JPH10109233A - Tightening and loosening device for form bolt - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify a tightening and loosening device in structure, and to make it low in price and a bolt tightening and loosening speed faster. SOLUTION: A tightening and loosening device has a pair of X-axis moving bases 20 which are arranged on both the sides of a form 1 and movable in the lateral direction of the form 1, a pair of Z-axis moving bases 40 which are arranged on the X-axis moving base and movable in the vertical direction of the form 1, a pair of nonrotating screw shafts 31 which are fixed to the Z-axis moving base and extend in the longitudinal direction of the form 1, and a nut 32 threadedly engaged with the nonrotating screw shaft, and is moreover equipped with a plurality of Y-axis moving bases 30 which can be individually moved in the longitudinal direction of the form by the rotative driving of the nut and are provided in a line to the screw shaft 31, and a tool holding member 61 which is provided elevatably to the Y-axis moving base, and holds a tool 60 to be bolt-tightened and loosened.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a formwork bolt tightening and loosening apparatus for automatically tightening or loosening fastening bolts of a divisible formwork for forming concrete poles, piles and the like.

[0002]

2. Description of the Related Art For example, as shown in FIG. 14, a mold 1 is composed of two semicircular split molds 2 and 3, flanges 2a and 3a protruding from respective ends are overlapped, and bolts 4 are used. It is formed into a hollow cylindrical shape by fastening. Then, the bolt 4 is disassembled by loosening and pulling it out. The mold 1 is rotatably supported by a tire 5. Concrete is poured into the mold 1 and the mold 1 is rotated by a rotating mechanism (not shown) so that the concrete is compacted. Has become.

[0003] A conventional bolt tightening and loosening device 100 for a mold for automatically assembling and disassembling a plurality of bolts 4 for assembling and disassembling the mold 1 includes a main body moving unit 110 and an X-axis moving unit 1.
20, a Y-axis mobile unit 130, a lifting / lowering mobile unit 140, a Z-axis mobile unit 150, and a gantry 160. The elevating and lowering device 140 is attached to the gantry 160 so as to be able to move up and down. The main body mobile unit 110 has two ends on both sides.
A clamp device 111 is provided on the upper side of the mold 0 so as to be able to run in the longitudinal direction of the mold 1 and downward. A clamper plate is provided at the tip of the clamp device 111 so as to be slidable in the up and down direction, and a tire detector 112 is provided on the upstream side thereof to detect that the tire 5 has come immediately before the clamp device. It is supposed to. Then, when the mold 1 travels in the direction of the arrow I by the carriage 6 and passes through the inside of the mold bolt tightening / closing device 100, when the tire detector 112 detects the approach of the tire 5, the clamper plate of the clamp device 111 is moved. It descends, is pressed against the side surface of the tire 5, and moves in synchronization with the formwork 1.

[0004] The X-axis moving device 120 moves the tool 60 so as to match the bolt pitch in the form diameter direction. The Y-axis mobile unit 130 includes a plurality of the X-axis mobile units 1.
The tool 20 is held so as to be independently movable in the length direction of the formwork, and the tool 60 is moved so as to match the pitch of the bolts in the direction of the formwork length. ing. In addition, since the lifting / lowering mobile device 140 is configured to place the main body mobile device 110 and adjust the height thereof, even if the diameter of the mold 1 changes, the tool 60
And the height of the bolt 4 can be adjusted so that the height is relatively always the same. Also, the Z-axis moving device 150
Is for raising and lowering the tool 60 attached thereto, and one pair is provided for each of the plurality of X-axis moving devices 120.

[0005] In the above-described bolt tightening and loosening device 100 for the formwork, when the bolt 4 is tightened and loosened, the X-axis moving device 1 is set in advance.
20 and the Y-axis moving device 130 adjust the position of the tool 60 to the position of the bolt of the formwork with reference to the position of the tire 5, so that when the formwork 1 is sent, the clamper plate is 5, the tool 4 is tightened and loosened while moving together with the mold 1 while the tool 60 is positioned on the bolt 4. When the tightening and loosening of the bolts 4 are completed, the main body mobile unit 110 returns to the home position, and the clamper plate is engaged with the tire 5 next to the continuously moving mold 1 to sequentially tighten and loosen the bolts 4. It is repeated.

As described above, the form bolt tightening and loosening device 10
0 denotes a plurality of pairs of tool groups 60 arranged on both sides of the mold 1.
, A plurality of pairs of Z-axis mobile units 150 that hold the pairs integrally, a pair of X-axis mobile units 120 that hold the respective pairs integrally, and a pair of units that hold the X-axis mobile units 120 independently and movably. Y-axis mobile devices 130, 130, and a pair of Y-axis mobile devices 130.130 are provided on both sides, and a main mobile device 110 that travels in the longitudinal direction of the mold 1;
0 and a pair of lifting / lowering mobile devices 140 for lifting and lowering both sides thereof, and a gantry 160 for holding the lifting / lowering mobile devices 140
It is very complicated, large-scale, and expensive. In addition, since the movement of the tool 60 to the bolt position and the return to the origin position are all performed together with the main body mobile unit 110, the moving speed is slow, so that the bolt attachment / detachment /
The tightening speed becomes slow.

[0007]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has a simple structure, is inexpensive, and has a fast bolt attaching / detaching / fastening speed. An object is to provide a device.

[0008]

Means for Solving the Problems In order to solve the above-mentioned problems, the invention of claim 1 of the present invention is a bolt tightening and loosening device for a formwork that performs bolting and loosening of a formwork moving in one direction. A pair of X-axis slides disposed on both sides of the mold and movable in the width direction of the mold; and a pair of X-axis slides disposed on the X-axis slide and movable in the vertical direction of the mold. It has a Z-axis moving base, a pair of non-rotating screw shafts fixed to the Z-axis moving base and extending in the longitudinal direction of the mold, and a nut screwed to the screw shaft. A plurality of Y-axis slides that are individually movable in the longitudinal direction of the form by rotary driving, and are provided to be movable up and down with respect to the Y-axis slide; A tool holding member for holding a tool to be loosened;

Further, in the invention of claim 2, according to claim 1, the tool holding member of the Y-axis moving base arranged in line with the screw shaft adjusts the inclination of the tool held thereby. It is characterized by having a width direction position adjusting member that causes relative displacement in the width direction of the mold.

Further, according to a third aspect of the present invention, in the first or second aspect, a mold traveling distance detecting means provided on both sides of the mold to detect a traveling distance of the mold, and the plurality of pairs of tool positions. Tool position detecting means for detecting the form, and form data storage means for storing form data of the form,
Control means for controlling a plurality of tools on both sides thereof to be moved to a position of a target bolt to be tightened / loosened during traveling of the formwork, thereby performing tightening / loosening of the target bolt group, Formwork travel distance detection means, at least one of which alternately engages with the reference body of the running formwork and travels alternately with the formwork in a fixed section, thereby continuously detecting the travel distance, The control means calculates the position of the target bolt during travel of the form from the Y coordinate of the target bolt read from the storage means and the travel distance of the form detected by the form travel distance detection means. It is characterized by having arithmetic means for performing.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are views showing an embodiment of a formwork bolt tightening and loosening device of the present invention. FIG. 1 is a front view, and FIG. 2 is a side view. In FIGS. 1 and 2, reference numeral 1 denotes a mold to be bolted, which has various diameters. A pair of formwork bolt tightening and loosening devices 10 and 10 respectively include a tool 60 for tightening and loosening bolts, an X-axis moving base 20 that moves in the X-axis direction (an axis orthogonal to the traveling direction of the formwork 1), and Y. It comprises a Y-axis moving table 30 that moves in the axial direction (the axis in the traveling direction of the mold 1), a Z-axis moving table 40 that moves in the Z-axis (vertical axis), and the like.

The X-axis moving table 20 is provided movably in the X-axis direction along a linear guide 51 provided on a base 50. As shown in FIG. 2, a frame composed of columns 41 provided at both ends and horizontal bars 42 provided thereon is formed on the X-axis moving table 20.
Is a boss portion 4 slidably provided on both columns 41, 41.
3,43. The rotational force given by the elevating motor 44 of the Z-axis moving base 40 is transmitted by the transmission mechanism 4.
5 (bevel gear 45a, transmission shaft 45b, bevel gear 45c, screw shaft 45d) and transmitted to the nut 46.
With the rotation of d, the nut 46 moves up and down, and accordingly, the Z-axis moving table 40 moves up and down.

A non-rotating screw shaft 31 extending in the length direction of the mold 1 is provided on the Z-axis moving table 40, and supports 33,
33, both ends thereof are fixed to the Z-axis moving base 40. The screw shaft 31 has a plurality of nuts 32α, 3
2β and 32γ are screwed into each other, and are rotatably provided by a rotation drive mechanism described later so as to be movable along the screw shaft 31 in the length direction of the mold. The plurality of Y-axis moving tables 30 (30α, 30β, 30γ) are provided with nuts 32α, 3
It is coupled to the screw shaft 31 via 2β and 32γ, and is slidably supported along a linear guide 32 disposed parallel to the screw shaft. In addition, each Y-axis moving table 30
The tool 60 (60α, 60β, 60γ) is held at (30α, 30β, 30γ) via a tool holding member 61 (61α, 61β, 61γ) so as to be able to move up and down.

FIG. 3 is a sectional view taken along the line AA of FIG. 2, and shows a coupling relationship between the Y-axis moving base 30 and the screw shaft 31. In FIG. 3, the nut 32 is screwed to the non-rotating screw shaft 31 as described above. One side 35a of the gear 35 is attached to a side surface of the nut 32 by a bolt 38, and the other 35b of the gear 35 is
7 is attached to the rotating shaft. Also, the Y-axis moving base 3
Numeral 0 is attached to a fixed side of the bearing mechanism 36 by a bolt 39, and the nut 32 is rotatably supported by the bearing mechanism 36. Accordingly, the rotation of the servomotor 37 causes the gear 35b to rotate, and when the gear 35a meshing with the gear 35b rotates, the nut 32 rotates accordingly. The nut 32 depends on its rotation direction.
Since it moves along the screw shaft 32, Y
The axis moving base 30 moves. Servo motor 37
The rotation speed and the rotation direction are controlled by control means described later. Note that a pulley may be used instead of the gear 35.

FIG. 4 shows the tool 60 and the tool holding member 6.
FIG. 1A is a diagram illustrating a steady state, and FIG.
Indicates an avoidance state for avoiding the tire 5. In FIG. 4, the tool 60 is composed of a known nut runner provided with a socket 60c at the tip of a piston 60b of an air cylinder 60a. The tool holding member 61 has an air cylinder 61a, a holding plate 61c provided below the air cylinder 61a, a guide 61d provided on the air tool side thereof, and a sliding portion 61e slidable therewith. Piston 61b
Is joined to the sliding portion 61b, and the tool 60 is rotatably held via a joint 64.
A width direction adjusting member 62 is provided at the lower end of the holding plate 61c, and a roller guide 63 is rotatably attached via a joint 65 provided above the holding direction. The tool side surface 63b, which is supported by the adjusting member 62 and is parallel to the adjustment member 62, is in contact with the tool lower end side surface.

In the steady state shown in FIG. 4A, the roller 60d provided on the lower end side surface of the tool is located at the lower end of the tool side surface 63b of the roller guide 63, and the tool 60 is held vertically. However, when avoiding the tire 5, the piston 61b of the air cylinder 61a is raised by a signal from a control unit (not shown),
1e, the tool 60 moves up together with the joint 64.
The roller 60d is connected to the vertical portion 6 of the roller guide 63.
When moving from 3c to the inclined portion 63d as shown by the arrow r,
The tool 60 is inclined as shown in FIG.
0c moves away from the bolt position upward (Z-axis direction) and at the same time escapes in the width direction (X-axis direction), so that the tire 5 can be avoided by one action.

FIGS. 5A and 5B are explanatory views of the mold position detector 21. FIG. 5A is a plan view and FIG. 5B is a side view. The formwork position detector 21 includes a detection unit 24 including an air cylinder 22 and a detection bar 23, a measurement unit 25, an actuator 26 with a linear guide, and a reference body detection sensor 27. It is fixed on a support 24a provided on the guide-equipped actuator 26, and is provided together with the measuring unit 25 on a support plate 40a shown in FIGS. The linear guide-equipped actuator 26 is composed of a linear guide and a rodless air cylinder. When the mold is detected, the air pressure is reduced, and when the detection unit 24 is pressed by the mold, the actuator 26 becomes movable. The reference body detection sensor 27 is provided on the upstream side of the actuator 26 and detects when a reference body such as the tire 5 of the mold 1 approaches within a predetermined distance. In the detection unit 24, the air cylinder 22 is connected to the reference body sensor 27.
And the piston 22a is extended. The piston 22a is provided with a rotation shaft 23a of the detection bar 23.
Is connected to the cam 22b connected to the piston 2
When 2a is extended, the detection bar 23 is erected.

The measuring section 25 includes an encoder 25a, a wire support 25b, and a wire 25c. The wire support 25b is attached to the support base 24a of the detection unit, and the wire 25c is provided in a reciprocating closed loop via the rotating unit of the encoder 25a and the wire support 25b. As described above, the support plate 40a on which the mold position detector 21 is disposed is connected to the Z-axis moving table 40, and the Z-axis moving table 40 is attached to the X-axis moving table 20, so that X The movement in the X-axis direction by the axis moving table 20 and the movement in the Z-axis direction by the Z-axis moving table 40 move to a position corresponding to the size of the form 1, and the form 1 approaches,
When the detection bar 23 is erected by operating the detection bar 4, the position of the detection bar 23 can be adjusted so that the detection bar 23 is engaged with a reference body such as the tire 5.

When the above-mentioned position adjustment is completed and the reference body (tire) of the form 1 approaches, the form position detector 21
Is upright, and engages with the tire 5. When the detection unit 24 of the mold position detector 21 travels on the side surface of the support plate 40a along the actuator 26 with the linear guide together with the mold 1, the wire 25b of the measurement unit 25
Moves, and the rotation speed of the rotating part of the encoder 25a is read and transmitted to control means (not shown) to detect the travel distance of the mold 1 and the like. As will be described later, a command to move to the tool 60 is issued from the control means based on the data such as the travel distance and the bolt position, and when the tightening / loosening work is completed, the detection bar 23 is lowered, and the actuator 26 is operated. The detection unit 24 returns to the origin position.

FIG. 6 is an explanatory view showing another operation of the tool 60 and the tool holding member 61 same as those in FIG. In FIG. 6, the width direction position adjusting member 62 is formed of, for example, an air cylinder, and the roller guide 63 is rotated around the joint 65 by expanding and contracting a piston 62a thereof.
Thereby, the inclination of the tool 60 is changed, and the socket 60c is changed.
Is changed in the X-axis direction. # 2 is a position in the steady state where the tool 60 is vertical, # 1 is a position retracted toward the tool holding member, and # 3 is a position where the tool 60 is pushed out to the opposite side to the tool holding member as shown.

FIG. 7 is a view for explaining the operation of the width direction position adjusting member 62 for accommodating the taper of the mold 1. As shown in FIG. For example, when making a concrete pole having a taper, the form 1 naturally also has a taper, so that the position in the width direction of the bolt 4 to be tightened / loosened also differs depending on the taper and the distance from the reference position. Come. Now, considering a bolt whose position in the length direction on the mold 1 is α, β, γ, when the taper is T1 (shown by a solid line),
α ₁ , 4β ₁ , 4γ ₁ , whereas when the taper is T2 (two-dot chain line), it becomes 4α ₂ , 4β ₂ , 4γ ₂ (4β ₁ and 4β ₂ are at the same position) .

On the other hand, the tools 60α, 60β, 60
γ, since the respective pair sequence set parallel to the longitudinal direction of the mold 1, and all its normal end position ♯2 it is located on parallel lines T _S (dotted line). Therefore, as shown in the illustrated example, the tool 6
When the 0β tip position ♯2 is located on the bolt 4β (4β ₁ , 4β ₂ ), the widthwise position of the tool 60α tip is
A bolt 4.alpha. ₁ or 4.alpha. ₂ d _a or d _a + Δd _a displacement, in the width direction of the tool 60γ tip position, 4Ganma ₁ or 4
It will deviate from γ ₂ or d _c or d _c + Δd _c .
Bolt 4.alpha.-4.beta. And between bolt 4β-4γ between the formwork when the respectively L1 and L2 longitudinal distance _{d a = (T1 / 2)} × L1 d a + Δd a = (T2 / 2) × L1 d _{c = (T1 / 2) ×} L2 d c + Δd c = (T2 / 2) × for L2 such as concrete poles, the maximum taper T _MAX is 1/75, distance L in the lengthwise direction is minimum 200 mm, a maximum 500mm Therefore, in the above and the formula, T2
= T _MAX = 1/75, L1 = 200 mm, L2 = 500
mm, d _a + Δd _a = [(1/75) / 2] × 200 = 1.3 mm d _c + Δd _c = [(1/75) / 2] × 500 = 3.3 mm

However, according to the form bolt tightening and loosening device 1, since the width direction position adjusting member 62 is provided, the tip positions 60 d of the three pairs of tools 60 are the same as the taper of the form 1 in advance. By adjusting the bolts so that they are aligned on a straight line having a taper, three bolts can be tightened and loosened at a time. For example, in the case of the taper T1, the tool 60
The tip position of β is defined as the steady state position ♯2, and the tool 60α
The tip located at a position ♯1 shifted d _a that is calculated from the above formula outwardly it located shifted d _c which is calculated the position of the tip of the tool 60γ by the formula inwardly ♯3
Adjust to Then, the Y-axis moving base 30 is moved,
When the tool 60β is to come to the position of the bolt 4.alpha. _2, other tools 60Arufa, respectively also 60γ bolt 4
Since they come to the positions of α ₁ and 4γ ₁ , tightening and loosening operations can be performed at once. Similarly, when the taper is T2, d _a + Δd _a , d calculated by the above equation
It may be adjusted position of the tool by _c + _{Δd c.}

However, it is bothersome and unnecessary to finely adjust the tip positions of the tools 60α, 60β, 60γ in accordance with the taper of the mold 1 as described above. 1m
Since a displacement of about m can be handled by the socket 60c, it is sufficient to allow two positions to be moved within a range that can be covered within the range. As described above, the maximum taper T _MAX is 1/75 and the maximum distance L in the length direction is 5
If the distance is 00 mm, the deviation from the parallel arrangement position T _S is at most about 3.3 mm.
_{It is possible} to cope with the two-point movement of shifting by 0.9 mm from _S and by 2.5 mm. To explain this in the above example, in the case of the taper T ₂ , since the deviation from the parallel arrangement position T _S is 3.3 mm or less, the tip position of the tool 60β is the steady-state position ♯2, and the tip of the tool 60α is Position ♯
1 is shifted outward by 2.5 mm, and the tip position ♯3 of the tool 60γ is shifted inward by 2.5 mm.
A displacement of 3.5 mm can be handled. Tool 6
When the tip position of 0α is shifted 0.9 mm outward and the tip position of tool 60γ is shifted 0.9 mm inward, 1.9 is obtained.
Since displacement of less than 1 mm can be dealt with, all displacements can be dealt with by the two-point movement.

Next, the control means will be described with reference to FIGS. FIG. 8 is a block diagram of the control means 70. In FIG. 8, a control unit 70 includes a CPU 71, an input unit 72 for inputting data such as the type of the mold 1 to the CPU 71, and a type or a mold number of the input mold.
RAM 73 which reads out the form data from form database 75 via CPU 71 and stores it in a predetermined area
And a ROM 74 for storing an operation program of the CPU 71
A reference body detection sensor 27 for detecting approach of the tire 5 as a reference body of the mold 1; a mold position detector 21 for detecting a traveling distance and a traveling speed of the mold 1; A motor 28 and its detection unit 29, each Y-axis moving base 30α,
Servo motors 37 (37α, 37β, 37γ) for driving nuts 32α, 32β, 32γ of 30β, 30γ and their detection units 38 (38α, 38β, 38γ), and an air cylinder 60a for controlling the vertical movement, tightening and loosening of the tool (6
0aα, 60aβ, 60aγ).

The operation of the form bolt tightening and loosening device having the control means 70 will be described. The position of the reference body of the mold 1 is the position of the tire 5, and three or more bolts are provided between the tires 5 as shown in FIG.
The work of tightening and loosening the bolts of the formwork 1 roughly includes a preparation work and an automatic bolt tightening and loosening process.

First, in the preparation work, when the type of the mold 1 is input by the input means 72, the coordinates of the bolt position of the mold 1 of the type are read from the mold database,
It is stored in the RAM 73. The origin of the coordinates is, for example, the foot of a perpendicular line dropped onto the surface of the bogie from the center of the front end surface of the form when the mold 1 is set on the bogie 6, the Z-axis is the perpendicular direction from the origin, and the Y-axis is the type. Running direction of frame 1, X axis is Z axis, X
Take in the direction perpendicular to the axis. Assuming that any tapered form is placed on the carriage so that its central axis is horizontal, the heights (Z-axis coordinates) of the bolts 4 are all constant. Further, assuming that the bolt positions on both sides of the mold 1 are provided symmetrically with respect to the center axis, the positions (Y coordinates) of the bolts on both sides in the running direction are equal, and the positions in the width direction (Y coordinate).
Since the right and left are also symmetrical, the absolute values are equal and only the signs are opposite. Therefore, in the following description of the operation, one of the operations will be described unless otherwise necessary. Tool 6
The inclination angles of 0α, 60β, and 60γ are 6 as described above.
The tool 60α is shifted to the outside and the tool 60γ is shifted to the inside by xmm by the width direction position adjustment member 62, while 0β remains at the steady state position # 2. The value of x is, for example, 0.9 mm or 2.5 mm according to the taper.

When the preparatory work is completed, an automatic bolt tightening / loosening step by the form bolt tightening / loosening apparatus 1 is started. FIG.
It is a flowchart which shows the outline | summary of operation | movement of the control means 70 in the automatic tightening / loosening process. 9, first, the CPU 71 reads the operation program from the ROM 74 (S1), and then reads the form data from the form database 75 based on the form number input from the input means 72 and stores it in the RAM 73 (S2). Among the data, first, the reference positions of the X-axis movable table and the Z-axis movable table of the form bolt tightening and loosening device for detecting the first tire 5 when the form has entered are read (S3), The position information of the X-axis movable table and the Z-axis movable table is read from the X-axis servo detector 29 and the Z-axis servo detector 47 (S4), and the Z-axis coordinates of the reference position and the position information from the Z-axis servo detector 47 are read. The height of the Z-axis movable base 40 is adjusted according to the above (S5).
Further, the X-axis coordinate of the reference position and the X-axis servo detection unit 29
The position of the X-axis moving base 20 is adjusted in accordance with the positional information from (S6). It is determined whether or not the above-described initial adjustment has been completed (S7), and the steps of S3 to S6 are repeated until the above-mentioned initial adjustment is completed.

One of them is a process of measuring a mold traveling distance. First, the number M of tires is read from the RAM 73 (S
8) The variable relating to the process of measuring the form traveling distance is set to 1 (S9), and a subroutine (see FIG. 10) of the form traveling distance measurement is executed (S10). Each time the process is completed once, the variable I is increased by one (S11), it is determined whether or not I has reached the number M of tires (S12), and the process is repeated until the number of tires reaches M. The other is tool position adjustment / tightening / loosening processing. First, the number of times N required to tighten and loosen bolts
Is calculated and stored in the RAM 73 (S13). Tightening
The required number N of loosening is calculated by dividing the total number of bolts stored in the RAM 73 by the number of tools and rounding up the fraction. For example, if the number of bolts is 50 and the number of tools is 3
In the case of three bolts, it is necessary to tighten and loosen three bolts each, 16 times, and a bolt group of two times, which is a fraction, a total of 17 times. Next, a variable J relating to the position adjustment / tightening / loosening process of the tool is set to 1 (S14), and a subroutine of the tool position adjusting / tightening / loosening process (see FIG. 11) is executed (S15). Each time the process is completed once, the variable J is incremented by one (S16), it is determined whether or not J has reached the number N of tires (S17), and the process is repeated until the number of tires reaches N. When both subroutines are repeated a predetermined number of M or N times, tightening and loosening of all bolts are completed, and all operations are completed.

Next, the subroutine of the mold traveling distance measurement processing will be described. Formwork position detectors 21A, 21B
Are arranged on both sides of the traveling path of the formwork 1 as shown in FIG. 13, and each stroke is slightly larger than half of the interval P (tire pitch) between tires. FIG. 10 is a flowchart showing the operation.
10 and 13, the mold 1 travels in the direction I, enters the mold bolt tightening and tightening device, and the reference body detection sensor 27A of the mold position detector 21A arranged on the upstream side.
Detects the tire 5 (S20), the detection bar 23A operates (S21), the detection bar 23A engages with the tire 5 of the mold, and the mold position detector 21A operates (S2).
2) The detecting unit 24A travels together with the form 1 and the measuring unit 2
A measurement signal is sent by 5A. Further, the mold position detector 21B is reset in preparation for the next operation (S2).
3). Since the tire 5 approaches the mold position detector 21B before the stroke of the mold position detector 21A ends,
The reference body detection sensor 27B of the mold position detector 21B detects the tire 5 (S24), the detection bar of the mold position detector 21B operates (S25), and the detection bar engages with the tire of the mold. Then, the mold position detector 21B operates (S2).
6) The detecting unit 24B travels together with the form 1 and the measuring unit 2
The measurement signal is sent by 5B. Further, the mold position detector 21A is reset (S27). In this way, after one of the mold position detectors is activated, the other is reset, and the position detection signal is alternately and continuously output to the CPU 71.
After the first tire position is detected, the travel distance of the mold after that is continuously measured. The positions where the detection bars 23A and 23B abut on the tire can be appropriately set at arbitrary positions above and below the flange 2a (3a).

When the tire pitch P is within the range of the stroke of the mold position detector, the form position detector 21A,
21B may be arranged opposite to both sides of the traveling path of the formwork 1 and run alternately one pitch at a time. The operation in that case will be described based on the flowchart of FIG. When the mold 1 enters and the mold position detector 21 detects the tire 5 (S30), it is determined whether or not the order number I of the tire to be detected is an odd number (S31). For example, if the number is odd, the detection bar of the mold position detector 21A operates (S32),
The detection bar engages with the tire of the formwork, and the formwork detector 21
A is activated (S33), and the mold position detector 21B is reset (S34). If it is an even number, on the contrary, the detection bar of the formwork position detector 21B operates (S35), the detection bar engages with the tire of the formwork, and the formwork position detector 21B operates (S36). ), The mold position detector 21A is reset (S27). In short, it is sufficient that the mold position detectors on both sides continuously measure alternately, but from the viewpoint that the stroke of the mold position detector can be shortened, it is desirable to arrange as shown in FIG.

Further, a subroutine of the tool position adjustment / tightening / loosening process will be described with reference to the flowchart of FIG. The coordinates of each bolt position of the first target bolt group are read (S40), the X-axis position of the tool is read (S41), compared with the X-axis coordinates, and the X-axis moving platform 20 is adjusted to eliminate the difference. (S42). It is determined whether or not the X-axis movement has been completed (S43), and upon completion, the process proceeds to the next step. The CPU 71 accumulates the pulse signal sent from the detection unit 24 of the formwork position detector 21, reads the travel distance L (S44), and subtracts the travel distance L from the Y coordinate of each bolt read from the form data storage means. Then, the Y-axis position of each bolt at that time is calculated (S45). The Y-axis position of each tool is read (S46), and the Y-axis moving servomotors 37α, 37β, 37γ are driven so that the Y-axis position of the running bolt and the Y-axis position of each tool coincide with each other, and Y The axis moving tables 30α, 30β, and 30γ are moved (S4
7). When the movement is completed (S48), the tool is lowered while being synchronized with the mold 1 at the same speed, and the group of target bolts is tightened and loosened (S49). When the tightening / loosening is completed (S50), the process ends.

8 to 12, the form position detectors 21A and 21B and steps S8 to S12 constitute the traveling distance detecting means of the present invention (the details of step S10 are described in steps S20 to S27 of FIG. 10). , Steps S30 to S37 in FIG. 11), steps S40 and S4 in FIG.
4. S45 constitutes the calculating means. The X-axis servo motor detector 29 and steps S4 and S41 correspond to the X-axis position detector, and the Y-axis servo motor detectors 38α, 38β, 38γ.
And step S45 constitute a tool Y-axis position detecting means,
The Z-axis servo motor detector 47 and step S4 constitute a Z-axis position detector. Further, the RAM 73 and the mold database 75 constitute a mold data storage unit. And
X-axis servo motor 28 and steps S6, S7, S42,
S43 is X-axis position control means, Y-axis servomotor 37α,
37β, 37γ and steps S44 to S48 constitute the Y-axis position control means, and the Z-axis servomotor 44 and steps S5, S7 constitute the Z-axis position adjustment means. Also, tools 60α, 6
0β, 60γ air cylinders 60aα, 60aβ, 60
aγ and steps S47 and S48 constitute tool control means.

In the above description, three tools are used, but the present invention is not limited to this. Further, the control means 70
Is configured by a combination of an encoder, a servomotor, or the like and a CPU, but a sensor using another position sensor or speed sensor is naturally included in the present invention.

[0035]

As described above, the first aspect of the present invention has a structure in which a plurality of Y-axis slides can individually move on a non-rotating screw shaft fixed to the Z-axis slide. While the movable table follows the movement of the formwork, it positions the formwork with respect to the bolts and attaches and detaches the bolts. Therefore, a pair of Y-axis movers are provided on a table that moves in the Y-axis direction as a whole. A plurality of X-axis mobile units are provided on the Y-axis mobile unit, and one X-axis mobile unit
Compared with the conventional bolt tightening and loosening device for formwork that holds a pair of tools, the structure is very simple, and the Y-axis moving table that holds the tools moves faster, so that the bolt can be removed, tightened and fastened. Can be improved.

According to a second aspect of the present invention, in addition to the effect of the first aspect, a plurality of position adjusting members in the width direction between the Y-axis moving table and the tool holding member correspond to the tapered form. Since the tool of the tool holding member of the Y-axis moving table is disposed in a tapered shape, it is not necessary to move each Y-axis moving table in the X-axis direction. Is performed reliably.

Further, the invention of claim 3 is the invention of claim 1 or 2
In addition to the effect of the invention, the tool Y
The relative positions in the axial direction are detected by the mold position detectors constituting the mold travel distance detecting means on both sides of the mold alternately engaging with the reference body of the mold to detect the travel distance of the mold. Since there is a calculating means for calculating the Y-axis position of the target bolt during travel of the formwork from the traveling distance and the Y coordinate of the target bolt read from the storage means, the bolts of the tool can be obtained by a lightweight and simple control means. There is an effect that the upward movement can be performed more reliably and faster.

[Brief description of the drawings]

FIG. 1 is a front view of an embodiment of a mold bolt tightening and loosening device of the present invention.

FIG. 2 is a side view of an embodiment of the form bolt tightening and loosening device of the present invention.

FIG. 3 is a diagram showing a coupling relationship between a Y-axis moving base and a screw shaft.

FIG. 4 is an explanatory diagram of a tool and a tool holding member.

FIG. 5 is an explanatory diagram of a mold position detector.

FIG. 6 is an explanatory diagram of another operation of the tool 60 and the tool holding member 61.

FIG. 7 is an operation explanatory view of the width direction position adjusting member 62.

FIG. 8 is a block diagram of the control means 70.

FIG. 9 is a flowchart showing an outline of the operation of the control means 70.

FIG. 10 is a flowchart of a mold traveling distance measurement process.

FIG. 11 is a flowchart of another embodiment of a form travel distance measurement process.

FIG. 12 is a flowchart of tool position adjustment / tightening / loosening processing.

FIG. 13 is a schematic diagram showing an example of the arrangement of the mold position detectors 21A and 21B.

FIG. 14 is a perspective view of a conventional mold bolt tightening and loosening device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Formwork 10 Formwork bolt tightening and loosening apparatus 20 X-axis moving stand 21 Formwork position detector 30 Y-axis moving stand 31 Non-rotating screw shaft 32 Nut 40 Z-axis moving stand 60 Tool 61 Tool holding means 62 Width direction position adjusting member 63 roller guide 70 control means

Claims (3)

[Claims] 1. A formwork bolt tightening / loosening device for tightening / loosening a formwork that moves in one direction, comprising a pair of moldwork bolts disposed on both sides of the formwork and movable in the width direction of the formwork. A pair of Z-axis slides that are arranged on the X-axis slide and that are movable in the vertical direction of the mold; and a length of the mold that is fixed to the Z-axis slide and fixed to the Z-axis slide. A pair of non-rotating screw shafts extending in a direction, and a nut screwed to the non-rotating screw shaft. The nut is rotatable and individually movable in the longitudinal direction of the mold, For a formwork comprising: a plurality of Y-axis moving bases arranged in a row on a shaft; and a tool holding member provided to be vertically movable with respect to the Y-axis moving base and holding a tool for tightening and loosening bolts. Bolt tightening device. 2. The tool holder according to claim 1, wherein a tool holding member of the Y-axis moving base arranged in a row on the screw shaft adjusts a tilt of a tool held by the tool holding member in a width direction of the mold. A bolt tightening / closing device for a formwork having a width-direction position adjusting member that causes a misalignment. 3. The form travel distance detecting means provided on both sides of the form and detecting a travel distance of the form, and a tool position detecting means for detecting the plurality of pairs of tool positions. And having a formwork data storage means for storing formwork data of the formwork, while moving the formwork, a plurality of tools on both sides thereof are moved to target bolt positions to be tightened and loosened, Control means for controlling the tightening and loosening of the object bolt group, wherein the form travel distance detecting means on both sides of the form is alternately arranged on at least one of the reference bodies of the running form. By engaging and traveling alternately with the formwork for a predetermined section, the travel distance is continuously detected, and the control means reads the position of the target bolt during travel of the formwork from the storage means. Of the target bolt A form bolt tightening / closing device, comprising: a calculating means for calculating from a running distance of a formwork detected by a form running distance detecting means.