JPH10202638A - Automatic bolt tightening and loosening apparatus for concrete product forming formwork - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the size of and the cost for an apparatus. SOLUTION: A nut runner 26 is disposed on a frame 8 disposed at a position where a formwork 1 is passes which is a tightening and loosening device provided with respective travelling means adapted to travell, respectively, in a direction (X direction) in which the formwork travels, in a direction (Y direction) normal to the formwork 1 travelling direction and in a vertical direction (Z direction). A tightening nut Y direction detector 28 for detecting a tightening nut 4 from the Y direction is disposed in the vicinity of a lower portion of the nut runner 26. In addition, provided on the frame 8 are a formwork travelling distance detecting means and a rotating support detector 43.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a concrete product for tightening bolts and nuts for assembling a vertically divideable formwork used for centrifugal molding or casting of a concrete product such as a pile. The present invention relates to a device for automatically tightening and bolting a molding form.

[0002]

2. Description of the Related Art A long concrete product such as a pile is formed by filling a cylindrical form with concrete, rotating the same by a centrifuge, and forming the filled concrete into a cylindrical shape by the centrifugal force.

[0003] The cylindrical mold is formed so as to be able to be divided into upper and lower parts, and bolts and nuts as fasteners are arranged at appropriate intervals on a flange provided around the mold, and the fastening bolt and nut are provided. Tightening and loosening nuts are performed when assembling and disassembling the formwork.

[0004] As an apparatus for automatically performing the tightening and loosening operation, there is an apparatus disclosed in Japanese Patent Publication No. 5-41408. This device uses bolts and
The frame equipped with a fastener for tightening and loosening the nut is movable along the formwork, and a cylinder for returning the moved frame to the origin is provided as a bolt tightening and loosening mechanism. An engaging portion for engaging a rotating support called a tire of the formwork is provided, and when the formwork advances to a position facing the bolt tightening and loosening mechanism, the engaging portion provided for the bolt tightening and loosening mechanism is attached to the rotating support. Engaging, pulling the bolt tightening and loosening mechanism by the propulsive force of the formwork, pulling out the piston rod of the retracting cylinder, and moving the bolt tightening and loosening mechanism forward in synchronization with the moving speed of the formwork. Loosen bolts and nuts in a predetermined range scattered on the basis of the rotating support engaged by the fasteners mounted on the loosening mechanism, and when the tightening work in the predetermined range is completed, pull out the piston rod of the cylinder pulled out. Shrink and bol Drawing the tightening loose mechanism to its original position.
Then, the engaging portion is engaged with the next rotating support, and the bolt tightening / releasing mechanism is pulled again by the propulsive force of the mold to move the bolt tightening / loosening mechanism in accordance with the moving form. Nuts are tightened.

[0005]

However, as in the prior art described above, the frame on which the fastener is mounted is made movable along the mold, and is pulled by the rotating support of the mold.
Further, in the method of pulling back to a predetermined position and then pulling it back by the cylinder, it is necessary to configure a large bolt tightening / loosening mechanism, which causes problems such as an increase in the size of the device, securing an installation space and increasing costs.

SUMMARY OF THE INVENTION In view of the above, the present invention provides an automatic bolt tightening and loosening device for a concrete product forming mold, which is improved in the method of tightening and reducing the mold to reduce the size and cost of the device. The task is to

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention automatically tightens and tightens bolts and nuts provided on a flange of a vertically divideable formwork for molding a concrete product. In an automatic bolt tightening and loosening device provided with a bolt tightening and loosening device, a predetermined number of the bolt tightening and loosening devices are disposed at a passage point of a formwork, and the bolt tightening and loosening device is moved to the bolting and loosening device. X-direction moving means for moving the bolt tightening and loosening tool in the X direction, Y-direction moving means for moving the bolt tightening and loosening tool in the Y direction orthogonal to the direction of movement of the formwork, and Z-moving the bolt tightening and loosening tool in the vertical direction. A Z-direction moving means for moving in a direction, a rotating support detector for detecting the rotating support of the form, and a form moving distance detecting means for detecting the form moving distance from the moving distance of the rotating support. And the bolt fastener Part comprising a fastening nut Y-direction position detector for detecting the position of the fastening nut from the Y direction of the bolt tightening loose fitting in, is characterized by further comprising a control unit for generally controlling the respective means.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the automatic bolt tightening and loosening method of the present invention, the dimensions of a molding form of a concrete product to be loosened, the pitch of bolts, etc. are input to a control device in advance. When the type of the form to be tightened is determined, the type is input to the control device. When the tightening start operation is performed,
The Y-direction moving means and the Z-direction moving means of the bolt tightening and loosening tool are operated in accordance with the input type of the mold to perform a preset operation for positioning the bolt tightening and loosening tool near the flange of the form to be tightened. , The X-direction moving means is operated to be positioned at a predetermined origin position. Start transferring formwork,
When the mold approaches the bolt fastener and the rotating support detector detects the rotating support of the mold, the movement of the mold is stopped. The form stops due to its weight, slightly off the stop start point. At this time, the distance from the rotary support detection point to the stop position is detected by the mold moving distance detection means and sent to the control device. The controller calculates the deviation between the stop position of the mold and the origin of the bolt fastener from the distance detected by the mold moving distance detecting means. Then, the X-direction moving means of each bolt fastener is operated to move the bolt fastener above the fastening bolt to be loosened based on the deviation amount. Further, when the Y-direction moving means is driven and the fastening nut Y-direction position detector detects the fastening nut, the bolt tightening and loosening tool is positioned directly above the fastening nut, so that the bolt tightening and loosening tool is moved in the Y direction. Is stopped and the bolt tightening and loosening tool is driven to tighten and loosen the fastening nut. When the tightening and loosening operation is completed, the moving means in each direction of the bolt tightening and loosening device is operated to temporarily retreat to the preset position and restart the movement of the mold. Then, when the rotating support detector detects the next rotating support, the movement of the mold is stopped again and the above operation is repeated to perform the tightening and loosening operation.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

Reference numeral 1 in the figure denotes a mold for molding a long concrete product such as a pile. The mold 1 is composed of an upper mold 1a and a lower mold 1b so as to be able to be vertically divided. A flange 2 is provided on the side of each of the molds 1a and 1b. When molding a concrete product, the upper mold 1
a and the flange 2 of the lower mold 1b are overlapped with each other, and the upper mold 1a and the lower mold 1b are fastened by tightening a nut 4 screwed to a bolt 3 provided on the flange 2. The nut 4 is loosened to disassemble the upper mold 1a and the lower mold 1b. When forming a concrete product, the mold 1 is provided with a rotating support 5 called an annular tire for rotating the mold 1 and performing centrifugal molding at a predetermined interval along the longitudinal direction of the mold 1. It is arranged.

Numeral 6 denotes a form carrier truck for carrying the form 1 in which the form carrier truck 6 is movably disposed on a traveling rail 7 provided on the floor surface. The mold 1 is mounted on the sheet 6 and is conveyed to a predetermined position.

Reference numeral 8 denotes a gantry arranged so as to straddle the running rail 7. A pair of guide rails 9 are provided on both sides of the gantry 8 in parallel with the running rail 7, and a rack gear 10 is provided near the center. Each is laid in parallel with the running rail 7. Three traveling beams 11 are bridged between the pair of guide rails 9 in a direction orthogonal to the traveling rails 7 so as to be able to travel along the guide rails 9. A servo motor 12 is mounted near the center of the traveling beam 11, and a pinion gear 13 attached to the servo motor 12 is meshed with the rack gear 10, and the traveling beam 11 travels along the guide rail 9 by rotation of the servo motor 12. Thus, the X-direction moving means is formed.

A slide rail 14 is disposed on the upper surface of the traveling beam 11 along the longitudinal direction of the traveling beam 11, and a pair of sliding members 15 are disposed on both sides of the slide rail 14, and a brake unit is respectively provided. Y-direction moving means for laterally moving the sliding body 15 in the direction of approaching and separating along the slide rail 14 by the expansion and contraction of the piston rod 17 of the provided air cylinder 16 is formed. As shown in FIGS. 3 and 4, the sliding body 15 is rotatably stretched on the traveling beam 11 along the slide rail 14.
8, a timing belt 18 is provided at one end thereof with a Y-direction encoder 19 for detecting the moving distance of the sliding body 15 from the amount of rotation.

Further, a slide guide 20 is disposed on the slide body 15 in a vertical direction, and the lift body 2 is mounted on the slide guide 20.
1 and a Z-direction moving means for raising and lowering the elevating body 21 up and down along the slide guide 20 by expansion and contraction of a piston rod 23 of an air cylinder 22 having a brake unit. The elevating body 21 is connected to a predetermined position of a timing belt 24 that is rotatably stretched along the slide guide 20, and one end of the timing belt 24 detects the moving distance of the elevating body 21 from the amount of rotation in the Z direction. The encoder 25 is provided.

A nut runner 26, which is a bolt tightening and loosening tool, is vertically attached to the elevating body 21, and the nut runner 26 has a socket 27 at the tip end thereof which can be retracted.

A fastening nut Y-direction detector 28 for detecting the position of the fastening nut 4 by contacting the fastening nut 4 so that the front end thereof faces the socket 27 is disposed below the lifting body 21. Has been established. The fastening nut Y-direction detector 28 includes a limit switch 29 that comes into contact with the fastening nut 4 and a cylinder 30 that causes the Mitt switch 29 to protrude and retract in the Y direction.

Numeral 31 designates a form moving distance detecting means for detecting the moving distance of the form. A slide rail 32 is provided on the gantry 8 in parallel with the traveling rail 7. The sliding member 33 that slides downward is attached downward. And
The sliding member 33 is attached to a predetermined position of a timing belt 34 rotatably disposed along the slide rail 32, and a moving distance of the sliding member 33 is detected by an encoder 35 disposed at one end of the timing belt 34. I am trying to do it. The timing belt 34 is provided with a reversing motor 36 for reversing the timing belt 34 and retreating the sliding member 33.

The sliding member 33 is provided with a guide 37 in the vertical direction, and the guide 37 is provided with a rotary support contact piece 38 for making the lower end abut the upper end of the rotary support 5. The rotary support abutting piece 38 is vertically moved by the expansion and contraction of a piston rod 40 of a brake-equipped air cylinder 39, while being mounted vertically up and down along a guide 37. Guide guide 37
A timing belt 41 is rotatably disposed along the axis, the rotation support contact piece 38 is attached to a predetermined position of the timing belt 41, and an encoder 42 is disposed at one end of the timing belt 41. Belt 4
The ascending / descending position of the rotary support contact piece 38 is detected from one rotation.

Reference numeral 43 denotes a photoelectric type rotary support detector for detecting the rotary support 5 of the mold 1 transported by the mold transport carriage 6. In addition, various types of rotary support detectors, such as limit switches, may be used in addition to the photoelectric type.

Reference numeral 44 denotes a control device for driving and controlling the X, Y and Z moving means of the bolt tightening and loosening tool. The control device is connected to control devices such as the motor, encoder, cylinder and detector. In addition, a touch panel for inputting various data and switches for operating each device are provided.

Next, a method for automatically tightening and loosening the formwork with the automatic bolt tightening / closing device will be described with reference to the flowchart of FIG.

Before starting the tightening operation, the controller 44 causes the nut runner 26 to wait according to the size of the form, the pitch of the bolts, or the type of the form, such as the origin position in each of the X, Y, and Z directions. Data is input (S1).

Then, an operation for starting operation is performed by operating a switch of the control device 44 (S2). With the operation start operation,
First, the control device 44 reads various data of the form to be conveyed from data input in advance (S3).

On the basis of the read various data of the formwork, the air cylinders 22 as the Z-direction moving means of the nut runners 26 arranged on the three traveling beams 11 are driven, and the elevation position is moved by the Z-direction encoder 25. While reading, the position of the socket 27 of the nut runner 26 is preset near the upper part of the fastening nut (S4).

Further, while driving the air cylinder 16 which is a Y-direction moving means, and reading the moving position by the Y-direction encoder 19, the Y-direction of the nut runner 26
(S5). In step S5, the flange 2 is moved in advance to the vicinity of the position where the fastening bolt / nut passes.

The servomotors 1 for the three traveling beams 11
2 are driven and preset at the origin positions corresponding to the respective bolt pitches (S6). Further, the reverse rotation motor 36 of the mold moving distance detecting means is rotated to preset the origin position (S7). At this time, the piston rod 40 of the air cylinder 39 is contracted to pull up and retreat the rotary support contact piece 38, and then the piston rod 40 is extended to lower the rotary support contact piece 38, and At the time of passing, the rotating support contact piece 38 is in contact with the rotating support 5.

The movement of the mold 1 is started (S8), and when the mold 1 moves to a predetermined position, the rotating support 5 contacts the rotating support contact piece 38 (S9), and the rotating support contact piece 38 is contacted. 38 while moving forward. And the rotating support detector 4
When 3 detects the rotary support 5 of the mold 1 (S10), it performs a movement stop operation of the mold 1 (S11), and stops the mold 1 (S12). Since the mold 1 has a considerable weight, it moves and stops for a short time after the stop operation is performed. During this time, the rotary support contact piece 38 moves with the mold 1, and the encoder 42 detects the amount of movement of the rotary support contact piece 38 (S 13). The deviation amount between the stop position of the frame 1 and the origin position of the nut runner 26 is calculated (S14).

Based on the deviation from the origin, the servomotors 12 of the three traveling beams 11 are driven to move in the X direction (S15), and the Y of the socket 27 of the nut runner 26 is moved.
The direction and the fastening nut 4 are matched. Then, the air cylinder 16, which is a means for moving the nut runner 26 in the Y direction, is further driven to move the limit switch 29 below the lifting body 21.
Is advanced in the Y direction until it contacts the fastening nut 4 (S
16) When the limit switch 29 contacts the fastening nut 4 and detects it (S17), the brake of the air cylinder 16 is operated to stop the movement in the Y direction (S1).
8).

By this operation, the socket 27 of the nut runner 26 can be positioned directly above the fastening nut 4, so that the nut runner 26 is driven to
The tightening / unfastening operation of the fastening nuts 4 in the range delimited by is performed simultaneously (S19).

When the tightening and loosening operation is completed, it is determined whether or not to end the tightening and loosening operation (S20). If the tightening and loosening operation is to be continued, the process returns to step S5, and the position of the nut runner 26 in the Y direction is preset. The three traveling beams 11 are retracted to preset the position of the nut runner 26 in the X direction to the origin position, and the rotary support contact piece 38 is retracted to the origin position, and the movement of the mold 1 is resumed. Thereafter, the same operation as above is repeated from S10 to proceed with the tightening and loosening operation. When the tightening and loosening work is completed in S20, the process proceeds to END and ends.

[0031]

As described above, in the bolt tightening and loosening device according to the present invention, a nut runner, which is a bolt tightening and loosening tool, is disposed at a passing point of the formwork, and the nutrunner is provided in the moving direction of the formwork. X direction, the Y direction which is a direction orthogonal to the moving direction of the mold, and the Z direction which is the up and down direction, and detects the fastening nut in the lower part of the nut runner in the Y direction. A mold provided with a fastening nut Y direction detector, and further provided with a rotating support detector, a mold moving distance detecting means and a control device, so that the rotating support detector detects the rotating support and stops. Then, the deviation amount between the stop position and the origin position is calculated by the form moving distance detecting means, and the nut runner is moved in the X direction toward the upper side of the fastening nut based on the deviation amount, and the nut runner is further moved in the Y direction. Move to And, the position of the fastening nut can be easily detected by the fastening nut Y direction detector, and there is no need for a large-scale device that tightens and loosens while pulling the frame body equipped with the fastener as in the past. Even so, an automatic tightening device can be configured, the device can be reduced in size, and the cost can be reduced.

Further, even if the mold is slightly rotated in the circumferential direction and the position of the fastening nut is slightly displaced in the Y direction, the position of the fastening nut can be easily grasped, and a reliable tightening operation can be performed. it can.

[Brief description of the drawings]

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

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of FIG. 1;

FIG. 4 is an enlarged view of a main part of FIG. 3;

FIG. 5 is an enlarged view of a main part of FIG. 3;

FIG. 6 is a flowchart showing a tightening and loosening procedure by the automatic bolt tightening and loosening device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Form frame 2 ... Flange 3 ... Bolt 4 ... Nut 5 ... Rotation support body 6 ... Form conveyance truck 7 ... Travel rail 8 ... Stand (X direction moving means) 9 ... Guide rail 10 ... Rack gear 11 ... Travel beam 12 ... Servo motor 13 ... Pinion gear (Y direction moving means) 14 ... Slide rail 15 ... Sliding body 16 ... Air cylinder (Z direction moving means) 20 ... Slide guide 21 ... Elevating body 22 ... Air cylinder 26 ... Nut runner 28 ... Fastening nut Y Direction detector 29 ... Limit switch 30 ... Cylinder 31 ... Form moving distance detection means 32 ... Slide rail 33 ... Sliding member 34 ... Timing belt 35 ... Encoder 37 ... Guide guide 38 ... Rotating support contact piece 39 ... Air cylinder 43: rotary support detector 44: controller

Claims (1)

[Claims] 1. An automatic bolt tightening / closing device comprising a bolt tightening / loosening tool for automatically tightening / fastening a bolt / nut for fastening provided on a flange of a vertically divideable frame for molding a concrete product. An X-direction moving means for moving a predetermined number of the bolt tightening and loosening tools in the X direction which is the moving direction of the formwork; A Y-direction moving means for moving the tool in the Y direction, which is a direction perpendicular to the moving direction of the form, and a Z-direction moving means for moving the bolt fastener in the Z direction, which is the vertical direction, while rotating the form. A rotary support detector for detecting the support; and a mold moving distance detecting means for detecting a mold moving distance from the moving distance of the rotary support. Detects the position of the fastening nut from the direction That includes a fastening nut Y-direction position detector, further said bolt automatic tightening loose device of the concrete product molding form, characterized in that a control device for centrally controlling the respective means.