JP2944818B2 - Delivery method of bolts and nuts to bolt fastening 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 bolt exchanging device from a bolt automatic supply device to a bolt fastening device in a shield machine.
It relates to a nut delivery method.

[0002]

2. Description of the Related Art Conventionally, shield tunneling has been employed in urban tunnel construction. In this shield method, a segment assembling operation is performed in which segments produced in advance and divided into a plurality in the circumferential direction in a space excavated by an excavator and assembled in a ring shape by bolting are assembled. Since this bolting is work in a narrow tunnel, it is not possible to secure sufficient work scaffolding,
It was dangerous work. For this reason, attempts have been made to automate bolt fastening (2nd Construction Robot Symposium Transactions, 1991.7.2-4, 189-1).
97 pages).

[0003] However, it is difficult to automate the supply of bolts and nuts to a bolt fastening device installed in a narrow working environment. Therefore, at present, the supply of bolts and nuts is performed manually (see the above-mentioned paper). Collection).

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and is intended to provide a shield excavator with bolts and nuts for a bolt fastening device installed in a narrow working environment. It is intended to provide a supply method.

[0005]

SUMMARY OF THE INVENTION The present invention relates to a method for transferring a bolt and a nut from a bolt automatic supply device having a bolt storage case and a bolt gripping / conveying device to a bolt fastening device. Moving the bolt holding / conveying means between the bolt fastening devices, and moving the first fastening member on the bolt head side of the bolt fastening device to the bolt head, and attaching the bolt head to the first fastening member. Holding, moving the second fastening member on the nut side of the bolt fastening device in the nut direction while rotating the nut in the direction of tightening the nut, and moving the second fastening member on the nut side of the bolt fastening device in the nut fastening direction. Contacting the nut while rotating the nut, and rotating the nut in the tightening direction by the contact frictional force between the second fastening member and the nut, while holding the bolt holding and conveying means. The step of moving to the position of the bolt gripping claw and, even after the nut stops contacting with the bolt gripping claw, further rotates the second fastening member in the nut tightening direction to hold the nut on the second fastening member. Process and
The step of rotating the second fastening member in the nut removing direction to remove the nut from the bolt, the step of releasing the bolt from the bolt gripper, and the number of bolts in the bolt storage case are reduced.
The bolt storage case
And supplying the bolts from the automatic bolt supply device to the bolt fastening device.

[0006]

In the method of the present invention, even after the nut comes into contact with the bolt gripping claw and stops moving, the second fastening member is further rotated in the nut tightening direction to hold the nut by the second fastening member. Therefore, there is no restriction on the mounting angle of the nut when the nut is fastened to the bolt and supplied to the bolt storage case of the automatic bolt supply device.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the attached drawings, but the present invention is not limited to only such embodiments.

FIG. 1 is a schematic view of an embodiment of an automatic bolt supplying apparatus to which the present invention is applied, FIG. 2 is a structural view of a main part of a bolt storing means of the automatic bolt supplying apparatus shown in FIG. 1, and FIG. FIG. 4 is a sectional view of a storage case of the bolt storage means shown in FIG.
Numeral 0 is an explanatory view of the transfer of the bolt and nut from the automatic bolt supply device to the bolt fastening device.

As shown in FIG. 1, one embodiment of an automatic bolt supplying apparatus for a shield machine to which the present invention is applied is a system which is suspended from a beam member B provided in a space excavated by the machine. The bolt storage means 1 and the bolt holding / transporting means 2 are main components. As shown in FIG. 1, the bolt storage section of the bolt storage means 1 is disposed at a position which does not hinder the carrying out of the bolt 3 and the bolt fastening by the bolt fastening device within the operation range of the operating section of the bolt gripping / transporting means 2. Have been.

As shown in FIG. 2, a main part of the bolt storage means 1 is a storage case 11 in which a bolt 3 to which a nut is fastened is stored.
A bolt push-out mechanism 12 for pushing out to one outlet 11a;
An adjusting mechanism 13 for adjusting the discharge of the bolt 3, and a connecting portion 11 b formed on the opposite side of the outlet 11 a of the storage case 11.
A holding member 14 connected to the connecting portion 11b to hold the storage case 11, and a guide member 15 for assisting the holding member 14 to hold the storage case 11.

In the longitudinal direction inside the storage case 11, FIG.
A storage space for storing about 10 bolts 3 to which nuts are fastened is formed. As shown in FIG. 3, a bolt / nut holding portion slidably holding a head of the bolt 3 and a nut fastened to the bolt 3, which are formed at substantially central portions on both sides of the storage space, The bolt 3 is held at a position substantially at the center of the cross section of the storage space. With such a configuration, the bolt 3 can be pushed out to the outlet 11a by the bolt pushing mechanism 12.

The bolt push-out mechanism 12 includes a storage case 11
Penetrates an extrusion member passageway formed in the longitudinal direction at the ceiling portion, extends into the storage space, and abuts between the bolt head and the nut of the bolt 3 </ b> A located at the rearmost portion of the storage case 11. A push-out member drive mechanism 12 coupled to a bolt push-out member 12a and a portion of the push-out member 12a positioned above the ceiling of the storage case 11.
b, and a guide member 12c arranged along the longitudinal direction of the storage case 11 to guide the driving of the pushing member drive mechanism 12b. The bolt pushing member 12a is moved in the direction of the discharge port 11a by the pushing member drive mechanism 12b. With such a configuration, the bolt pushing mechanism 12 can push out the bolt 3. Also, the bolt 3 is the storage case 1
1, there is no hindrance to the later described bolt gripping claws 21 entering the storage case 11.
The bolt pushing member drive mechanism 12b is composed of, for example, a pneumatically driven guideless cylinder (a piston is provided in the cylinder of the guide member 12c and operates by air pressure, and the piston and the drive mechanism 12b are integrally operated by a magnet). .

The bolt discharge adjusting mechanism 13 includes the storage case 1.
It is arranged at the bottom near the one outlet 11a. The bolt discharge adjusting mechanism 13 prevents the bolt 3B from being discharged from the discharge port 11a by projecting to the front between the head and the nut of the bolt 3B to which the nut located at the forefront of the storage space is fastened. Preventing, retractable stopper member 1
3a.

One end of the holding member 14 is fixed to the beam member B provided in the shield space, and the other end is connected to the connecting portion 11b of the storage case 11. The connection between the holding member 14 and the connection portion 11b is preferably rotatable. With this configuration, after the bolts 3 stored in the storage case 11 are exhausted, the bolts 3 are lifted in the beam member B direction, and
The bolts 3 can be supplied from a scaffold (not shown) provided in the vehicle. In the embodiment shown in FIG. 1, the guide member 15 is disposed in parallel with the rotation surface of the storage case 11 in order to facilitate the lifting of the storage case 11. For this reason, one end of the guide member 15 is fixed to the holding member 14, and the other end extends to the side surface of the storage case 11. The guide member 15 is provided with a guide groove 15 a concentrically with the rotation orbit of the storage case 11. A sliding piece (not clearly shown) of the rotation assisting member 16 disposed on the ceiling of the storage case 11 is inserted into the guide groove 15a. With such a configuration, the storage case 11 is smoothly pulled up in the beam member B direction.

FIG. 4 shows a schematic structure of the bolt gripping / transporting means 2. The bolt gripping claw 21, a nail driving unit 22 for driving the bolt gripping claw 21, and a nail driving unit 22
A first drive mechanism 25 having a first shaft member 23 and a first shaft member drive unit 24 whose ends are coupled to the first shaft member 23, a second shaft member 26 supporting the first shaft member drive unit 24, and a second A second drive mechanism 28 having a shaft member drive section 27 and a base member 29 supporting the second shaft member drive section 27 are provided.

The bolt gripping claws 21 can be of various shapes conventionally used for this type of operation. The claw driving unit 22 may be of a hydraulic or pneumatic type, or may be of an electric type, as long as it can open and close the bolt gripping claw 21. The first shaft member 23 moves forward and backward by the operation of the first shaft member driving unit 24. First
The method by which the drive unit 24 moves the first shaft member 23 forward and backward may be a hydraulic or pneumatic type, or may be an electric type. The second shaft member 26 performs a rotational motion and a reciprocating motion by the operation of the second shaft member driving unit 27. The portion of the second shaft member driving section 27 that causes the second shaft member 26 to perform a rotational movement is a pneumatic swing actuator (a type that converts linear movement of a cylinder into rotation by a rack and a pinion), hydraulic and electric other Format. Further, the portion that causes the second shaft member 26 to move forward and backward is the first shaft member 26.
The configuration is the same as that of the shaft member driving unit 24. In the example illustrated in FIG. 4, the second shaft member driving unit 27 is configured to perform the rotation and the forward / backward movement of the second shaft member 26 in an integrated structure. May be separated from the part performing the forward / backward movement. With such a configuration, the bolt holding / transporting means 2 can supply the bolt 3 stored in the bolt storage means 1 to the bolt fastening device.

Next, with reference to FIGS. 5 to 10, the supply of bolts and nuts from the thus-configured automatic bolt supplying device to the bolt fastening device will be described.

Step 1: The bolt holding / conveying means holding the bolt to which the nut is fastened is moved between the bolt fastening devices. (See Fig. 5)

Step 2: The first fastening member on the bolt head side of the bolt fastening device is moved to the bolt head, and the first fastening member holds the bolt head. (See Fig. 6)

Step 3: The second fastening member on the nut side of the bolt fastening device is moved in the nut direction while rotating in the direction of tightening the nut. (See Fig. 7)

Step 4: The nut-side second fastening member of the bolt fastening device is brought into contact with the nut while rotating in the nut tightening direction, and the nut is rotated in the tightening direction by the contact friction force between the second fastening member and the nut. Is moved to the position of the bolt gripping claw of the bolt gripping and conveying means.
(See Fig. 8)

Step 5: Even after the nut comes into contact with the bolt gripping claw and stops moving, the second fastening member is further pulled while rotating in the nut tightening direction, thereby pulling the second fastening member.
The nut is held by the fastening member. (See Fig. 9)

Step 6: The second fastening member is rotated in the nut removing direction, and the nut is removed from the bolt. (Figure 1
0)

Step 7: The bolt is released from the bolt gripping claw. (See Fig. 10)

The above steps are performed by a control device (not shown) provided in the shield machine.

[0026]

As described above, according to the method of the present invention, even if the nut is fastened to the bolt at an arbitrary angle and is housed in the bolt housing case, the automatic bolt feeding device transfers the bolt to the bolt fastening device. Of bolts and nuts.

[Brief description of the drawings]

FIG. 1 is a schematic view of an embodiment of an automatic bolt supply device to which the present invention is applied.

FIG. 2 is a structural view of a main part of a bolt storage unit of the automatic bolt supply device shown in FIG.

FIG. 3 is a sectional view of a storage case of the bolt storage means shown in FIG. 2;

FIG. 4 is a schematic view of a bolt holding and conveying means according to one embodiment of the present invention.

FIG. 5 is a part of an explanatory diagram of delivery of bolts and nuts from a bolt automatic supply device to a bolt fastening device.

FIG. 6 is a part of an explanatory view of delivery of a bolt and a nut from the automatic bolt supply device to the bolt fastening device.

FIG. 7 is a part of an explanatory diagram of delivery of bolts and nuts from a bolt automatic supply device to a bolt fastening device.

FIG. 8 is a part of an explanatory diagram of delivery of a bolt and a nut from the automatic bolt supply device to the bolt fastening device.

FIG. 9 is a part of an explanatory diagram of delivery of bolts and nuts from a bolt automatic supply device to a bolt fastening device.

FIG. 10 is a part of an explanatory diagram of delivery of a bolt and a nut from the automatic bolt supply device to the bolt fastening device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Bolt storage means (device) 11 Bolt storage case 12 Bolt push-out mechanism 13 Bolt discharge adjustment mechanism 14 Holding member 15 Guide member 16 Rotation assisting member 2 Bolt gripping and conveying means (Device) 21 Bolt gripping claw 22 Claw drive unit 23 First shaft Member 24 First shaft member drive unit 25 First drive mechanism 26 Second shaft member 27 Second shaft member drive unit 28 Second drive mechanism 29 Base member 3 Bolt B Beam member S Virtual line indicating the position of a segment to be assembled

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-25328 (JP, A) JP-A 63-113523 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23P 19/06

Claims (1)

(57) [Claims] 1. A method for transferring a bolt and a nut from a bolt automatic supply device having a bolt storage case and a bolt gripping / transporting device to a bolt fastening device, wherein the bolt gripping / transporting device gripping a bolt with a nut fastened is provided. Moving between the bolt fastening devices; moving the first fastening member on the bolt head side of the bolt fastening device to the bolt head; and holding the bolt head on the first fastening member; Moving the second fastening member on the nut side in the nut direction while rotating the nut in the direction of tightening the nut; and contacting the second fastening member on the nut side of the bolt fastening device with the nut while rotating in the nut tightening direction. While rotating the nut in the tightening direction by the contact frictional force between the second fastening member and the nut, the position of the bolt gripping claw of the bolt gripping and conveying means is adjusted. A step of moving to, even after the nut has moved into contact with the bolt gripping claws is stopped,
Rotating the second fastening member in the nut tightening direction to hold the nut on the second fastening member; rotating the second fastening member in the nut removing direction to remove the nut from the bolt; The process of releasing from the nails and the case where the bolts in the bolt storage case are reduced or zero
When the bolt storage case becomes
And a step of supplying bolts and nuts from the automatic bolt supply device to the bolt fastening device.