JP2637345B2 - Automatic tightening / unlocking device for a concrete pillar-shaped forming frame and method of moving the automatic tightening / unlocking device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a process for forming a pillar made of concrete such as a concrete pile, by tightening and loosening a fastening bolt for retaining the shape of a divided form used in the process. , "Relaxation"), an automatic tensioning device for a concrete pillar-shaped forming form, and a method of moving the same.

[0002]

BACKGROUND OF THE INVENTION Usually, concrete piles and concrete piles are used.
A concrete pillar-shaped forming formwork (hereinafter, abbreviated as "mold") 50 for manufacturing a concrete pillar-shaped body such as a telephone pole has a substantially cylindrical long shape. The formwork 5
Reference numeral 0 denotes a lower mold frame 5 which is vertically divided into two parts with a joint part 51 extending in the axial direction (longitudinal direction), and is mutually matched.
0d and an upper frame 50u, and are placed horizontally on a base (not shown). A flat flange 52 that extends in the width direction (perpendicular to the longitudinal direction) of the mold 50 and is continuous along the axial direction
u, 52d are formed on each of the frame bodies 50u, 50d, respectively. The flange 52 has a large number of fastening bolts 5.
3, 53,... Are arranged at regular intervals.

[0003] With such a configuration, in the production of a concrete molded product using the mold 50, first, a reinforcing bar (not shown) serving as a core material is arranged in a lower mold body 50d, and a fluid-like material is formed on the rebar. After filling with the concrete material, mold matching is performed, and the mold frame 50 is fixedly held by fastening the large number of fastening bolts 53, 53,. And after the nutrient form,
This time, the fastening bolt 53 is loosened to separate the lower frame 50d and the upper frame 50u, and the molded product is released.

[0004]

2. Description of the Related Art Manually tightening and tightening a large number of fastening bolts arranged as described above is not only very complicated but also imposes an excessive burden on an operator. Therefore, a simple and reliable structure for the tightening and loosening of the fastening bolt has been already provided by the present applicant in Japanese Patent Application No. Hei. See such application for details.

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to efficiently and automatically perform the tightening and loosening work of a large number of fastening bolts particularly arranged on both sides of a long form as described above. It is about. By the way, conventionally, various fastening devices aiming at solving such problems have been proposed.

[0006] For example, there is an "automatic bolt tightening and loosening device" disclosed in Japanese Patent Publication No. 5531/1981. However, this device moves the concrete molding form main body synchronized with the bolt tightening and loosening operation device (referred to as "manipulator" in the present specification), and therefore the device is large-sized. In addition, due to the complexity of the synchronous control device, there are many failures at actual sites, and favorable results have not been obtained in terms of work efficiency and economic efficiency.

[0007] As another device, all of a large number of fastening bolts corresponding to one concrete molding form are simultaneously formed.
Alternatively, there has been a structure in which a large number of manipulators corresponding to the respective structures are held by a portal-type support disposed on the upper part of the form for the purpose of simultaneously tightening and loosening some of them.

However, such an apparatus also has the same drawback that the support becomes large in size, and in addition, a large number of manipulators must be simultaneously positioned on a large number of arranged fastening bolts. Therefore, there is a problem that the control is complicated. Further, there is not a small problem that the fitting portion is damaged when the manipulator is fitted to the fastening bolt without the positioning being perfect.

Therefore, the present invention has been made with a view to solving these problems and aims at solving the problems. Only the manipulator is tightened and tightened with the manipulator while the concrete mold body is fixed. By adopting a method of sequentially moving each time, it is possible to quickly and surely tighten and loosen, and an automatic tightening device for a concrete pillar-shaped forming frame which is smaller and easier to control, and an automatic tightening device used therefor. It is intended to provide a method of moving a loosening device.

[0010]

In order to achieve the above object, the present invention is configured as follows. The formwork (5
On both sides of (0), a track (30) arranged in parallel at an appropriate interval, a slide base (6) having a moving means for horizontally moving on the track (30), and the slide base (6) And a lifting means (21, 22, 23,
A lifting support (5) provided with the mold (24), and supported by the lifting support (5) so as to be vertically movable;
A horizontal support (4) extending in the width direction of (0) and having horizontal moving means, and a manipulator support (3) attached to the tip of the horizontal support (4) so as to be horizontally movable.
A flange contact portion (13) attached to the manipulator support (3) and provided with a contact member abutting on the flange edge (52e); and a manipulator support (3). ), An arm member (17) extending and attached at an appropriate length in the horizontal position of the flange (52) and along the axial direction of the mold (50), and a tip of the arm member (15). Image measuring and calculating means (18) mounted on the part, the photographing direction of which is directed to the flange direction, and supported by the manipulator support (3) so as to be able to move up and down, and fastening bolts (5).
The socket (8) fitted to the head nut (54) of (3) is attached to the lower end thereof, and comprises a manipulator (2) that is driven forward or backward as appropriate.

Further, the track (30) is provided with a mold (50).
Corresponding to the position of the flange (52) of the first embodiment, is supported so as to enable parallel movement in the X direction, the Y direction, and / or the Z direction. The number of slide bases (6) arranged on one track (30) is not limited to one, and may be plural.
On the top, the elevating support (5), the horizontal support (4), the manipulator support (3), the flange contact portion (13), the arm member (17), the image measurement calculation means (1)
8) and a manipulator (2).

Further, the contact body (15) provided on the flange contact part (13) may have a curved surface so as to contact the flange edge part (52e), and is rotatably supported by the shaft. Thus, the flange edge end (52e) may be brought into rotational contact. Next, in the moving method of the automatic fastening device, the automatic fastening device is attached to a tip end of the arm member (50),
The image measurement calculation means (18) whose photographing direction is directed to the flange direction recognizes the next fastening bolt (53) which is next to the fastening bolt (53) which is currently being tightened and is to be tightened and operated. , as well as calculating the separation distance of the fastening bolt in Shimeyuru from the recognition image (53) and the adjacent fastening bolts (53), thus the slide base to enter the distance information to the mobile unit (25) (6) Is moved. Further, the distance between the image measurement calculating means (18) and the fastening bolt (53) is kept constant.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a concrete example of an automatic fastening device for a concrete pillar-shaped forming frame according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing the entirety of the automatic fastening device 1 of the present embodiment, FIG. 2 is a side view thereof, and FIG. 3 is a plan view thereof.

Here, the X, Y, and Z directions used in the following description of the present specification are, as shown in FIG. 1, the X direction (or the longitudinal direction) of the horizontally arranged mold 50.
The horizontal direction perpendicular to the X direction (the horizontal radial direction of the mold 50) is defined as the Y direction, and the vertical direction (or the vertical direction) is defined as the Z direction.

The automatic fastening device 1 according to the present embodiment mainly comprises a manipulator 2, a manipulator support 3, a horizontal support 4, a lifting support 5, and a slide base 6. . The manipulator 2 is adapted to appropriately rotate the head nut 54 of the fastening bolt 53, and a socket 8 fitted to the head nut 54 is attached to the lower end of the drive shaft 7 which is vertically arranged. I have. The drive shaft 7 is connected to a vertically disposed servo nut runner 9 and is driven to rotate forward or backward by control means as appropriate. The manipulator 2 is connected to the manipulator 2 via a mounting base 2b.
The vertical support (vertical movement in the Z direction) is enabled and held on the support 3. The lifting / lowering moving means includes a micro cylinder 10 disposed on the front surface of the manipulator support 3.
Has been done by On the front surface of the manipulator 2, an ultrasonic sensor 56 for detecting a position of a tire 55 attached to the mold 50 at a constant interval is attached.

The manipulator support 3 has a substantially rectangular shape, and has two slide rails 11 arranged on the front side in parallel, and is attached to the horizontal support 4 via an attachment member 12. At the lower end of the manipulator support 3, a flange contact portion 13 which is in contact with the flange 52 of the formwork 50 is attached. The flange contact portion 13 is, as shown in FIG.
A guide roller 15 as a contact body that comes into contact with the edge 52 e of the flange 52 at the distal end is attached to the support member 14 such that the position can be adjusted in the Y direction by a position adjusting rod 16. The guide roller 15 is rotatably supported by a shaft, and is configured to make rotational contact (sliding) with the flange edge portion 52e.

In this embodiment, the guide roller 15
Is rotatably supported by a shaft, but is not limited to this. The shaft has a cylindrical shape whose axial direction is the Z direction, and its outer curved surface moves (slides) while being in contact with the flange edge 52e. May be configured. Next, the mounting member 1
An arm member 17 is attached to the lower end portion 12u of the second base member 12 at a predetermined distance from the flange 52 and extends parallel to the flange 52 in the moving direction (X direction) of the slide base 6. The distal end portion of the arm member 17, an industrial television camera as image measurement calculation unit (hereinafter abbreviated as "CCD".) 18 is installed, the distance between the CCD18 and the flange edge portion 52e is They are kept constant. When the manipulator 2 is operating one of the fastening bolts 53a, the photographing range (or imaging area) includes the fastening bolt 53b which is adjacent to the one fastening bolt 53a and which is to be subjected to the next fastening operation. And is set so as to focus on the fastening bolt 53b.

The mounting member 12 configured as described above includes:
It is attached to the tip of a horizontally supported horizontal support 4 so as to be movable in the Y direction. This moving means is performed by a servomotor 19 arranged in the horizontal support 4. A guide member 20 is attached to the side surface of the horizontal support 4 to stabilize the attachment member 12 during sliding.

Next, the horizontal support 4 is attached to a mounting base.
The vertical support 5 is supported by a vertical support 5 so as to be able to move up and down via a base 4b. The vertical support 5 has a rectangular box shape, and is vertically fixed to a slide base 6 to be described later. In the vertical support 5, a ball screw 21 in which the mounting base 4b of the horizontal support 4 is engaged is vertically disposed. The ball screw 21 includes a guard motor 22, a timing belt 23, and a timing plate arranged on the side surface of the vertical support 5.
It is driven by the mechanism of the rib 24. By the operation of the driving means, the horizontal support 4, the manipulator support 3, the manipulator 2, and the flange contact portion 1 supported by the horizontal support 4
3. The arm member 17 and the like are appropriately moved up and down (moved in the Z direction).

The slide base 6 has a substantially table shape and serves as a whole holding base including the above-described manipulator 2, the manipulator support 3, the horizontal support 4, and the elevating support 5. And the automatic tightening device 1
Is moved horizontally as appropriate along the track 30. This drive mechanism uses a servo motor 25 disposed on the upper surface of the slide base 6 as a drive source, and attaches a pinion gear 27 to a rotating shaft 26 extending on the lower surface, and a rack 28 meshed with the pinion gear 27. It is constituted by an engagement operation. The rack 28 is attached to a side surface of the track base 29.

As a result, the track 30 mounted on the two track bases 29 arranged in parallel along the mold 50.
(In the X direction). In addition,
In this embodiment, the trajectory 3 is directly
0 is attached and fixed, but the arrangement of the track 30 is not limited to this, and although not shown, the track base 2
9, a sub-track (not shown) of an appropriate length extending in the Y direction may be arranged, and the track 30 may be moved on this sub-track.

In this case, the entire automatic tightening / closing device 1 can be moved not only in the X direction along the track 30 but also in the Y direction. Accordingly, the automatic tightening and fastening device 1 of the present invention can be applied to a large-diameter mold 50 or a mold having another shape that cannot be dealt with only by the movement of the horizontal support 4.
Can be used.

[0023]

The operation of the present embodiment is configured as described above and operates as follows. First, in the present embodiment, as shown in FIG. 5, the start positions 31 of both ends on the track 30 arranged along both sides of the formwork 50, respectively.
Next, the automatic tightening / closing device 1 of the present embodiment is disposed. That is, in this case, a total of four automatic tightening / closing devices 1 are arranged. In this embodiment, two automatic fastening devices 1 are arranged on the same track 30.
The invention is not limited to this, and a plurality may be arranged at a predetermined interval.

Next, while appropriately moving the horizontal support 4 and the manipulator support 3, the roller guide 15 disposed at the lower end of the manipulator support 3 is attached to the edge 52e of the flange 52. Abut. At this time, CCD18
Is set so that the endmost fastening bolt 53c captures an image within the image frame.

Here, from the difference between the center of the image frame and the image position of the fastening bolt 53c, the fastening bolts 53c and C
The distance .DELTA.L in the X direction from the center of the CD 18 is calculated by an arithmetic means such as a microcomputer. The distance .DELTA.L and the predetermined distance L in the X direction from the center of the CCD 18 to the socket 8 of the manipulator 2 are calculated to calculate the distance in the X direction from the manipulator 2 to the fastening bolt 53c. (ΔL + L) is recognized.

Next, based on the recognized distance (ΔL + L), the servo motor 25 is started, and the slide base 6 is driven.
Is moved in the X direction (the axial direction of the mold 50) by that distance (ΔL + L). At this time, since the guide roller 15 moves while contacting the flange edge 52e, the manipulator 2 moves while maintaining the initially set position in the Y direction. That is, the parallel movement is performed along the line S connecting the heads of the fastening bolts 53. Therefore, at the position where the slide base 6 has been moved and stopped by the calculated distance (ΔL + L), the socket 8
Is located on the vertical extension line (the extension line in the Z direction).

Here, the mounting base 2b is lowered by operating the microcylinder 10, and the socket 8 of the manipulator 2 is fitted to the head nut 54 of the fastening bolt 53. Then, the servo nut runner 9 is pressed downward while being rotated, thereby fastening the fastening bolt 53a.

During this fastening, the CCD 18
Next, the operator moves and recognizes the adjacent fastening bolt 53b for which the fastening operation is to be performed.
Calculate the distance to b. After fastening the first fastening bolt 53a on the basis of the calculated distance information, Manipyure - motor 2 rises, Suraidobe - moves the scan 2 move to the next fastening bolt 53b.

In this moving process, the form 50
The ultrasonic sensor 56 detects the approach of the tire 55 mounted on the tire 55, and the horizontal moving means 4 is operated as appropriate, so that the tire 55
To avoid the contact of the manipulator 2 with the manipulator 2. By repeating the steps of moving and stopping, all the fastening bolts 53 attached to both sides of the mold 50 are sequentially fastened.

Next, the step of loosening the tightened bolt 53 may be performed in the reverse order of the above steps.

[0031]

According to the above configuration, the present invention has the following effects. (1) Since the concrete molding frame body is not moved and the entire fastening bolts are not simultaneously fastened, the structure can be made compact and simple, and the head nut is surely damaged one by one. It can be tightened without performing. (2) Since the automatic fastening device is moved on the track base and the position of the fastening bolt is recognized by itself, the setup time can be reduced to quickly respond to the molds of various lengths. The effect can be expected. When the track itself can be moved in the right angle direction (Y direction) on the track base, there is an effect that the range of the applicable form is widened. (3) In the method of fastening one by one, there is a possibility that the mold is likely to be distorted. However, by disposing a plurality of automatic fastening devices on the track base, this can be solved and a large number of automatic fastening devices can be solved. There is an advantage that the fastening bolt can be tightened and loosened in a short time. (4) While the one fastening bolt is being tightened and loosened using the CCD, the next fastening bolt to be operated is image-recognized,
Since the distance information from this image frame to the next fastening bolt is sent to the drive means of the slide base such as a servomotor, the positioning movement can be performed with high accuracy and at high speed, and the work efficiency is remarkably improved. It contributes to improvement. (5) The flange contact portion is arranged, and the contact member such as a guide roller is moved (or slid) on the flange edge portion by a contact member. That is, there is an effect that the distance between the CCD and the fastening bolt can always be kept constant regardless of the diameter of the mold. As a result, the fastening bolt photographed by the CCD can be made into a clear and focused image, and accurate calculation of distance information can be performed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the entirety of an automatic fastening device according to the present embodiment.

FIG. 2 is a side view of the automatic fastening device of the present embodiment.

FIG. 3 is a plan view of the automatic fastening device of the present embodiment.

FIG. 4 is an enlarged side view showing a portion indicated by an arrow A in FIG. 2;

FIG. 5 is a side view showing the arrangement of the apparatus of the present embodiment with respect to a mold.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Automatic fastening device of this embodiment 2 ... Manipulator 2b ... Mounting base 3 ... Manipulator support 4 ... Horizontal support 4b ... Mounting base 5.・ ・ Vertical support 6 ・ ・ ・ Slide base 7 ・ ・ ・ Drive shaft 8 ・ ・ Socket 9 ・ ・ ・ Servon nut runner 10 ・ ・ Micro cylinder 11 ・ ・ Slide rail 12 ・ ・ Mounting member 13 ・ ・ Flange contact Contact part 14. Support member 15. Guide roller 16. Position adjusting rod 17. Arm member 18. Industrial television camera (CCD) 19. Servo motor 20 Guide member 21. -Lunez 22 ・ ・ Gear
Domotor 23 ・ ・ Timing belt 24 ・ ・ Timing pulley 25 ・ ・ Servo motor 26 ・ ・ Rotating shaft 27 ・ ・ Pinion gear 28 ・ ・ Rack 29 ・ ・ Track base 30 ・ ・ Track 31 ・・ Start position 50 ・ ・ Concrete pillar-shaped molding formwork (formwork) 50
u: Upper mold body 50d, lower mold body 51: Joining part 52
... Flange 53 ... Tightening bolt 54 ... Head nut 55
... Tires 56 ... Ultrasonic sensors

Claims (7)

(57) [Claims] 1. A substantially cylindrical elongated body which is horizontally laid horizontally and divided into a lower mold body (50d) and an upper mold body (50u) with a joint (51) extending along the axial direction. The flange (52) formed so as to protrude to both sides along the joint (51) is configured to be retained by fastening fastening bolts (53) arranged at appropriate intervals. And a track (30) arranged in parallel at an appropriate interval on both sides of the mold (50) (hereinafter abbreviated as "mold"). Moving means (25, 2) for horizontally moving on the track (30);
A slide base (6) provided with the slide base (7, 28); and a lifting means (2) mounted on the slide base (6).
An elevating support (5) provided with an elevating support (5) provided on the elevating support (5) and extending in the width direction of the formwork (50) and moving horizontally. Means (1
9), a manipulator support (3) attached to the end of the horizontal support (4) so as to be horizontally movable, and a manipulator support (3). ), And a flange (52) from a flange contact portion (13) provided with a contact member (15) contacting the flange edge (52e); and the manipulator support (3).
An arm member (17) extending at an appropriate length in the horizontal position and along the axial direction of the formwork (50); Image measurement operation means (18) oriented in the direction of the flange
And a socket (8) which is supported by the manipulator support (3) so as to be able to move up and down and which fits into a head nut (54) of a fastening bolt (53) is attached to the lower end thereof, and is rotated forward as appropriate. Or a manipulator (2) that is driven in reverse rotation. 2. The track (30) can be translated in the X, Y and / or Z directions corresponding to the position of the flange (52) of the formwork (50). An automatic fastening device for a concrete pillar-shaped forming form, which is supported. 3. A plurality of slide bases (6) are arranged on one track (30), and each slide base (6) is arranged.
The lifting support (5), the horizontal support (4), the manipulator support (3), the flange contact portion (13), the arm member (17), and the image measurement calculation means (1) having the configuration according to claim 1
8. The concrete according to claim 1, wherein said manipulator and said manipulator are configured and arranged.
Automatic tightening / closing device for column-shaped body forming formwork. 4. An abutting body (15) provided on a flange abutting portion (13) having a curved surface at a flange edge portion (52).
e) abutting against e).
4. The automatic tightening / closing device for a concrete pillar-shaped forming form according to 2 or 3. 5. An abutting body (15) provided on a flange abutting portion (13) is rotatably supported by a shaft, and comes into rotational contact with a flange edge (52e). 4. The apparatus for automatically tightening a concrete pillar-shaped forming form according to claim 1, 2 or 3. 6. An arm member (50) attached to the distal end of the arm member (50),
The image measuring and calculating means (18) whose photographing direction is directed to the flange direction recognizes an adjacent fastening bolt (53) which is adjacent to the fastening bolt (53) which is currently undergoing the fastening operation and which is next subjected to the fastening operation. and calculates a separation distance between the fastening bolt (53) in Shimeyuru from the recognized image and the adjacent fastening bolts (53), by means of inputting the distance information to the mobile unit (25)
Moving the slide base (6) by moving the automatic tightening / closing device. 7. The method according to claim 6, wherein the distance between the image measurement calculation means and the fastening bolt is kept constant.