JPH0633039Y2 - Segment end face angle detection sensor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a segment end face angle detection sensor of a segment automatic assembly robot.

[Prior Art] In recent years, a great deal of automation and rationalization has been made in many fields including the construction industry, and even in the shield method, drastic improvements have been made in excavating machines. However, with respect to segment assembly, there are many parts that still rely on the visual judgment of workers, and automation of segment assembly has become an important issue that must be urgently advanced as various types of automation of shield work are underway. There is.

Therefore, what has been proposed is the adoption of an automatic segment assembly robot that automatically grasps and turns a segment, performs positioning and fine adjustment, and further fastens a bolt.

[Problems to be Solved by the Invention] When adopting the segment automatic assembly robot, it is an important issue whether the robot can accurately align the gripped segment with the assembly partner segment (existing segment). Therefore, there is a demand for providing a segment position detection device that solves the problem.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a segment end face angle detection sensor that detects a relative tilt amount between a segment automatic assembly robot and an assembly partner segment (existing segment) in segment position detection. .

[Means for Solving the Problem] The present invention relates to a segment end face angle detection sensor that is in contact with an end surface of an assembly partner segment and detects a positional relationship between the assembly partner segment and the segment automatic assembly robot. Has a required space in the thickness direction of the assembly mating segment and is slidably mounted in a direction perpendicular to the end surface of the assembly mating segment. A pair of first and second contacts having, a spring for urging both the contacts in the direction toward the end surface of the mating partner segment, and a rod member inserted into the main body to measure the insertion length of the rod member. The rod member is integrally connected to the first contactor so that the rod member is parallel to the sliding direction of the contact members, and the rod member is contacted with the second contact member. It is characterized by having a linear sensor integrally connected to the child.

[Operation] An end face angle detection sensor is arranged so that the tips of the first and second contacts come into contact with each other in two radial directions on the end face of the assembly partner segment, and the insertion length of the rod material is measured by the linear sensor, and before measurement. When the change amount of the insertion length compared to
The relative movement amount of both contactors can be detected, and thus the relative inclination amount between the assembly partner segment and the segment automatic assembly robot can be known and the positional relationship can be detected.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

1 and 2 show an embodiment of the present invention. As shown in the drawing, a bracket 1 which is attached to a robot for automatic segment assembly and can be stored in the robot is provided. Cylindrical contact holders 2, 2 are respectively provided at positions separated from the tip by a predetermined distance, and each contact holder 2, 2 has a contact portion 3, 3 at the tip and a stopper 4 at the rear end. The first and second contactors 5 and 6 having the above are slidably fitted in the same direction and in the vertical direction with respect to the bracket 1, and further, springs 7 are respectively attached to both the contactors 5 and 6. Energize the force to project toward the tip.

Further, an opening 8 is provided at an intermediate position between the both contact holders 2, 2 of the bracket 1, and a rod member 13 is fitted into the body portion 16 in the opening 8 to measure a fitting length of the rod member 13. The linear sensor 9 configured to obtain the rod material 13
Are arranged so as to face the urging direction of both contacts 5, 6, and the main body 16 of the linear sensor 9 and the tip of the first contact 5 are
They are connected and integrated by a connecting member 10 having a bent shape. At this time, the tip end of the first contactor 5 and the main body 16 of the linear sensor 9 which are connected to each other are positioned with a required step X due to the bent shape of the connecting member 10, and the first contactor 5 is Be ahead in the tip direction.

In addition, at the tip of the second contactor 6, from the tip to the first contactor 5
A connecting member 11 extending toward the connecting member 11 is provided to form an overlapping portion A with respect to the connecting member 10, and the end of the connecting member 11 penetrates the tip end of the rod member 13 fitted into the linear sensor 9 and the nut 12 When the contact parts 3,3 of both contacts 5,6 are present on a plane parallel to the bracket 1 (perpendicular to the contacts 5,6) as shown in FIG. The fitting length of the rod material 13 is set to 0 in the linear sensor 9, and the linear sensor 9 measures the fitting length of the rod material 13 with the linear sensor 9 as a reference to configure the segment end face angle detection sensor 14.

The operation will be described below.

Segment end face angle detection sensor 14 configured as described above
As shown in FIG. 2, so that both contacts 5 and 6 are in contact with each other at two positions in the radial direction on the end face of the assembly mating segment 15,
When the insertion length of the rod material 13 is measured by the linear sensor 9, the relative movement amount of the first contactor 5 and the second contactor 6 can be detected.

Therefore, according to the above, the relative inclination amount between the assembly partner segment 15 and the segment automatic assembly rod can be detected as the relative movement amount of the first contact piece 5 and the second contact piece 6, and the relative movement amount can be further calculated. Can be easily converted into a relative tilt angle, and the positional relationship between the segment automatic assembly robot and the assembly partner segment 15 can be accurately grasped, so that the segment gripped by the robot can be accurately aligned.

The segment end face angle detection sensor of the present invention is not limited to the above embodiment, and the connecting member and the linear sensor may be provided on the rear end side of the contactor. Needless to say, various changes can be made without departing from the range.

[Effects of the Invention] As described above, according to the segment end face angle detection sensor of the present invention, the relative tilt amount between the assembly partner segment and the segment automatic assembly robot can be detected as the relative movement amount of both contacts, This has an excellent effect that the positional relationship between the assembly partner segment and the segment automatic assembly robot can be accurately grasped, and the segment held by the robot can be accurately aligned.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 and FIG. 2 are side views in which a bracket and a contact holder according to an embodiment of the present invention are cut. 1 is a bracket, 5 is a first contactor, 6 is a second contactor, 7
Is a spring, 9 is a linear sensor, 10 and 11 are connecting members, 13 is a rod material, 14 is a segment end face angle detection sensor, and 16 is a main body.

Claims (1)

[Scope of utility model registration request] 1. A segment end face angle detection sensor which is brought into contact with an end surface of an assembly partner segment and detects a positional relationship between the assembly partner segment and the segment automatic assembly robot, wherein the segment automatic assembly robot is provided with a thickness of the assembly partner segment. Having a required distance in the vertical direction, slidably mounted in the direction perpendicular to the end surface of the assembly mating segment, and having a contact portion at each end facing the end surface of the assembly mating segment. Two contact elements, a spring for urging both contact elements in the direction toward the end surface of the assembly partner segment, and a rod member fitted into the main body so that the fitting length of the rod member can be measured. A linear body in which the main body is integrally connected to the first contactor and the rod member is integrally connected to the second contactor so that the rod is parallel to the sliding direction of both contacts. Segment edge angle detecting sensor, characterized in that a Nsa.