JPH07189205A - Holding hand of robot fastening rail - Google Patents

Abstract

PURPOSE:To provide a compact holding hand of a robot fastening rails, without auxiliary devices of a compressed air source or the like. CONSTITUTION:A driving means 35 by which a pair of holders 34 arranged at both sides of a fastening metal tool 4 is positioned to approach the fastening metal tool 4 is composed of a slide mechanism 40 interlocking both holders 34 to the opposite direction to be linearly transferable, and a torque motor 42 simultaneously transferring linearly both holders 34 through the mechanism. Elastic frictional members 44 closely attached to the fastening metal tool 4 are provided at the opposite faces of the holders 34. The fastening metal tool 4 is held with a constant holding force while deforming the elastic frictional member 44.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping hand of a rail fastening robot for running a rail attached to a sleeper and removing a fastening metal fitting for fixing the sleeper and the rail.

[0002]

2. Description of the Related Art Generally, rails of railroad tracks are bolted to sleepers with fasteners, so when replacing the rails, temporarily remove all fasteners fixing the rails to the sleepers and replace the rails. Later, it is necessary to re-bolt the fastener to the sleeper. Conventionally, such work has been performed manually by a worker, but in recent years, a rail fastening robot has been developed which is capable of performing attachment / detachment of fasteners in a short time while traveling on a rail. .

Various types of rail-fastening robots have already been created, but they basically have the same construction. That is, a robot main body for attaching and detaching the fastener, a control device for controlling the robot main body, and a power generation means for supplying power for driving the control device and the robot main body on a traveling carriage that can be traveled on a rail. It is configured to be equipped with and.

Further, the robot main body basically holds a fastening hand for holding the fastening fitting, a hand moving mechanism for moving the holding hand, and fastening the fastening fitting to the sleeper, based on the work contents of detaching the fastening fitting. It is configured to include an impact wrench that tightens or loosens bolts. Then, first, the gripping hand is arranged at an appropriate position where the fastener can be gripped by the operation of the hand moving mechanism,
Next, the impact wrench is operated with respect to the fastener, and the bolt is tightened or loosened to remove the fastener.

[0005]

By the way, as a gripping hand of such a robot body, one using an air cylinder is generally used because the gripping force can be held uniformly. However, if pneumatic pressure is used, it is necessary to mount an air pressure source such as a compressor on the traveling carriage in addition to the robot main body, the control device, and the power generator, so that the traveling carriage and the rail fastening robot itself are compactly configured. There is an inconvenience that it becomes difficult. In addition, it is possible that the weight of the traveling carriage is increased and the transport / moving performance is deteriorated.

Further, there is a method in which the shape of the gripping hand is provided with a lower jaw and the fastening metal fitting is lifted from below, but there is a problem in that it is not lifted up due to a cause such as a screw of a metal fitting bolt being caught and an overload is stopped. Further, even in the operation of lowering the gripping hand, if a foreign matter such as crushed stone comes into contact with the lower limit, an overload may be applied to the vertical transport mechanism.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a gripping hand of a rail fastening robot that can be made compact.

[0008]

In order to achieve the above-mentioned object, the present invention is a rail fastening for attaching and detaching a fastener for fixing a rail to a sleeper while being run along a rail attached to the sleeper. A gripping hand mounted on a robot for gripping the fastener, comprising a pair of grips arranged on both sides of the fastener, and a drive means for bringing the grips closer to the fastener. A slide mechanism in which the driving means supports the two gripping parts in a linearly movable manner by interlocking the gripping parts in opposite directions, and a torque motor connected to the slide mechanism to linearly move the two gripping parts simultaneously through the slide mechanism. Therefore, a gripping hand of a rail fastening robot in which an elastic friction member that is brought into close contact with a fastening fitting is provided on the facing surface of the gripping portion is proposed.

[0009]

According to the gripping hand of the rail fastening robot according to the present invention, when the gripping hand is placed at an appropriate position for gripping the fastener by the operation of the rail fastening robot, the gripping part of the gripping hand is arranged. Are arranged on both sides of the fastener. Then, by actuating the drive means,
The grip portion is brought close to the fastener. In this case, the gripping portion is supported by the slide mechanism so as to be linearly movable in the opposite direction, and the moving operation is interlocked, so that both gripping portions are simultaneously fastened by the operation of the torque motor. The fastener is gripped by being linearly moved toward the metal fitting. Then, the elastic friction member provided in the grip portion is brought into close contact with the fastening fitting, and the elastic deformation absorbs the positional deviation between the gripping hand and the fastening fitting, so that the fastening fitting is securely gripped by both grip portions. Further, when a certain amount of elastic deformation occurs in the elastic friction member and a predetermined gripping torque is applied to the torque motor, the movement of the fastener is stopped and the fastener is held in the gripped state. .

Further, since the gripping force is the frictional force due to the pressing of the elastic friction member, when the fastening metal cannot be lifted due to the catching of the bolt or the like, the rail fastening robot that moves the hand upward is not overloaded. In addition, the rail fastening robot is protected by the occurrence of slippage in the elastic friction member and the release of the gripped state.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a gripping hand of a rail fastening robot according to the present invention will be described below with reference to FIGS. 4 to 6 are a front view, a side view, and a plan view showing the rail fastening robot 1. 7 to 9 show a hand moving mechanism 5 for moving the gripping hand 2 of the present embodiment vertically and horizontally so as to be arranged at a predetermined position where the fastening fitting 4 can be attached to and detached from the rail 3. ing. Here, prior to describing the gripping hand 2 of the present embodiment, the rail fastening robot 1 will be described with reference to the drawings.

The rail fastening robot 1 is shown in FIGS.
As shown in FIG.
The robot main body 7, the control device 8, and the power generation device 9 are provided on the above. The traveling carriage 6 has a rectangular frame 10 arranged so as to be orthogonal to the two rails 3.
And wheels 11 arranged at four locations on the lower surface of the rectangular frame 10. Then, by rolling the wheels 11 on the rails 3 attached to the sleepers 12, the traveling carriage 6 can be made to travel along the rails 3. In FIG. 4, reference numeral 13
Is a motor for driving one wheel, for example, the wheel 11 via a chain 14 and a sprocket 15.
Are linked to.

The robot main body 7 is arranged above one rail 3, and the fastening metal fittings 4 for fixing the rail 3 to the sleeper 12 are attached and detached on both sides of the rail 3. For this reason, a hand moving mechanism 5 for moving a gripping hand 2 of the present embodiment, which will be described later, arranged for each of the fastening fittings 4 in the up-down direction and in the left-right direction orthogonal to the rail 3, and tightening and loosening work of the bolt 16. It is equipped with a pair of impact wrenches 17 for performing. The hand moving mechanism 5 and the impact wrench 17 are attached to a robot frame 18 provided on the rectangular frame 10, and are covered with a cover 19 shown by a chain line in FIGS. 4 to 6.

The hand moving mechanism 5 is shown in FIGS.
As shown in FIG. 3, the robot frame 18 includes a horizontal moving mechanism 20 and a vertical moving mechanism 22 fixed to a slider 21 of the horizontal moving mechanism 20. These moving mechanisms 20 and 22 are linear guides 23 and 24 arranged in a horizontal direction orthogonal to the rail 3 or in a vertical direction directly above the rail 3 and a slider 21 that is moved along the linear guides 23 and 24. 25 and the slider 21
A ball screw (not shown) for moving 25 and motors 26 and 27 are provided. Further, the motor 26 of the horizontal moving mechanism 20 is arranged in reverse via a pulley 28 and a belt 29, as shown in FIG. 9, in order to make the robot body 7 compact.

In the hand moving mechanism 5, the linear guide 24 of the vertical moving mechanism 22 is fixed to the slider 21 of the horizontal moving mechanism 20, and the gripping hand 2 is attached to the tip of the slider 25 of the vertical moving mechanism 22. Arm 3 to attach
0 is fixed. The arm 30 is formed in a bifurcated shape so as to straddle the rail 3, and the gripping hand 2 is mounted at the tip of each arm. Then, the position of the gripping hand 2 in the left-right direction orthogonal to the rail 3 is adjusted by the operation of the horizontal moving mechanism 20, and the gripping hand 2 is moved up and down by the operation of the vertical moving mechanism 22. The position adjustment of the gripping hand 2 in the direction along the rail 3 is performed by traveling of the traveling carriage 6.

The impact wrench 17 is attached to an elevating guide 31 fixed to the robot frame 18, respectively, and is suspended by a wire 33 wound around an elevating motor 32 disposed above the impact wrench 17, thereby elevating the wrench. It is moved up and down along the guide 31. This makes bolt 1
6 can be tightened and loosened.

Next, the gripping hand 2 of this embodiment will be described with reference to FIGS. 1 to 3. As shown in FIG. 1, the gripping hand 2 of the present embodiment includes a pair of gripping plates 34 (grasping portions) arranged in an opposed state, and a hand opening / closing mechanism 35 that linearly moves the gripping plates 34 in the facing direction. (Driving means).

The hand opening / closing mechanism 35 includes a base 36 fixed to the arm 30 of the hand moving mechanism 5, two support rods 37 attached to the base 36 and arranged in parallel with the rail 3, and the support. A slide mechanism 40 including a ball screw 38 arranged parallel to the rod 37 and rotatably attached to the base 36, and a slide sleeve 39 slid along the support rod 37, and a coupling 41 for the ball screw 38. And a motor 42 connected via.

The ball screw 38 is formed with screw parts 38a and 38b having a reverse screw relationship with the center part as a boundary, and a nut 43 is screwed into each screw part 38a and 38b. Further, two of the sliding sleeves 39 are fitted to each of the two support rods 37. These nut 43 and sliding sleeve 39
Are fixed to the grip plates 34, respectively. Therefore, by operating the motor 42, the base 36
On the other hand, when the ball screw 38 is rotated, the nut 43 screwed into the screw portions 38a and 38b is moved in the opposite direction along the ball screw 38. As a result, the gripping plate 34 is supported by the support rod 37, and is moved in the opposite direction in an interlocking manner so as to change the distance dimension thereof.

On the grip plate 34, as shown in FIG.
An elastic friction member 44 made of, for example, a rubber plate such as NBR is attached to the inner surface of the tip. The elastic friction member 4
4 is brought into close contact with the side portion of the fastening fitting 4 by closing the gripping hand 2. Also,
The grip plate 34 is swingable in a vertical plane by a pin 45. As a result, when the gripping plate 2 contacts the crushed stone or the like by lowering the gripping hand 2, the gripping plate 34 is swung upward, and the gripping hand 2 and the mechanism portion of the rail fastening robot are moved. It is designed to prevent an excessive load from acting.

The motor 42 is a small torque motor that produces a constant torque regardless of the number of rotations. As a result, even if the grip plate 34 grips the fastener 4 and the movement of the grip plate 34 is stopped, an excessive torque is not generated, and the fastener 4 has a constant grip torque.
Can be held continuously.

When gripping the fastener with the gripping hand constructed as described above, first, the hand opening / closing mechanism 35 is operated to move the gripping plate 34 in a direction in which the distance between the gripping plates 34 increases. Then, the traveling hand truck 6 travels on the rail 3 to adjust the position of the gripping hand 2 along the longitudinal direction of the rail 3. Then, the hand moving mechanism 5 is operated to adjust the position of the gripping hand 2 in the left-right direction and the vertical direction, and then the hand opening / closing mechanism 35
The fastener 4 is gripped by the operation of.

That is, when the hand opening / closing mechanism 35 is actuated, the ball screw 38 is rotated by the motor 42, and the grip plate is moved along with the movement of the nuts 43 screwed into the screw portions 38a and 38b of the ball screw 38, respectively. 34 are brought close to each other in the facing direction. Therefore, at this time, by adjusting the position of the gripping hand 2 so that the fastening metal fitting 4 is disposed between the gripping plates 34, the fastening metal fitting 4 is gripped by the gripping hand 2. In this case, the fasteners 4 arranged on both sides of the rail 3 are simultaneously gripped.

Since the elastic friction member 44 is provided on the inner surface of the grip plate 34, the elastic friction member 44 brought into close contact with the fastening fitting 4 is deformed, so that the gripping hand 2 and the fastening fitting 4 are deformed. A certain amount of positional deviation between and is absorbed. Then, the gripping force of the fastening fittings 4 by the gripping plates 34 is transmitted to the ball screw 38 via the deformed elastic friction member 44, and the fastening fittings 4 are reliably gripped. Moreover, since the motor 42 is constituted by the torque motor, the holding force is held constant and the holding state of the fastener 4 is maintained.

After the impact wrench 17 is actuated and the bolt 16 is loosened, the fastening hand 4 is grasped and conveyed by the gripping hand 2, thereby performing the loosening, grasping and conveying work of the fastening metal 4. It becomes possible to do. Further, by performing the disassembling work of the fastener 4 along the rail 3, it is possible to shorten the work time required for the rail replacement.

Therefore, according to the gripping hand 2 of the present embodiment, the hand opening / closing mechanism 35 operates the two gripping plates 34 by the single motor 42, so that the structure can be made compact. In addition, since the actuator is the motor 42, auxiliary equipment such as an air pressure source is not required,
The electric power generated by the power generation means 8 can be used. As a result, the rail fastening robot 1 itself can be made compact and lightweight, and the transport performance and the traveling performance can be improved.

In this embodiment, the slide mechanism 40 has the support rod 37, the ball screw 38, etc., but instead of this, for example, a linear guide,
Any configuration such as a rack and pinion can be adopted. Further, the elastic friction member 44 provided on the inner surface of the distal end of the gripping hand 2 is made of a rubber plate such as NBR, but instead of this, any other elastic friction member can be adopted.

[0028]

As described in detail above, in the gripping hand of the rail fastening robot according to the present invention, the driving means for bringing the pair of gripping portions arranged on both sides of the fastening fitting toward each other toward the fastening fitting is provided. It consists of a slide mechanism that supports the grips so that they can move linearly by interlocking with each other in the opposite direction, and a torque motor that moves the grips linearly at the same time through the slide mechanism. Since the elastic friction member is provided and the pin that can freely swing the grip portion upward is provided, the following effects are achieved. The rail fastening robot can be made compact without requiring any auxiliary equipment such as an air pressure source. Since the pair of grips are interlocked by the torque motor and the fastener is gripped via the elastic friction member,
The grips can be reliably gripped by both grips with a constant gripping force. Since the fastener is gripped by the frictional force of the elastic friction member provided in the grip part, slippage occurs between the elastic friction member and the fastener when the fastener cannot be lifted up due to the catching of the bolts of the hand fitting. Thus, it is possible to prevent the rail fastening robot from being overloaded.

[Brief description of drawings]

FIG. 1 is a partially cutaway front view showing an embodiment of a gripping hand of a rail fastening robot according to the present invention.

FIG. 2 is a plan view of the gripping hand of FIG.

3 is a side view showing a grip portion of the grip hand of FIG. 1. FIG.

FIG. 4 is a front view showing an external configuration of a rail fastening robot to which the gripping hand of FIG. 1 is applied.

5 is a side view of the rail fastening robot of FIG.

FIG. 6 is a plan view of the rail fastening robot of FIG.

FIG. 7 is a front view showing a hand moving mechanism of the rail fastening robot of FIG.

8 is a side view showing the hand moving mechanism of FIG. 7. FIG.

9 is a plan view showing a horizontal movement mechanism of the hand movement mechanism of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rail fastening robot 2 Grasping hand 3 Rail 4 Fastening metal fittings 12 Sleepers 34 Grasping plate (grasping part) 35 Hand opening / closing mechanism (driving means) 40 Slide mechanism 42 Motor (torque motor) 44 Elastic friction member 45 pins

Claims (1)

[Claims] 1. A gripping hand that is mounted on a rail fastening robot that runs along a rail attached to a sleeper and that removes and attaches a fastener for fixing the rail to the sleeper, and that grips the fastener. A pair of grips arranged on both sides of the fastener, and a drive means for bringing the grips closer to the fastener, the drive means interlocking both grips in opposite directions. It is composed of a slide mechanism that supports linear movement and a torque motor that is connected to the slide mechanism and linearly moves both grips simultaneously through the slide mechanism. A gripping hand of a rail fastening robot, characterized in that an elastic friction member is provided.