JPH0445783Y2 - - Google Patents
Info
- Publication number
- JPH0445783Y2 JPH0445783Y2 JP1984106355U JP10635584U JPH0445783Y2 JP H0445783 Y2 JPH0445783 Y2 JP H0445783Y2 JP 1984106355 U JP1984106355 U JP 1984106355U JP 10635584 U JP10635584 U JP 10635584U JP H0445783 Y2 JPH0445783 Y2 JP H0445783Y2
- Authority
- JP
- Japan
- Prior art keywords
- nut runner
- camera
- formwork
- bolt
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 claims description 2
- 238000009415 formwork Methods 0.000 description 24
- 230000007547 defect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 208000021945 Tendon injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Manufacturing Of Tubular Articles Or Embedded Moulded Articles (AREA)
Description
【考案の詳細な説明】
イ 産業上の利用分野
本考案はコンクリートパイルの型枠のボルト締
めを行う自走式ボルト締め機に関する。[Detailed Description of the Invention] A. Field of Industrial Application The present invention relates to a self-propelled bolting machine for tightening bolts on concrete pile formwork.
ロ 従来の技術
コンクリートパイルの製造においては、第3図
A,Bに示すように2割りの型枠01を円筒状に
組み合せ、ボルト締めして一体にしたものを複数
個接続して所定長さの円筒02を形成し、該円筒
02の外周に回転用車輪03を嵌着した後、円筒
02の端面に端板04を取付け、円筒02の内部
にコンクリート05を注入して該円筒02を回転
し、所定厚さのコンクリートパイルを形成してい
る。B. Prior art In manufacturing concrete piles, as shown in Fig. 3A and B, two halves of the formwork 01 are combined into a cylindrical shape, and a plurality of these are connected together by bolting to form a predetermined length. After forming a cylinder 02 and fitting a rotating wheel 03 to the outer periphery of the cylinder 02, an end plate 04 is attached to the end face of the cylinder 02, concrete 05 is poured into the inside of the cylinder 02, and the cylinder 02 is rotated. A concrete pile of a predetermined thickness is formed.
この場合、型枠01は通常1m程度の長さを有
し、その接合面の軸方向フランジ01aには計3
〜4ケのボルト01bが設けられている。ここで
一般にコンクリートパイルの全長は10m〜20mの
ものが最も多いことからボルト数は片側だけでも
30〜80ケになり、これを確実に締付ける必要があ
る。 In this case, the formwork 01 usually has a length of about 1 m, and the axial flange 01a of the joint surface has a total of three
~4 bolts 01b are provided. Generally, the total length of concrete piles is most often 10m to 20m, so the number of bolts can be adjusted even if only on one side.
There are 30 to 80 pieces, and it is necessary to tighten them securely.
従前、上記型枠のボルト締めは人手によりイン
パクトレンチを使用して行つている。このため振
動による腱傷炎などの問題が生じている。また労
働力不足の対策としてもボルト締め作業の自動化
が望まれている。 Conventionally, bolt tightening of the formwork has been done manually using an impact wrench. This causes problems such as tendon injuries due to vibration. Automation of bolt tightening work is also desired as a countermeasure to the labor shortage.
ハ 考案が解決しようとする問題点
従来、上記ボルト締めについてはシーケンサに
よる制御例も見られるが、コンクリートパイルの
型枠そのものの精度が悪く、特に上下型枠の取付
孔はケガキ後の合せ孔明が主であり、左右のバラ
ツキが大きいためにソケツト部の喰い付きに誤差
を生じ易く、そのままでは締め付け作業が不充分
となる場合がある。また長時間の使用では型枠の
ねじれによる誤差が更に加重されますます誤差を
大きくしている。しかも型枠の長さについては、
種々の型枠を組合せて用いているため、長さが一
定せず、固定シーケンスによる制御では不充分で
ある。C. Problems to be solved by the invention Conventionally, there have been examples of controlling the bolt tightening mentioned above using a sequencer, but the accuracy of the concrete pile formwork itself is poor, and in particular, the mounting holes of the upper and lower formworks are difficult to drill after marking. Since there is a large variation from side to side, errors tend to occur in the biting of the socket portion, and if left as is, the tightening work may become insufficient. In addition, when used for a long time, errors due to twisting of the formwork are further aggravated, making the errors even larger. Moreover, regarding the length of the formwork,
Since various molds are used in combination, the length is not constant, and control using a fixed sequence is insufficient.
ニ 問題点を解決するための手段および作用
本考案は上記問題点を解決する自走式ボルト締
め機を提供するものであり、被締結ボルトの配列
方向に沿つて自走可能な走行台車上にボルト位置
検出用カメラとナツトランナとが搭載され、該ナ
ツトランナが前記走行台車の走行方向に対して上
下及び左右方向に移動自在に支持される一方、前
記ボルト位置検出用カメラが前記走行台車の走行
方向に沿つて該走行台車及び前記ナツトランナに
対して独立して移動自在に支持され、更に該カメ
ラには位置検出回路が付設される一方、ナツトラ
ンナにはナツトを締付ける昇降締付機構が付設さ
れていることを特徴とするものである。D. Means and operation for solving the problems The present invention provides a self-propelled bolt tightening machine that solves the above problems, and is mounted on a traveling carriage that can be self-propelled along the direction in which the bolts to be fastened are arranged. A bolt position detection camera and a nut runner are mounted, and the nut runner is supported so as to be movable vertically and horizontally with respect to the traveling direction of the traveling truck, while the bolt position detecting camera is mounted in a direction in which the traveling truck is traveling. The camera is supported so as to be movable independently of the traveling truck and the nut runner along the camera, and the camera is provided with a position detection circuit, and the nut runner is provided with an elevating and lowering tightening mechanism for tightening the nut. It is characterized by this.
ホ 実施例
第1図、第2図に本考案の一実施例を示す。同
図において型枠1の両側にレール2が配設されて
おり、該レール2に走行台車3が載置されてい
る。走行台車3は型枠1の上側を囲むようにコ字
型断面をなし、その脚部3aに走行用モータ4と
ラツク機構を具えた車輪5とが設けられ、前後に
移動するための自走機構が形成されている。この
走行台車3に支持枠6が前後1台ずつ設けられて
いる。支持枠6は走行台車3と同様に型枠1の上
側を囲むようコ字型形状をなし、上下動自在に装
着されている。一方、走行台車3の上側には昇降
用モータ7が設けられており、該モータ7の駆動
軸7aは支持枠6の一側部に螺合し、更に駆動軸
7aに嵌着しているスプロケツト7bとチエーン
7cを介し支持枠6の他側部に連結している。従
つて支持枠6はこのモータ7の駆動によりその左
右両側部が一体に上下動される。E. Embodiment FIGS. 1 and 2 show an embodiment of the present invention. In the figure, rails 2 are arranged on both sides of a formwork 1, and a traveling carriage 3 is placed on the rails 2. The traveling trolley 3 has a U-shaped cross section so as to surround the upper side of the formwork 1, and has a traveling motor 4 and wheels 5 equipped with a rack mechanism on its legs 3a, and is self-propelled for moving back and forth. A mechanism is formed. This traveling truck 3 is provided with support frames 6, one at the front and one at the front. The support frame 6 has a U-shape so as to surround the upper side of the formwork 1 like the traveling carriage 3, and is mounted so as to be vertically movable. On the other hand, a lifting motor 7 is provided above the traveling truck 3, and a drive shaft 7a of the motor 7 is screwed onto one side of the support frame 6, and a sprocket fitted onto the drive shaft 7a. It is connected to the other side of the support frame 6 via the chain 7b and the chain 7c. Therefore, the left and right sides of the support frame 6 are integrally moved up and down by the drive of the motor 7.
次に支持枠6にはナツトランナ8とボルト位置
を検出するカメラ9とが装着されている。ナツト
ランナ8は移動台8aを介して支持枠6に横行自
在に設けられている。該移動台8aは支持枠6の
側端に設けた横行モータ10に連結されており、
横行モータ10により左右方向へ往復動される。
移動台8aにはエアシリンダ8bが設けられてお
り、該エアシリンダ8bのロツドには取付台8d
を介してナツトランナ8が装着されている。取付
台8dは移動台8aに設けられたガイド8eに摺
動自在に嵌合されており、ナツトランナ8は該ガ
イド8eに沿つて昇降動される。更にナツトラン
ナ8はその先端にユニバーサルジヨイント8cを
介してソケツト8fを有している。 Next, a nut runner 8 and a camera 9 for detecting bolt positions are mounted on the support frame 6. The nut runner 8 is provided on the support frame 6 via a movable table 8a so as to be freely traversable. The moving table 8a is connected to a traverse motor 10 provided at the side end of the support frame 6,
It is reciprocated in the left and right direction by the traverse motor 10.
The moving table 8a is provided with an air cylinder 8b, and the rod of the air cylinder 8b is provided with a mounting table 8d.
A nut runner 8 is attached via the nut runner 8. The mounting base 8d is slidably fitted into a guide 8e provided on the movable base 8a, and the nut runner 8 is moved up and down along the guide 8e. Furthermore, the nut runner 8 has a socket 8f at its tip via a universal joint 8c.
一方、カメラ9はプロジエクタ9aと共に型枠
1に面してテーブル9bに載置されている。該テ
ーブル9bは第2図に示すように前後の支持枠
6,6に支持され型枠1の長手方向に沿つて配設
されている。更に該テーフル9bの前後両端には
型枠1に向つて送りねじ9cが設けられており、
送りねじ9cの端部にはスプロケツト9dが嵌着
し、チエーン9eを介して上記横行モータ10の
駆動軸に連結している。従つて横行モータ10の
駆動によりナツトランナ8の移動台8aが左右に
移動されると同時にカメラ9のテーブル9bも型
枠1に向つて移動される。 On the other hand, the camera 9 and the projector 9a are placed on a table 9b facing the formwork 1. As shown in FIG. 2, the table 9b is supported by the front and rear support frames 6, 6 and is disposed along the longitudinal direction of the formwork 1. Further, feed screws 9c are provided at both front and rear ends of the table 9b toward the formwork 1,
A sprocket 9d is fitted onto the end of the feed screw 9c, and is connected to the drive shaft of the traverse motor 10 via a chain 9e. Therefore, by driving the traverse motor 10, the moving table 8a of the nut runner 8 is moved left and right, and at the same time, the table 9b of the camera 9 is also moved toward the formwork 1.
ここでカメラ9、プロジエクタ9aおよびナツ
トランナ8はその軸心がボルト位置にて交わるよ
うに一点に向つて設定されており、前述のように
移動台8aが横行した場合、テーブル9bも同期
して移動し、ボルト位置を把握できるようになつ
ている。 Here, the camera 9, projector 9a, and nut runner 8 are set toward one point so that their axes intersect at the bolt position, and when the moving table 8a moves sideways as described above, the table 9b also moves in synchronization. This makes it possible to determine the bolt position.
更にテーブル9bにはその長手方向にそつて他
の送りねじ9fが配設されており、カメラ9およ
びプロジエクタ9aの台座はこの送りねじ9fに
摺接自在に螺合している。カメラ9およびプロジ
エクタ9aはテーブル9bの下面に設けた走行モ
ータ9eにより送りねじ9fを介し、型枠1に沿
つて前後に往復動される。 Furthermore, another feed screw 9f is arranged along the longitudinal direction of the table 9b, and the bases of the camera 9 and the projector 9a are slidably screwed onto this feed screw 9f. The camera 9 and the projector 9a are reciprocated back and forth along the formwork 1 via a feed screw 9f by a travel motor 9e provided on the lower surface of the table 9b.
上記カメラ9としてはCCDカメラを用いるこ
とができ、このカメラ9にはボルト位置を検出す
るための回路が付設されている。これらナツトラ
ンナ8およびカメラ9の各部分は走行台車3の前
後部にそれぞれ配設された支持枠6両側部に設け
られており、型枠1の両側を同時にボルト締めで
きるように形成されている。 A CCD camera can be used as the camera 9, and this camera 9 is provided with a circuit for detecting the bolt position. The nut runner 8 and the camera 9 are provided on both sides of the support frame 6 disposed at the front and rear of the carriage 3, respectively, and are formed so that bolts can be tightened on both sides of the form 1 at the same time.
上記構成において、型枠1の大きさに応じてナ
ツトランナ8およびカメラ9の高さと左右方向の
位置を調整した後、走行台車3はレール2上を自
走し型枠1の端部を検出した後に一時停止する。
次に走行モータ9eによりカメラ9が型枠1に沿
つて移動し、ボルトの位置を検出する。この検出
信号に基づきナツトランナ8が所定位置に移動さ
れ、締付位置の誤差が修正される。その後ナツト
ランナ8はエアシリンダ8bによつて下降され、
ソケツト8dがナツトに嵌合して締付けを行う。
この間にカメラ9は型枠1に沿つて移動し次のボ
ルト位置を検出する。この動作を繰返し順次ボル
ト締めが行なわれる。 In the above configuration, after adjusting the height and lateral position of the nut runner 8 and camera 9 according to the size of the formwork 1, the traveling cart 3 self-propelled on the rails 2 and detected the end of the formwork 1. Pause afterwards.
Next, the camera 9 is moved along the formwork 1 by the travel motor 9e to detect the position of the bolt. Based on this detection signal, the nut runner 8 is moved to a predetermined position, and the error in the tightening position is corrected. After that, the nut runner 8 is lowered by the air cylinder 8b,
The socket 8d is fitted into the nut and tightened.
During this time, the camera 9 moves along the formwork 1 and detects the next bolt position. This operation is repeated to sequentially tighten the bolts.
ヘ 考案の効果
本考案は以上の構成により、次の効果を有す
る。F. Effects of the invention With the above configuration, the invention has the following effects.
(イ) ボルトの位置をカメラにて検出し、ナツトラ
ンナの位置補正をしながらボルト締めを行なう
ため締付けミスを無くすることができる。(b) Since the position of the bolt is detected by a camera and the bolt is tightened while correcting the position of the nut runner, mistakes in tightening can be eliminated.
(ロ) ナツトランナの出力によりネジ不良、締付け
不良の検出が可能であり、自動化後の不良対策
が容易である。(b) Screw defects and tightening defects can be detected by the output of the nut runner, making it easy to take measures against defects after automation.
(ハ) ボルトの締め付けと次のボルトの検出を同時
に行うことができタクトタイムの短縮となる。(c) Tightening of a bolt and detection of the next bolt can be performed at the same time, reducing takt time.
(ニ) 図示装置例においては、同時に4本の締付け
を行なうため、ナツトランナの締付時間を大幅
に短縮化できる。また更に左右同時に締付けを
行なうために型枠の変形を生じ難い。(d) In the illustrated example of the device, four nut runners are tightened at the same time, so the time required to tighten the nut runner can be significantly shortened. Furthermore, since the left and right sides are tightened simultaneously, deformation of the formwork is less likely to occur.
第1図および第2図は本考案の一実施例に係
り、第1図は本考案装置の断面図、第2図は同装
置の側面図、第3図Aは型枠の組立を示す外観
図、同図Bは型枠端部の断面図である。
図中、1……型枠、2……レール、3……走行
台車、4……走行モータ、5……車輪、6……支
持枠、7……昇降モータ、8……ナツトランナ、
9……カメラ、10……横行モータ。
Figures 1 and 2 relate to one embodiment of the present invention; Figure 1 is a sectional view of the device of the present invention, Figure 2 is a side view of the device, and Figure 3A is an external appearance showing the assembly of the formwork. Figure 1B is a sectional view of the end of the formwork. In the figure, 1...formwork, 2...rail, 3...traveling trolley, 4...travel motor, 5...wheels, 6...support frame, 7...lifting motor, 8...nut runner,
9...Camera, 10...Transverse motor.
Claims (1)
行台車上にボルト位置検出用カメラとナツトラン
ナとが搭載され、該ナツトランナが前記走行台車
の走行方向に対して上下及び左右方向に移動自在
に支持される一方、前記ボルト位置検出用カメラ
が前記走行台車の走行方向に沿つて該走行台車及
び前記ナツトランナに対して独立して移動自在に
支持され、更に該カメラには位置検出回路が付設
される一方、ナツトランナにはナツトを締付ける
昇降締付機構が付設されていることを特徴とする
自走式ボルト締め機。 A bolt position detection camera and a nut runner are mounted on a traveling carriage that can move by itself along the arrangement direction of bolts to be fastened, and the nut runner is supported so as to be movable vertically and horizontally with respect to the traveling direction of the traveling carriage. Meanwhile, the bolt position detection camera is supported to be movable independently with respect to the traveling carriage and the nut runner along the traveling direction of the traveling carriage, and further a position detection circuit is attached to the camera. On the other hand, a self-propelled bolt tightening machine is characterized in that the nut runner is equipped with an elevating and lowering tightening mechanism for tightening nuts.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10635584U JPS6124124U (en) | 1984-07-16 | 1984-07-16 | Self-propelled bolt tightening machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10635584U JPS6124124U (en) | 1984-07-16 | 1984-07-16 | Self-propelled bolt tightening machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6124124U JPS6124124U (en) | 1986-02-13 |
JPH0445783Y2 true JPH0445783Y2 (en) | 1992-10-28 |
Family
ID=30665648
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10635584U Granted JPS6124124U (en) | 1984-07-16 | 1984-07-16 | Self-propelled bolt tightening machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6124124U (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS554531A (en) * | 1978-06-27 | 1980-01-14 | Asahi Glass Co Ltd | Humidity sensitive element |
JPS5610132A (en) * | 1979-06-29 | 1981-02-02 | Halcon International Inc | Carbonylation of methyl acetate or dimethylether |
JPS5631907A (en) * | 1979-08-22 | 1981-03-31 | Japan National Railway | Automatic clamping and loosening method and apparatus for bolt or nut for clamping rail |
JPS58109234A (en) * | 1981-12-21 | 1983-06-29 | Jiyoubu Sangyo Kk | Automatic machine for fastening and unfastening bolt for concrete formwork |
JPS58137532A (en) * | 1982-02-10 | 1983-08-16 | Mitsubishi Heavy Ind Ltd | Remote insertion fixing device for plug and the like |
-
1984
- 1984-07-16 JP JP10635584U patent/JPS6124124U/en active Granted
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS554531A (en) * | 1978-06-27 | 1980-01-14 | Asahi Glass Co Ltd | Humidity sensitive element |
JPS5610132A (en) * | 1979-06-29 | 1981-02-02 | Halcon International Inc | Carbonylation of methyl acetate or dimethylether |
JPS5631907A (en) * | 1979-08-22 | 1981-03-31 | Japan National Railway | Automatic clamping and loosening method and apparatus for bolt or nut for clamping rail |
JPS58109234A (en) * | 1981-12-21 | 1983-06-29 | Jiyoubu Sangyo Kk | Automatic machine for fastening and unfastening bolt for concrete formwork |
JPS58137532A (en) * | 1982-02-10 | 1983-08-16 | Mitsubishi Heavy Ind Ltd | Remote insertion fixing device for plug and the like |
Also Published As
Publication number | Publication date |
---|---|
JPS6124124U (en) | 1986-02-13 |
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