JPH05261632A - Automatic bolt feeder for shield tunneling machine - Google Patents

Abstract

PURPOSE:To provide a bolt feeder for a bolt clamper being set up in a narrow work environment, in a shield tunneling machine. CONSTITUTION:In this bolt feeder, a bolt storage means 1 with a bolt housing case 11 and a bolt holding-conveying means 2 with a bolt holding claw 21 are separated from each other, and the bolt housing case 11 is installed in a position of no hindrance to motion of a bolt clamper in an operation range of the bolt holding claw 21. In a desirable example, this bolt housing case 11 is made into such a structure as being selectable to a bolt feed position and a bolt supply position, respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic bolt feeder for a shield machine.

[0002]

2. Description of the Related Art Conventionally, a shield construction method has been adopted in urban tunnel construction. In this shield construction method, segment assembling work is performed in which a segment produced in advance in the circumferential direction is divided into a plurality of segments in a space dug by an excavator and assembled in a ring shape by bolt fastening. Since this bolt fastening works in a narrow tunnel, it is not possible to secure a sufficient scaffold for work,
It was a dangerous task. Therefore, attempts to automate bolt fastening have been made (2nd Construction Robot Symposium Papers, 1991.7.2-4, 189-1).
97, etc.).

However, since it is difficult to automate the supply of bolts and nuts to the bolt fastening device installed in a narrow working environment, at present, the supply of bolts and nuts is done manually (the above-mentioned thesis). See the collection).

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art, and provides a bolt supply device for a bolt fastening device installed in a narrow working environment in a shield machine. The purpose is to provide.

[0005]

The present invention provides an automatic bolt feeder for a shield machine, which comprises a bolt storage means and a bolt gripping and conveying means for feeding the bolt stored in the bolt storage means to a bolt fastening device. Wherein the bolt storing means comprises a bolt accommodating member, a bolt extruding mechanism having an operating portion in the bolt accommodating member, and a bolt discharge adjusting mechanism for adjusting the extruding of the bolt by the bolt extruding mechanism. The gripping and conveying means includes an openable / closable bolt gripping mechanism, a first drive mechanism for advancing / retreating operation of the bolt gripping mechanism, and a second drive mechanism for advancing / retreating operation and rotating operation of the first driving mechanism. A seal, wherein the storage member is arranged at a position that does not affect the operation of the bolt fastening device within the operation range of the bolt gripping mechanism. Bolt on the automatic feeder for the excavator.

In the present invention, it is preferable that the bolt accommodating member is provided with a switching mechanism for switching between a bolt supplying position and a bolt supplying position.

[0007]

In the present invention, the bolt fastening case of the bolt storage means (device) in which the bolts to which the nuts are fastened are stored is within the operating range of the bolt gripping claws of the bolt gripping transfer means (device). Since it is arranged at a position that does not affect the operation of, it can be applied to a small shield machine. Further, since the bolt storage means (device) and the bolt gripping transfer means (device) are separated, the bolt storage means (device) can be installed in a place where it is easy to replenish the bolts and nuts, and work safety is improved. Can be made

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

FIG. 1 is a schematic view of an embodiment of the present invention, FIG. 2 is a structural view of a main portion of a bolt storage means in an embodiment of the present invention, and FIG. 3 is a cross section of a storage case of the bolt storage means shown in FIG. FIG. 4, FIG. 4 is a structural view of a main part of a bolt storage means according to another embodiment of the present invention, FIG. 5 is a schematic view of a bolt holding and conveying means according to one embodiment of the present invention, and FIG. 6 is another embodiment of the present invention. 7 is a schematic view of the bolt gripping and conveying means of FIG. 7, FIGS. 7 to 12 are explanatory views of the operation of the bolt automatic feeder for a shield machine of the present invention, and FIGS.
7 is an explanatory view of the bolt delivery from the bolt storage means to the bolt holding and conveying means, and FIGS. 18 to 23 are explanatory views of the bolt delivery from the bolt holding and carrying means to the bolt fastening device.

As shown in FIG. 1, one embodiment of the bolt automatic supply device for a shield machine according to the present invention is a bolt storage suspended from a beam member B arranged in a space excavated by the machine. The means 1 and the bolt gripping and conveying means 2 are the main constituent elements. The bolt storage portion of the bolt storage means 1 is
As shown in FIG. 1, it is arranged at a position that does not hinder the carrying out of the bolt 3 and the bolt fastening by the bolt fastening device within the operating range of the operating portion of the bolt gripping and conveying means 2.

The bolt storage means 1 has a storage case 11 in which a bolt 3 to which a nut is fastened is stored, and a storage case 1 for storing the bolt 3 as shown in FIG.
1, a bolt pushing mechanism 12 that pushes out to the discharge port 11a of
The adjusting mechanism 13 for adjusting the discharge of the bolt 3 and the coupling portion 11b formed on the opposite side of the discharge port 11a of the storage case 11 from each other.
And a holding member 14 that is connected to the connecting portion 11b and holds the storage case 11, and a guide member 15 for assisting the holding of the storage case 11 by the holding member 14.

As shown in FIG.
A storage space for storing about ten bolts 3 to which nuts are fastened is formed. As shown in FIG. 3, the head portion of the bolt 3 and the bolt / nut holding portion that slidably holds the nut fastened to the bolt 3 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 discharge port 11a by the bolt pushing mechanism 12.

The bolt pushing mechanism 12 is a storage case 11.
Of the bolt 3A that extends through the longitudinal direction of the push member passage formed in the ceiling of the storage unit, extends into the storage space and is located at the rearmost portion of the storage case 11, and contacts between the bolt head and the nut. The push-out member drive mechanism 12 connected to the bolt push-out member 12a and the portion of the push-out member 12a located above the ceiling of the housing case 11.
b, and a guide member 12c arranged along the longitudinal direction of the storage case 11 for guiding the drive 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 driving 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
Since it is located at the center of the cross section of No. 1, it does not hinder the later-described bolt holding claws 21 from entering the storage case 11.
The bolt push-out member drive mechanism 12b is composed of, for example, a pneumatically driven guideless cylinder (a piston is in the cylinder of the guide member 12c and operates by air pressure, and the piston and the drive mechanism 12b integrally operate by a magnet). There is.

The bolt discharge adjusting mechanism 13 is a storage case 1.
It is arranged at the bottom in the vicinity of the first discharge port 11a. The bolt discharge adjusting mechanism 13 protrudes to the front surface between the head of the bolt 3B to which the nut located at the foremost part of the storage space is fastened and the nut to discharge the bolt 3B from the discharge port 11a. Preventable stopper member 1 that can move back and forth
3a.

One end of the holding member 14 is fixed to the beam member B arranged in the shield space, and the other end is connected to the connecting portion 11b of the housing case 11. It is preferable that the holding member 14 and the connecting portion 11b be rotatable. With such a configuration, after the bolts 3 housed in the housing case 11 are used up, the bolts 3 are pulled up toward the beam member B,
The bolt 3 can be replenished from a scaffold (not shown) provided in the. In order to facilitate the pulling up of the storage case 11, in the embodiment shown in FIG. 1, the guide member 15 is arranged parallel to the rotation surface 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 portion of the storage case 11. The guide member 15 is provided with a guide groove 15a concentrically with the rotation path of the storage case 11. A sliding piece (not clearly shown) of the rotation assisting member 16 arranged on the ceiling of the storage case 11 is inserted through the guide groove 15a. With such a configuration, the storage case 11 can be smoothly pulled up in the beam member B direction.

The bolt gripping and conveying means 2 whose schematic structure is shown in FIG. 5 includes a bolt gripping claw 21, a claw driving section 22 for driving the bolt gripping claw 21, and a claw driving section 22.
A first drive mechanism 25 having a first shaft member 23 and a first shaft member drive unit 24, the ends of which are coupled to each other, and a second shaft member 26 and a second shaft member 26 supporting the first shaft member drive unit 24. It is composed of a second drive mechanism 28 having a shaft member driving portion 27 and a base member 29 supporting the second shaft member driving portion 27.

The bolt grip claws 21 can have various shapes conventionally used for this type of operation. The pawl drive unit 22 may be hydraulic or pneumatic type or electric type as long as it is configured to open and close the bolt holding pawl 21. The first shaft member 23 moves forward and backward by the operation of the first drive unit 24. The system in which the first shaft member drive unit 24 moves the first shaft member 23 forward and backward may be hydraulic or pneumatic, or electric. The second shaft member 26 performs rotational movement and forward / backward movement by the operation of the second shaft member driving unit 27. The portion of the second shaft member drive unit 27 that causes the second shaft member 26 to rotate is a pneumatic swing actuator (a type that converts the linear motion of the cylinder into rotation by a rack and a pinion), hydraulic pressure, and other electric power. It is composed of things such as formats. In addition, the portion that moves the second shaft member 26 forward and backward is the first
It is of the same type as the shaft member drive unit 24. In the example shown in FIG. 5, the second drive unit 27 has an integral structure and is used as the second shaft member 2.
6 is configured to rotate and move back and forth, the second shaft member drive unit 27 includes a portion that performs rotary motion,
It may be configured such that the part for performing the forward / backward movement is separated. With such a configuration, the bolt gripping and conveying means 2 can supply the bolts 3 stored in the bolt storing means 1 to the bolt fastening device.

Next, regarding the bolt supply to the bolt fastening device by the bolt supply device configured as described above, FIG.
This will be described with reference to 12.

Step 1: The bolt grip claw 21 faces the discharge port 11a of the bolt storage case 11. (See Figure 7)

Step 2: The bolt gripping claw 21 advances,
The bolt 3B at the top of the storage case 11 is gripped.
(See Figure 8)

Step 3: The bolt holding claw 21 moves backward while holding the bolt 3B. (See Figure 9)

Step 4: The bolt gripping claw 21 rotates,
Suitable for bolt fastening devices. (See Figure 10)

Step 5: The bolt gripping claw 21 is advanced to a position where the bolt fastening device is located. (See Figure 11)

Step 6: After the bolt fastening device operates to hold the head of the bolt 3B, the bolt gripping claw 21 retracts. (See Figure 12)

Next, the bolt transfer from the storage case 11 to the bolt gripping claw 21 will be described with reference to FIGS.

Step A1: The bolt gripping claw 21 advances to near the bolt 3B at the head of the bolt storage case 11. (See Figure 13)

Step A2: The stopper 13a retracts. (See Figure 14)

Step A3: The bolt pushing mechanism 12 pushes the bolt 3B into the bolt gripping claw 21.
(See Figure 15)

Step A4: The bolt gripping claw 21 grips the bolt 3B, and the stopper 13a advances to prevent the subsequent bolt 3 from being transferred to the bolt gripping claw 21. (See Figure 16)

Step A5: The bolt gripping claw 21 retracts. (See Figure 17)

Next, with reference to FIGS. 18 to 23, the bolt transfer from the bolt gripping claw 21 to the bolt fastening device will be described.

Step B1: The bolt grip claw 21 is advanced to a position where the bolt fastening device is located. (See Figure 18)

Step B2: The bolt head side member of the bolt fastening device advances toward the bolt head. (See Figure 19)

Step B3: The bolt head side member of the bolt fastening device holds the bolt head. (See Figure 20)

Step B4: The bolt gripping claw 21 is retracted, and the nut side member of the bolt fastening device is advanced toward the nut. (See Figure 21)

Step B5: The nut side member of the bolt fastening device holds the nut. (See Figure 22)

Step B6: The nut side member of the bolt fastening device rotates and the nut is removed from the bolt. (See Figure 23)

The above steps are performed by a controller (not shown) provided in the bolt supply device.

FIG. 4 is a structural view of a bolt storage case according to another embodiment of the present invention, and FIG. 6 is a schematic view of bolt holding and conveying means for the same embodiment. The configuration and operation are similar to those of the above-described embodiment, and the description thereof will be omitted.

[0040]

As described above, according to the bolt automatic feeder for a shield machine of the present invention, the bolt storing means and the bolt gripping and conveying means are separated from each other. Can be miniaturized. Therefore, the bolt can be supplied to the bolt fastening device installed in a narrow place without manpower.

[Brief description of drawings]

FIG. 1 is a schematic view of an embodiment of the present invention.

FIG. 2 is a structural view of a main part of a bolt storage means according to an embodiment of the present invention.

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

FIG. 4 is a structural view of a main part of a bolt storage means according to another embodiment of the present invention.

FIG. 5 is a schematic view of a bolt gripping and conveying means according to an embodiment of the present invention.

FIG. 6 is a schematic view of a bolt gripping and conveying means according to another embodiment of the present invention.

FIG. 7 is a part of an operation explanatory view of the bolt automatic feeder for the shield machine of the present invention.

FIG. 8 is a part of an operation explanatory view of the bolt automatic supply device for a shield machine of the present invention.

FIG. 9 is a part of an operation explanatory view of the bolt automatic supply device for the shield machine of the present invention.

FIG. 10 is a part of an operation explanatory diagram of the bolt automatic supply device for the shield machine of the present invention.

FIG. 11 is a part of an operation explanatory view of the bolt automatic supply device for the shield machine of the present invention.

FIG. 12 is a part of an operation explanatory view of the bolt automatic supply device for the shield machine of the present invention.

FIG. 13 is a part of an explanatory diagram of bolt delivery from the bolt storage means to the bolt gripping and conveying means.

FIG. 14 is a part of an explanatory diagram of bolt delivery from the bolt storage means to the bolt gripping and conveying means.

FIG. 15 is a part of an explanatory view of the bolt delivery from the bolt storage means to the bolt gripping and conveying means.

FIG. 16 is a part of an explanatory view of the bolt delivery from the bolt storage means to the bolt gripping and conveying means.

FIG. 17 is a part of an explanatory view of the bolt delivery from the bolt storage means to the bolt gripping and conveying means.

FIG. 18 is a part of an explanatory diagram of bolt delivery from the bolt gripping and conveying means to the bolt fastening device.

FIG. 19 is a part of an explanatory diagram of bolt delivery from the bolt gripping and conveying means to the bolt fastening device.

FIG. 20 is a part of an explanatory diagram of bolt delivery from the bolt gripping and conveying means to the bolt fastening device.

FIG. 21 is a part of an explanatory diagram of bolt delivery from the bolt gripping and conveying means to the bolt fastening device.

FIG. 22 is a part of an explanatory diagram of bolt delivery from the bolt gripping and conveying means to the bolt fastening device.

FIG. 23 is a part of an explanatory diagram of bolt delivery from the bolt gripping and conveying means to the bolt fastening device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Bolt storage means (apparatus) 11 Bolt storage case 12 Bolt pushing mechanism 13 Bolt discharge adjusting mechanism 14 Holding member 15 Guide member 16 Rotation assisting member 2 Bolt gripping conveying means (device) 21 Bolt gripping claw 22 Claw driving section 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 the assembled segment

Claims (2)

[Claims] 1. An automatic bolt feeder for a shield machine, comprising bolt storage means and bolt gripping and conveying means for supplying the bolts stored in the bolt storage means to a bolt fastening device, wherein the bolt storage means A bolt accommodating member, a bolt pushing mechanism having an operating portion in the bolt accommodating member, and a bolt discharge adjusting mechanism for adjusting the pushing of the bolt by the bolt pushing mechanism, and the bolt gripping and conveying means is openable and closable. The bolt holding mechanism includes a bolt driving mechanism, a first driving mechanism for advancing and retracting the bolt, and a second driving mechanism for advancing and retracting and rotating the first driving mechanism. The bolt automatic supply device for a shield machine, which is arranged at a position that does not affect the operation of the bolt fastening device within the operating range of Place 2. The bolt automatic supply device for a shield machine according to claim 1, wherein the bolt storage member is provided with a switching mechanism for switching between a bolt supply position and a bolt supply position. ..