is a container 13 sealed so as not to disperse the internal dust to the outside, and stores the removal work device 21 in a state where the external working force is isolated. The inside of the container 13 is sucked with a dust removing device (not shown) or the like so as to be kept at a pressure lower than the atmospheric pressure. When the removal work device 21 is stored separately from the outside, the container 13 is hermetically sealed and dust is not emitted to the outside, so the inside of the container 13 may be the same as the atmospheric pressure. In addition, the passage 15 provided in the work preparation chamber 12 communicates with the container 13, and the passage 15 is partitioned by a door or the like so that the work preparation chamber 12 and the container 13 can be isolated from each other. To do.

[0042] As shown in FIG. 2, the removal work device 21 has a work preparation before entering the work space 11. In the room 12, a disposable dustproof jacket 44 is installed. The dustproof jacket 44 prevents dust and the like generated during the removal work of the asbestos-containing building material 16 from adhering to the removal work device 21. By keeping the internal pressure of the dustproof jacket 44 higher than the external pressure, it is possible to prevent dust from entering the jacket and to make it difficult for the dust and the like to adhere to the removal work device 21. This makes it easier to clean dust after the removal process. Note that the internal space of the removal work device 21 may be kept higher than the external pressure. In this case, dust or the like can be prevented from entering the inside of the removal work device 21.

 [0043] As shown in FIG. 2, in this state, the work space 11, the work preparation chamber 12, and the container 13 communicate with each other, and the work space 11, the work preparation chamber 12, and the container 13 are external. It is isolated from. The removal work device 21 is moved from the container 13 to the work space 11 through the work preparation room 12. The removal device can run on its own, but if there is a difference, it should be moved using lifting means. After the removal work device 21 is carried into the work space 11, the passage 14 between the work space 11 and the work preparation room 12 is closed so that the work space 11 is isolated from the outside. The removal work device 21 is connected to power peripheral devices such as electricity and aerodynamic power and control lines.

 [0044] (Removal work process)

 Next, as shown in FIG. 1, the removal work step is a step of removing the asbestos-containing building material 16 by the removal work device 21 carried into the work space 11. The removal work process includes a removal work process 1, a removal work process 2 (peeling work), and a removal work process 3 (finishing work). Detailed contents of the removal work device 21 and the removal work process will be described later.

 [0045] (Unloading process)

Next, as shown in FIG. 1, the unloading process is a process of moving the removal work device 21 from the work space 11 to the container 13 and unloading the removal work device 21 after the removal work step is completed. The work space 11, the work preparation chamber 12, and the container 13 are communicated with each other and separated from the outside, and the removal work device 21 is cleaned, and then the removal work from the work space 11 to the container 13 is performed. Move device 21. At this time, the power peripheral equipment such as electricity and pneumatic power of the removal work device 21 and the control line are also removed. Removal work equipment 21 Cleaning is performed by applying an air flow (air shower) to the removal work device 21 in the work space 11 to remove dust attached to the dustproof jacket 44. After removing the dust, move the removal work device 21 to the work preparation room 12. In the work preparation room 12, the dustproof jacket 44 is removed, and the dustproof jacket 44 is discarded in a disposal container. Since the removal work device 21 is equipped with a dustproof jacket 44, the amount of dust or the like adhering to the removal work device 21 is extremely small. Further, since the dustproof jacket 44 is removed in the work preparation chamber 12 and thrown into a waste container for disposal, the amount of dust brought into the container 13 from the work preparation chamber 12 is extremely small. This makes it easy to prevent secondary contamination of the surrounding environment when the removal work device 21 is moved from the work site. Then, the removal work device 21 is unloaded from the building while being isolated from the outside.

 [0046] According to the above asbestos-containing building material removal system, the work space 11, the work preparation room 12, the container 13 and the removal work device 21 are isolated from the outside through the preparation process, the carry-in process, the removal work process, and the carry-out process. Therefore, the dust generated by the removal work of the asbestos-containing building material 16 can be prevented from being scattered from the work space 11, the work preparation room 12, the container 13 and the removal work device 21 to the outside. Therefore, it prevents dust from asbestos-containing building materials 16 from contaminating the surrounding environment of the work site, and prevents secondary contamination of the surrounding environment when the removal equipment 21 that is the equipment used is moved at the work site. be able to.

 [0047] Further, according to the above asbestos-containing building material removal system, the removal work process is performed by the removal work device 21, so that the opportunity for the field worker to enter the work space 11 can be reduced, and the health hazard of the field worker can be reduced. Can be prevented.

 [0048] In addition, by keeping the internal pressure of the work space 11, the work preparation room 12 and the container 13 at a lower pressure than the outside, it is possible to prevent contamination of the surrounding environment in which asbestos-containing building materials 16 are difficult to emit dust, etc. Can do.

 [0049] Next, the removal work device 21 according to the present invention will be described. The removal work device 21 includes a carriage 22 and a robot 41 having a tool and an articulated arm. Table 1 shows the general specifications of the trolley 22 of the removal work device 21, the robot 41, and the spreader such as the wetting agent.

[0050] [Table 1] Outline specifications of removal equipment

 Configuration Manufacturer Model Main specifications

 Lifting load 1 8 O kg Lifting means

 Dolly Kyomachi Industrial Vehicle LM 5 0 0 Improved Stroke 9 5 O tnm

 Movement means Maximum traction 7 0 O kg type Articulated arm Number of axes 6 axes

 Robot Kawasaki Heavy Industries F S 0 1 O C C

 Payload 1 O kg

 Reach 1.3 m

 3 Wagner 'Maximum discharge rate o 1 / min

 Spreader F 3 5 0-B

 Spray Tech Maximum pressure 2 2 Mpa

[0051] The carriage 22 includes moving means for moving in the work space 11, fixing means for temporarily fixing in the work space 11, and lifting means for raising and lowering the pedestal 23. . The moving means is for moving the removal work device 21 on the floor surface of the work space 11, and as shown in FIG. 3, the wheel 25 supporting the carriage 22 and the wheel 25 are driven to drive the carriage 22. And a drive device (not shown) for moving the. The moving means is preferably capable of traveling even if the removed pieces of the asbestos-containing building material 16 are scattered on the floor surface. In this example, the maximum tractive force of the moving means is 700 kg.

 [0052] The fixing means temporarily fixes the removal work device 21 at an arbitrary point on the floor surface in the work space 11, and is removed by a reaction when the tool is pressed against the ceiling or the like during the removal work. This is to prevent the position of 21 from shifting. As shown in FIG. 3, the fixing means is composed of an anchor jack 26 that can be extended downwards of the carriage 22, and during fixing, the anchor jack 26 is pressed against the floor surface to temporarily position the removal work device 21. Fix it.

The elevating means elevates and lowers a gantry 23 for fixing a robot 41 having an articulated arm, which will be described later. As shown in FIG. 3, a pedestal 23 is mounted on a guide rail 24 erected on the carriage 22 so as to be movable up and down, and the pedestal 23 is moved up and down with respect to the carriage 22 between the pedestal 23 and the carriage 22. A lifting device (not shown) is provided, and the platform 23 is moved up and down to position the robot 41 having an articulated arm at an appropriate height with respect to the asbestos-containing building material 16 to be worked. In this embodiment, the lifting load of the lifting means is 180 kg, The vertical stroke is 950mm. Here, the moving means, the fixing means, and the elevating means are configured to be operated by remote operation, but the moving means, the fixing means, and the elevating means may be configured to be operated by a teaching program. Yo ...

 [0054] The tool is attached to a tool attaching portion 42 provided at a tip portion of a robot 41 having an articulated arm, which will be described in detail later, and is removed by being pressed against an asbestos-containing building material 16 that is a work target. This is for performing each operation included in the operation process. As shown in FIG. 4, each tool is provided with a tool plate 32 corresponding to a master plate 43 described later provided in a robot 41 having an articulated arm. A number of tools are prepared for each operation included in the removal work process or for each removal target.Work surface detection tool 33, wetting agent spray tool 34, peeling tool 35, finishing tool 36, solidifying agent spray Tool 37 etc. are provided. Each tool is placed side by side on a tool stand (not shown) provided below the robot 41 having an articulated arm.

 Here, the work surface detection tool 33 is a tool for detecting the height of a work target such as a ceiling. The work surface detection tool 33 detects that the work object such as the ceiling is touched, and detects the height of the ceiling or the like at that time.

 [0056] The spray tool 34 for the wetting agent is a tool for spraying the wetting agent to the work target. Before the peeling work, a wetting agent is sprayed on the work object to moisten it, and the dust is prevented from scattering when the asbestos-containing building material 16 is peeled off. A wetting agent supply hose (not shown) is connected to the wetting agent spray tool 34, and the wetting agent supply hose is connected to a tank 27a provided in the carriage 22 and a spreader (not shown). Has been. In this example, the maximum discharge rate of the spreader is 6 liters per minute and the maximum pressure is 22 MPa.

 [0057] The peeling tool 35 is a tool for peeling the asbestos-containing building material 16 also with the ground surface force. The peeling tool 35 is composed of a spatula-like member 35a and an air-type vibration device 35b. As shown in FIG. 4, the spatula-like member 35a is placed between the asbestos-containing building material 16 and the ground surface, and the air-type vibration is applied. By assembling the spatula member 35a back and forth by the device 35b, the asbestos-containing building material 16 is peeled off.

[0058] The finishing tool 36 is a tool for removing the asbestos-containing building material 16 with the peeling tool 35 and then polishing and peeling the asbestos-containing building material 16 remaining on the removal surface. As shown in Figure 4 In addition, the finishing tool 36 has a structure in which a large number of wires 36b are implanted around the rotating portion 36a, and a dust collecting suction port (not shown) is provided near the rotating wire 36b for sucking dust generated by polishing. Z). A suction hose is connected to the dust collection suction port, and the suction hose is connected to a dust collector provided on the carriage 22. In addition, it is preferable to prepare multiple finishing tools 36 so that the appropriate size can be selected according to the shape of the part to be removed.

 [0059] The spray agent 37 for the solid agent is a tool for spraying the solid agent on the work target. After the work with the finishing tool 36, a solidifying agent is sprayed on the work object to contain the dust of the asbestos-containing building material 16 remaining in the work object. The solidifying agent spray tool 37 is connected to a solidifying agent supply hose (not shown), and the solidifying agent supply hose is connected to a tank 27b provided in the carriage 22 and a spreader (not shown). Be beaten!

 Next, the robot 41 having the articulated arm remotely operates each operation included in the removal operation process performed by attaching the tool and replacement of the tool performed at the end of each operation. Or teaching 'to be executed by the program. As shown in FIG. 3, the robot 41 having the articulated arm has six axes, and is provided on a pedestal 23 that can be raised and lowered provided on the carriage 22. A tool mounting portion 42 is provided at the tip of the robot 41 having an articulated arm, and a master plate 43 for mounting the tool is provided at the other end of the tool mounting portion 42. When the robot 41 having an articulated arm is operated, the tool can be directed to the work target at a desired position and angle within a predetermined range. In this embodiment, the load capacity of the robot 41 is 10 kg, and the reach is 1300 mm.

[0061] As described above, the tool attachment portion 42 is provided at the tip of the robot 41 having an articulated arm, and is a portion to which a tool for removing the asbestos-containing building material 16 is detachably attached. As shown in FIG. 4, as a tool attachment / detachment means, a tool mounting portion 42 is provided with a master plate 43, and each tool is provided with a tool plate 32 corresponding to the master plate 43. A fitting portion having a pneumatic locking mechanism is formed on the master plate 43 side, and a fitting portion into which the fitting portion is fitted is formed on the tool plate 32 side. A robot with an articulated arm by engaging the mating part of the master plate 43 and the mating part of the tool plate 32 and operating the pneumatic locking mechanism 4 The tool is attached to the tool mounting part 42 of 1. When the tool is to be detached when replacing the tool, the fitting portion and the fitted portion are separated by releasing the lock mechanism, and the tool is detached from the tool mounting portion 42.

 [0062] The robot 41 having the articulated arm can automatically exchange a tool according to each operation included in the removal operation process or a shape to be removed by a program. It should be noted that the tool is automatically replaced by the program when each operation included in the removal process is completed.

 As shown in FIG. 3, a camera 51 is provided near the tip of the articulated arm. The camera 51 is installed so that it can monitor information necessary for the movement of the removal work device 21, the lifting and lowering of the pedestal 23, and the operation of the robot 41 having an articulated arm. The work status and work position images can be checked on the monitor 55. In addition, a stationary camera 52 is installed at the work site, and information regarding the removal work device 21 can also be monitored by this stationary force camera 52.

 As shown in FIG. 3, the carriage 22 is provided with a robot 41 having an articulated arm and a control device 53 for controlling the moving means of the carriage 22 and the like. The control device 53 is connected to a control panel 54 for remotely operating the removal work device 21. The vertical operation panel 54 includes a moving means, a fixing means, an elevating means, a robot 41 having an articulated arm, a spray tool 34 for a wetting agent, a spray tool 37 for a solidifying agent, a camera 51, etc. An operation unit for operation is provided. The information from the camera 51 provided near the tip of the robot 41 having the articulated arm and the stationary camera 52 placed at the work site is displayed on the monitor 55 installed near the operation control panel 54 while watching this. Operate using the control panel 54. As described above, the operator can operate the removal work device 21 by remote operation while checking the image of the work environment, the work situation, and the work position, so that the removal work by the removal work device 21 can be reliably performed. it can. Note that wireless communication means may be used as a means for remote control.

[0065] Further, since the removal work process is performed by the removal work device 21 that is operated by remote operation as described above, the opportunity for the field worker to enter the work space 11 can be reduced, and the field worker has a health disorder. Occurrence can be prevented. [0066] Next, the contents of the removal work process for removing the asbestos-containing building material 16 provided in the building using the removal work device 21 will be described.

 [0067] In the removal work step 1, as shown in FIGS. 1 and 5, the range of the work object to be removed is subdivided and divided into unit work ranges 17, 17... By dividing the work objects to be removed into unit work areas 17, even work objects with complex shapes can be regarded as a set of simple unit work areas 17, making removal work easier. . For example, as shown in Fig. 5, even if there is an uneven part such as a beam on the ceiling that is the work target, a sudden change of surface (for example, the side of the beam) is included within a unit work range 17. If the unit work range 17 is set so that it does not occur, the ceiling surface can be regarded as a set of simple planes. If the operation of the removal work performed by the removal work device 21 in the unit work range 17 is determined in advance, this operation is sequentially repeated for each unit work range 17 so that even if the work target has a complicated shape. It can be done easily by repeating simple removal operations. Even if the removal work device 21 is executed by a remote operation or teaching 'program, the removal work can be performed by a simple remote operation or simple teaching' program.

 [0068] As shown in Fig. 5, the marking 18 in the present embodiment does not include a sudden surface change portion in the unit work range 17, for example, a ceiling with a side of 60cm on the work target. The child marking 18 is performed. The marking 18 is used by the operator to visually recognize the unit work range 17 on the monitor 55 in the removal work process, and the size of the grid can be arbitrarily changed. When the work target has a complicated shape, the removal work is facilitated by shortening the length of one side of the lattice. As a means for marking 18, for example, marking 18 is performed by drawing a line with asbestos-containing building material 16 to be worked with spray paint or the like.

[0069] In the removal work step 2, the removal work device 21 is moved below the unit work range 17 as shown in FIGS. The anchor jack 26 is operated by remote control, and the removal work device 21 is temporarily fixed below the unit work range 17. Next, the tool selects the work surface detection tool 33 and detects the height of the work object such as the ceiling. The work surface detection tool 33 detects the contact with the work object such as a ceiling and detects the height of the unit work range 17. Inspection The height taken out is taken as the reference height for the peeling work in the unit work range 17.

[0070] Next, as shown in FIG. 1, the tool is replaced with a spray tool 34 for the wetting agent, and the wetting agent is sprayed on the unit working range 17. By spraying a wetting agent before the peeling operation to wet the asbestos-containing building material 16, it is possible to suppress dust scattering when the asbestos-containing building material 16 is peeled off. As a wetting agent, for example, “Austector S” manufactured by Kawaguchi Pharmaceutical Co., Ltd. diluted with 10 times water is used. It is preferable that the wetting agent is spread evenly throughout the spray tool 34. Therefore, the wetting agent can be easily and uniformly produced by pre-teaching and programming the operation of the robot 4 1 having an articulated arm so that the spray tool 34 is reciprocated while slightly shifting the position on the unit work range 17. Can be sprayed.

 Next, as shown in FIG. 1, the tool is replaced with a peeling tool 35. The asbestos-containing building material 16 is peeled off from the ground surface by the peeling tool 35. The peeling tool 35 applies the spatula-like member 35a between the asbestos-containing building material 16 and the ground surface, and advances the robot 41 having an articulated arm while vibrating the spatula-like member 35a by the air vibration device 35b. As a result, the asbestos-containing building material 16 is peeled off. The entire unit work range 17 is peeled off evenly, and the asbestos-containing building material 16 in the unit work range 17 is peeled off. For example, by pre-teaching and programming the operation of the robot 41 with an articulated arm so that the position is gradually shifted in parallel while moving the peeling tool 35 back and forth, the peeling work can be easily performed without unevenness. it can.

 [0072] As shown in FIG. 1, when the removal work process 2 (peeling work) of the next unit work range 17 is performed after the removal work process 2 (peeling work) of the unit work range 17 is completed, the anchor jack 2 6 is operated to release the temporary fixing, and the removal work device 21 is moved to the next unit work range 17 so that the removal work process 2 (peeling work) is performed from the beginning. Assuming that the removal work process 2 (peeling work) has been completed for the entire object, the case where the removal work process 3 (finishing work) is started next will be described.

As shown in FIG. 1, when the removal work process 3 is started, first, the removal work device 21 is moved below the unit work range 17. The anchor jack 26 is operated by remote control, and the removal work device 21 is temporarily fixed below the unit work range 17. Then the tool is working Select the surface detection tool 33 and detect the height of the work target such as the ceiling. The detected height is taken as the reference height for finishing work in this unit work range 17.

Next, as shown in FIG. 1, the tool is replaced with a finishing tool 36. After the asbestos-containing building material 16 is removed with the peeling tool 35 using the finishing tool 36, the asbestos-containing building material 16 remaining on the removal surface is polished and peeled off. The finishing tool 36 has a structure in which a large number of wires 36b are implanted around the rotating portion 36a. The rotating wire 36b is brought into contact with the removal surface, and the asbestos-containing building material 16 is polished and peeled off. It is preferable to polish and remove the removal surface with the finishing tool 36 evenly. Therefore, by pre-teaching and programming the operation of the robot 41 with the articulated arm so that the finishing tool 36 is reciprocated while shifting the position little by little on the unit work range 17, polishing and peeling can be easily performed without unevenness. can do . The work with the finishing tool 36 is performed while sucking dust from the dust collection suction port provided in the vicinity of the wire 36b, so that the amount of dust spreading in the work space 11 can be suppressed. it can. In addition, when a plurality of finishing tools 36 are prepared according to the partial shape to be removed, an appropriate size tool is selected according to the removal target.

 [0075] Next, as shown in FIG. 1, the tool is replaced with a spray agent 37 for the solid agent, and the solid agent is sprayed over the unit working range 17. After polishing and peeling with the finishing tool 36, a solidifying agent is sprayed on the work target to contain the dust of the asbestos-containing building material 16 remaining on the work target. As the solidifying agent, for example, “Austector S” manufactured by Kawaguchi Pharmaceutical Co., Ltd. diluted with the same amount of water is used. It is preferable to spray the solid glaze with the spray tool 37 evenly throughout. Therefore, by teaching and programming in advance the operation of the robot 41 having the articulated arm so that the spray tool 37 is reciprocated while shifting the position little by little on the unit work range 17, it is possible to easily and uniformly fix the spray tool 37. The agent can be sprayed.

[0076] As shown in FIG. 1, when the removal work process 3 (finishing work) in the next unit work range 17 is performed after the removal work process 3 (finishing work) in the unit work range 17 is completed, the removal work device 21 is moved to the next unit work range 17 so that the removal work process 3 (finishing work) is started from the beginning, but when the removal work process 3 (finishing work) is completed for the entire work target, Next, the process proceeds to the unloading process. [0077] Next, the result of the operation experiment of the removal work device 21 according to the present embodiment will be described in comparison with the removal work of the asbestos-containing building material 16 by the conventional method.

 [0078] In the conventional method, an on-site worker enters the work space and removes the asbestos-containing building material 16 manually. Table 2 shows the standard work contents and work time allocation in the conventional method. Table 2 shows the time (minutes) allocated to each work, assuming that the total daily work time per worker is 480 minutes (8 hours). The “packing the removed asbestos-containing building material” is an operation for storing and transporting the asbestos-containing building material 16 that has fallen to the floor surface by the peeling and finishing operations in a disposal bag. The special break is a break that is different from the usual lunch break, and is a break that is established by using a part of the work time, and is a break that is necessary because it is a harsh manual work. There is one special break each morning and afternoon.

 [0079] [Table 2]

[0080] Table 3 shows the area of asbestos-containing building material 16 that can be removed when four workers work for one day (8 hours) using the conventional method. Asbestos-containing building materials 16 have different hardnesses, and the areas of asbestos-containing building materials 16 that can be removed in one day (8 hours) differ depending on the hardness. Soft power, if the type, but the asbestos-containing building materials 16 in the area of about 75 m ² can be removed a day four, usually of about 50 m ² per day at four If it is the hardness asbestos-containing building materials 16 If it is a hard type, 4 people will remove asbestos-containing building materials 16 of about 25m ² per day.

[0081] [Table 3] Daily work with the conventional method

 Type of asbestos-containing building material Softness, good Normal Hard

 Personnel (people) 4 4 4

 Removal area (nf) 7 5 5 0 2 5

[0082] Subsequently, the result of the operation experiment of the removal work device 21 according to the present embodiment will be described.

 Table 4 shows the experimental conditions. In this operation experiment, a fireproof coating material “Spray Ace Wet N” (registered trademark) manufactured by Nippon Rock Wool Co., Ltd., which is a simulated material of asbestos-containing building material 16, was used as the work target. . The hardness of sprayed “Spray Ace N” (registered trademark) is equivalent to a hard type asbestos-containing building material.

 [0083] [Table 4]

[0084] Table 5 shows the results of an operation experiment of the removal work device 21 according to the present example. The required time shown in Table 5 is the time required for work in the unit work range (60cm x 60cm). The time required for each work was repeated 10 times in an experiment in which the work range of 2 units was continuously worked, and the average value of the time taken per work range of 1 unit was calculated from the result, which was used as the time required for each work. . The movement time between unit work ranges (40 seconds) and tool change (40 seconds) are included in the removal work time (540 seconds) of the unit work range using the peeling tool and finishing tool. Based on this operation experiment, the work contents other than the “packing of removed asbestos-containing building materials” among the work contents that were performed by the conventional method were removed. It was confirmed that it can be carried out using device 21.

[0085] [Table 5]

[0086] Next, the results of the operation experiment of the removal work apparatus 21 according to the present example will be described in comparison with the removal work of the asbestos-containing building material 16 by the conventional method. Table 6 shows the contents of the comparison and the time required for each operation. As shown in Table 6, the work target “Spray Ace Wet N” (registered trademark) in the operation experiment corresponds to a hard asbestos-containing building material. For this reason, the data for the conventional method is the standard time required for removing 25m ^{2 of} hard asbestos-containing building materials by four workers working one day (8 hours). The time required for each work in the conventional method is four times (4 persons) of the work time data (1 person) shown in Table 2.

[0087] [Table 6]

Comparison of workability

 Work target type Hard type

 Removal space flat ceiling

 Working conditions Workers 4 people 1 person

 Removal device 1 unit

 Removal area 2 5 m

 Time required (minutes)

 Work contents

 Current method Removal work equipment

 Wetting agent application 1 2 0 1 4

 Peeling work 3 6 0

 6 2 5

 Finishing work 4 8 0

 Special break (once each morning / afternoon) 2 4 0 0

 Application of solidifying agent 1 2 0 1 6

 Total time required for comparison items 1 3 2 0 6 5 5

 Access time to work space 1 0 8 0 0

[0088] In Table 6, the data of the removal work device 21 is based on the assumption that one removal work device 21 is operated by one operator. The required time is approximately 69 times the required time shown in Table 5. The work time shown in Table 5 is the time required for work in the unit work range (0.36 m ² ). To remove 25 m ² , which is about 69 times the area, This is because it takes about 69 times the time required for the unit work range.

 [0089] In addition, “packing of removed asbestos-containing building materials” is a work that is manually performed by the operator for both the conventional construction method and the removal work device 21 that are not performed by the removal work device 21. Since it does not occur, comparative item power is also excluded. Similarly, “preparation before work” and “tidy-up and change of clothes after work” are also excluded from the comparison items because they are preparations performed by an operator that is not the work performed by the removal work device 21. On the other hand, “special break” is included in the comparison item because it is a part of the work time of the conventional method, which is not the usual lunch break. In the work using the removal work device 21, the operator operates the removal work device 21 without entering the work space, so it is not necessary to provide a special break.

[0090] In Table 6, in the conventional method, the total time required for the work listed in the comparison item is 1320 minutes. Of these, the time to enter the workspace is 1080 minutes excluding special breaks. The On the other hand, in the work using the removal work device 21, the total time required for the work listed in the comparison item is 655 minutes. During this time, since the operator (operator) is operating the removal work device 21 outside the work space, the access time to the work space during work is 0 minutes. Therefore, by using the removal work device 21, the entry time of the worker into the work space can be reduced by 1080 minutes (18 hours).

[0091] Also, if the removal work device 21 is used and one worker performs all of the removal work, in addition to the work contents shown in Table 6, preparation before work (30 minutes), special break (60 minutes), packing of removed asbestos-containing building materials (360 minutes), cleaning up after work, changing clothes (30 minutes) are required (see Table 2), and the time required for these is 480 minutes. Then, if the removal work device 21 is used and one worker performs all of the removal work, the time required for this is 655 minutes + 480 minutes = 1135 minutes. This is because the work time per person per day is 480 minutes, so 1135 minutes ÷ 4 80 minutes = 2.365, which is about 2.5 people's work. Therefore, by using the removal work device 21, the amount of work that was required by 4 people in the conventional construction method is 4 people 1 2.5 people = 1.5 people, and it is possible to save labor for 1.5 people. it can.

 Example 2

 [0092] In the asbestos-containing building material removal system according to Example 2 of the present invention, ionized gas is discharged into the work space 11, and the dust of the floating asbestos-containing building material 16 is removed. . In this case, it is easy to sink the dust etc. by removing the charged dust and the like, and the floating time can be shortened. This makes it easy to remove dust, etc. from the work space 11, can prevent contamination of the surrounding environment due to scattering of dust, etc., and shortens the time required to remove the asbestos-containing building material 16 be able to.

 Example 3

[0093] In the asbestos-containing building material removal system according to Example 3 of the present invention, dust or the like of the asbestos-containing building material 16 floating in the work space 11 is charged to the positive electrode or the negative electrode, and the dust collecting member is attached to a different polarity. Try to get electricity. In this case, since floating dust can be collected using Coulomb force, it becomes easy to remove dust from the work space 11, and contamination of the surrounding environment due to dust scattering. In addition, the period required for removing the asbestos-containing building material 16 can be shortened. Example 4

 [0094] In the asbestos-containing building material removal work device 21 according to Embodiment 4 of the present invention, when each unit work range 17 that is a subdivision of the work target to be removed is inclined, the memory is stored. The point of executing the removal work by correcting the teaching 'program by itself is greatly different from the removal work device 21 of the first embodiment. The same parts as those in Embodiment 1 are denoted by the same reference numerals, and detailed description thereof is omitted.

 [0095] The removal work device 21 according to the present embodiment detects the work reference point of each unit work range 17 that is a subdivision of the work target range to be removed and the inclination of the unit work range 17. And a teaching program that starts the removal work in the unit work range 17 from the work reference point, executes it in accordance with the inclination, and repeatedly executes the removal work in each unit work range 17 in order. Storage means. Based on the detection signal of the detection means of the removal work device 21, the work reference point and the inclination of the teaching program are corrected to the detected work reference point and the inclination and executed.

 [0096] According to the removal work apparatus 21 according to the fourth embodiment, the removal work in the unit work range 17 is started from the work reference point according to the teaching program, and is executed according to the inclination. The removal operation in range 17 can be repeated in sequence. In addition, the removal work in each unit work range 17 can be sequentially and repeatedly performed while correcting the teaching program according to the work reference point detected by the detecting means and the inclination of the work range. Therefore, even a three-dimensionally complicated work target can be easily performed by repeating a simple removal operation.

 Example 5

 [0097] In the asbestos-containing building material removal work device 21 according to Embodiment 5 of the present invention, when the removal work device 21 is performing the removal work based on the position information, the carriage 22 may slip or the like. Thus, even if the position information is lost, the removal work device 21 returns to the position reference point, resets the position information, and returns to the removal work again. The same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

[0098] The removal work device 21 according to the present embodiment sets a position reference point in the work space 11 including the asbestos-containing building material 16, and sets the position information of the work target to be removed from the position reference point. A data storage unit that stores the coordinate information and a detection unit that detects the position information of the removal work device 21 are provided. When the carriage 22 slips, the position information of the removal work device 21 by the detection unit is lost. When this occurs, the position information is reset by remote control or teaching 'program to reset the position information.

[0099] According to the removal work device 21 according to the fifth embodiment, even if the position information of the removal work device 21 by the detecting means is lost due to slipping of the carriage 22, the remote operation or the teaching program Since the position information is reset by returning to the position reference point, it is possible to prevent the operation from being continued or stopped while the position information of the removal work device 21 is lost. Further, it is possible to quickly return to the removal work using the position information of the work target to be removed stored in the data storage unit. The position reference point may be two or more. For example, by setting two position reference points, it becomes easier to match the position information and the position reference point in the data storage unit, and the removal work device 21 can quickly obtain the position information.

 Example 6

 [0100] The asbestos-containing building material removal work apparatus 21 according to Embodiment 6 of the present invention will be described. This embodiment is greatly different from the first embodiment in that the removal work at a high place can be performed. The same parts as those in Example 1 are denoted by the same reference numerals, and detailed description thereof is omitted.

 [0101] In the removal work device 21 according to the present embodiment, a robot 41 having a multi-joint arm is detachable from a mount 23 of a carriage 22, and the robot having the multi-joint arm is, for example, as shown in FIG. It can be mounted on the boom 62 of the aerial work vehicle 61.

 [0102] According to the removal work device 21 according to Example 6, even if the removal work of the asbestos-containing building material 16 provided at a high place that cannot be reached by raising and lowering the mount 23 provided on the carriage 22, the high place By attaching a robot having an articulated arm to work vehicle 61, it is possible to perform removal work at a high place. Further, in this case, it is not necessary to prepare a robot having a plurality of articulated arms according to the height of the work object, so that the removal work can be performed economically. Industrial applicability

[0103] The present invention can be applied to the use of the asbestos-containing building material removal system and the asbestos-containing building material removal work device.

Claims

The scope of the claims  [1] A system for removing asbestos-containing building materials, which removes asbestos-containing building materials on the ceiling, wall, etc. of a building,  A preparation step of communicating a work space containing the asbestos-containing building material and a work preparation room, and isolating the work space and the work preparation room from an external cover;  A storage device that stores the removal work device in a state of being isolated from the outside communicates with the work preparation chamber, isolates the work space, the work preparation chamber, and the storage device from the outside, and removes the storage device from the storage device. A carrying-in step of moving the removal working device to the working space;  A removal work process for removing asbestos-containing building materials in the work space by the removal work device;  After completion of the removal work step, the work space, the work preparation chamber, and the storage device are communicated and separated from the outside, and the removal work device is moved from the work space to the storage device, An unloading step of detaching the storage device from the work preparation chamber and unloading the removal work device in an isolated state;  Asbestos-containing building material removal system characterized by containing.  [2] The asbestos-containing composition according to claim 1, wherein the removal work device executes all or part of the removal work process by a remote operation or teaching 'program with external force in the work space. Building material removal system.  [3] By subdividing the range of the work object to be removed into the unit work range in the removal work process, and repeating the removal work in each unit work range in order, the range of work target The asbestos-containing building material removal system according to claim 1, wherein the asbestos-containing building material is removed.  [4] The removal work apparatus is equipped with a dustproof jacket, and the atmospheric pressure in the dustproof jacket is kept higher than the work space. After the removal work process, the dustproof jacket is externally attached. 2. The asbestos-containing building material removal system according to claim 1, wherein the asbestos-containing building material removal system is removed from the removal work device in an isolated state. [5] The internal pressure of the work space, the work preparation room, and the storage device is kept at a lower pressure than the outside. The asbestos-containing building material removal system according to claim 1, wherein the asbestos-containing building material is removed. 6. The asbestos-containing building material removal system according to claim 1, wherein the asbestos-containing building material is discharged by discharging ionized gas into the work space and floating! [7] Asbestos-containing building material dust floating in the work space is charged to the positive electrode or the negative electrode. 2. The asbestos-containing building material removal system according to claim 1, wherein the dust collecting member is charged to a different polarity.  [8] A moving means for moving in the work space, a fixing means for temporarily fixing in the work space, and an elevating means for raising and lowering the gantry provided with the robot having the articulated arm, Each means is remotely operated or taught * A cart operated by a program, a plurality of tools used for each work or removal target included in the removal work process, each work included in the removal work process, and each work A robot having a multi-joint arm that performs a remote control or teaching 'program to replace the tool at each end;  The approach to the work object by the moving means of the carriage, the execution of each work included in the removal work process, the replacement of the tool performed between each work, and the next work object An asbestos-containing building material removal work device characterized by sequentially repeating the movement.  [9] The asbestos-containing building material removal work device according to claim 8, further comprising means for confirming a work environment, a work situation, and a work position image.  [10] Subdividing the range of work to be removed and dividing it into unit work ranges, operating by remote control or teaching 'program to execute the removal work in each unit work range, 9. The asbestos-containing building material removal work apparatus according to claim 8, wherein the asbestos-containing building material removal work is performed by sequentially and repeatedly performing removal work within the work range.  [11] A detection means for detecting a work reference point of each unit work range and an inclination of the unit work range, which is a subdivision of a work target range to be removed. Storage means for storing a teaching program that starts the removal work in the unit work range from the work reference point, executes the work according to the inclination, and repeatedly executes the removal work in each unit work range sequentially; , With  9. The removal of the asbestos-containing building material according to claim 8, wherein the work reference point and inclination of the teaching program are corrected to the detected work reference point and inclination based on the detection signal of the detection means. Work equipment. [12] A data storage unit that sets a position reference point in a work space including asbestos-containing building material, and stores position information of a work target to be removed as coordinate information from the position reference point; and the removal work device Detecting means for detecting the position information of  When the position information of the removal work device by the detecting means is lost due to slipping of the carriage, the position reference point is restored by remote control or teaching 'program. 9. The asbestos-containing building material removal work device according to claim 8, wherein the position information is reset.  [13] The robot having the articulated arm is detachable from a carriage base, and the robot having the articulated arm can be attached to a traveling carriage that can be used at high places. The asbestos-containing building material removing work apparatus according to claim 8.