JPS60161073A - Automatic clamping or releasing device for screw for clamping - Google Patents
Automatic clamping or releasing device for screw for clampingInfo
- Publication number
- JPS60161073A JPS60161073A JP1327384A JP1327384A JPS60161073A JP S60161073 A JPS60161073 A JP S60161073A JP 1327384 A JP1327384 A JP 1327384A JP 1327384 A JP1327384 A JP 1327384A JP S60161073 A JPS60161073 A JP S60161073A
- Authority
- JP
- Japan
- Prior art keywords
- formwork
- tightening
- loosening
- bolt
- loosening device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は型枠の長尺方向に並んだ締結用ねじの自動締緩
装置に係り、特に、鉄筋コンクリートパイルや鉄筋コン
クリート電柱を遠心鋳造するための型枠のねじの自動締
緩装置に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an automatic tightening/loosening device for fastening screws arranged in the longitudinal direction of a formwork, and particularly to a mold for centrifugally casting reinforced concrete piles or reinforced concrete utility poles. This invention relates to an automatic tightening/loosening device for frame screws.
コンクリートパイルやコンクリート電柱などを製造する
際、型枠は内部への鉄筋挿入及び遠心鋳造後の鉄筋コン
クリート柱取出しのため、割型となっており、この分割
面のフランジはボルトで締結される。一般に、需要の多
い小、中径のコンクリート柱はコンベアラインによる流
れ作業で製造されているが、大径のものは需要が少なく
各作業工程毎にクレーン等で搬送され、型枠が固定され
た後に前述の作業が行なわれる。この作業行程の中で、
型枠分割面のボルト締緩作業があり、長尺の型枠はX軸
方向に多数のボルトをもつため、多数の作業員により締
緩作業が行なわれている。このボルト、ナツトの締緩作
業には通常インパクトレンチが使用されるが、インパク
トレンチはねじ締結の反力として激しい衝撃的な振動を
発する。When manufacturing concrete piles, concrete telephone poles, etc., the formwork is split into two molds in order to insert reinforcing bars into the interior and take out the reinforced concrete pillars after centrifugal casting, and the flanges of the split surfaces are fastened with bolts. In general, small and medium-diameter concrete columns, which are in high demand, are manufactured by assembly lines using conveyor lines, but large-diameter concrete columns, which are in low demand, are transported by cranes etc. for each work process, and the formwork is fixed. The aforementioned operations are then performed. During this work process,
There is work to tighten and loosen bolts on the divided surfaces of the formwork, and since the long formwork has a large number of bolts in the X-axis direction, the work is performed by a large number of workers. An impact wrench is normally used for tightening and loosening bolts and nuts, but impact wrenches generate violent vibrations as a reaction force when tightening screws.
そのため、作業員の職業病は交替要員が必要である。ま
た、ねじ締結のタクトタイムの短縮化を図る要求もあり
、自動化が急がれていた。Therefore, replacement personnel are required to treat occupational diseases among workers. There was also a demand for shortening the takt time for screw fastening, and automation was urgently needed.
本発明の目的は、型枠と平行に移動できる台車を設け、
その台車に視覚センサーを設置してボルトの位置を検出
し、その位置情報に基づいてX軸方向に独立に移動する
締緩装置によってボルトの締緩作業を行なう自動締緩装
置を提供するにある。The object of the present invention is to provide a truck that can move parallel to the formwork,
To provide an automatic tightening/loosening device in which a visual sensor is installed on the cart to detect the position of the bolt, and the tightening/loosening device independently moves in the X-axis direction based on the position information to perform bolt tightening/loosening work. .
以下、本発明による一実施例を図面を参照して説明する
。まず型枠の構造を説明する6型枠1は第2図に示すよ
うに、円筒状で細長く長尺方向に二分割され、コンクリ
−1〜パイルの取出し、鉄筋の挿入が容易な構造となっ
ている。分割面のフランジ部には、第3図に示すように
締緩作業の対策となる締結用ポル1〜2が、型枠の円周
方向中心に対し左右対称位置で、かつ、長尺方向に1配
置されている。3は型枠を設置して締緩作業を行なうた
めの型枠用架台であり、クレーン等により搬送さJした
型枠lはこの型枠用架台3上に設置される。型枠用架台
3には、型枠の長尺方向に当該ボルトを締緩′するボル
ト締緩装置4を案内させるための案内レール5及び、型
枠と平行に移動できる台車6を案内する案内レール8が
設けられる。台車6には、型枠のボルト位置検出と型枠
の基準面を検出するための視覚センサー7が設置される
。Hereinafter, one embodiment of the present invention will be described with reference to the drawings. First, we will explain the structure of the formwork 6. Formwork 1 is cylindrical and elongated, as shown in Figure 2, and is divided into two parts in the longitudinal direction, making it easy to take out concrete 1 to piles and insert reinforcing bars. ing. As shown in Figure 3, on the flange part of the split surface, fastening poles 1 and 2, which serve as a countermeasure for tightening and loosening work, are located at symmetrical positions with respect to the circumferential center of the formwork and in the longitudinal direction. 1 is placed. Reference numeral 3 denotes a formwork pedestal for installing the formwork and performing tightening and loosening work, and the formwork 1 transported by a crane or the like is installed on this formwork pedestal 3. The formwork frame 3 includes a guide rail 5 for guiding a bolt tightening/loosening device 4 that tightens and loosens bolts in the longitudinal direction of the formwork, and a guide for guiding a cart 6 that can move parallel to the formwork. A rail 8 is provided. A visual sensor 7 is installed on the truck 6 to detect the bolt position of the formwork and the reference plane of the formwork.
台車駆動用パルスモータ9は、チェーンlO。The cart driving pulse motor 9 has a chain lO.
スプロケット11を介し、台車駆動用チェーン12を駆
動して台車をX軸方向に移動する。そして台車に設置さ
れている視覚センサー7が、締結用ボルト2の位置を検
出する。検出した位置情報を画像処理用マイクロコンピ
ュータ13に与える。A truck driving chain 12 is driven via a sprocket 11 to move the truck in the X-axis direction. A visual sensor 7 installed on the truck detects the position of the fastening bolt 2. The detected position information is given to the image processing microcomputer 13.
次に、ポル、ト自動締緩装置について簡単に説明する。Next, the automatic tightening/loosening device will be briefly explained.
キャリッジ14.14′にはインパクトレンチ15.1
5’が2軸方向に案内移動できるように保持されてあり
、2軸シリンダー16.16’Z軸方向に移動できる。Impact wrench 15.1 on carriage 14.14'
5' is held so that it can be guided and moved in two axis directions, and two axis cylinders 16 and 16' can be moved in the Z axis direction.
又、キャリッジ14゜14′は比較的長いスライドレー
ル17,17’に架装されてX軸方向に移動する。18
はキャリッジ14.14’ をX軸方向に移動するX軸
駆動用パルスモータである。スライドレール17゜17
’はX軸方向に案内移動できるように型枠を跨いで型枠
用架台に設けた案内レール5に案内されて走行するボル
ト締緩装置架台に案内支持され、y軸駆動用パルスモー
タ19によりX軸方向に駆動されて移動する。ボルト締
緩装置架台4は、走行用パルスモータ20により型枠架
台に設けた案内レールに案内されてX軸方向に走行する
。21は型枠架台上で型枠の端面を検出する型枠端面検
出センサーである。23はボルト締緩装置の締緩動作状
況を監視するモニター装置である。Further, the carriage 14° 14' is mounted on relatively long slide rails 17, 17' and moves in the X-axis direction. 18
is an X-axis drive pulse motor that moves the carriage 14, 14' in the X-axis direction. Slide rail 17°17
' is guided and supported by a bolt tightening/loosening device mount that runs while being guided by a guide rail 5 provided on the formwork mount across the formwork so that it can be guided and moved in the X-axis direction, and is driven by a pulse motor 19 for driving the y-axis. It is driven and moved in the X-axis direction. The bolt tightening/loosening device frame 4 is guided by a traveling pulse motor 20 on a guide rail provided on the formwork frame and travels in the X-axis direction. 21 is a formwork end face detection sensor that detects the end face of the formwork on the formwork frame. 23 is a monitor device that monitors the tightening/loosening operation status of the bolt tightening/loosening device.
本実施例の動作を説明する。締緩作業の対象となる型枠
がクレーン等により搬送され、型枠用架台3上に設置さ
れる。まず、台車駆動用パルスモータ9が起動し、台車
上に設置された監覚センサー7.7’ が型枠lを捕捉
し、型枠の端面を検出すると監覚センサー7.7′の位
置信号が画像処理用マイクロコンピュータ13に送信さ
れ、ここで画像処理した端面装置情報を運動制御マイク
ロコンピュータ22に送信し、台車駆動用パルスモータ
9のX軸座標カウンターを零クリアーして型枠1の位置
の計数を開始する。さらに、台車に設置された視覚セン
サー7.7′が移動し、ボルトの画像が検出されると、
画像処理用マイクロコンピュータ13により画像を演算
処理し、ボルトの中心位置信号を運動制御マイクロコン
ピュータ22に送信する。運動制御マイクロコンピュー
タ22は、このボルト位置情報をX軸カウンターの上に
次々と記憶していくことになる。そして型枠用架台3の
一端に待機していた自動締緩装置4が型枠に向かって移
動を開始する。自動締緩装置4は、まず型枠端面に検出
センサー21で型枠端面を検出し、運動制御マイクロコ
ンピュータ22に記憶さ九ていた型枠の大きさを情報に
基づき、所定のプログラムに従って、y軸駆動用パルス
モータ19を駆動し、型枠のX軸方向のボルト位置の直
上にキャリッジ14.14’ に保持されたインパクト
レンチ15.15’が到達するまで駆動する。自動締緩
装置4は、先に視覚センサー7.7′が検出した型枠の
位置パルスに合わせるように−定速度で型枠に向かって
走行しており、自動締緩装置4に取付けられた型枠の端
面検出センサー21により型枠端面か検出されると、こ
の位置を基点として先に運動制御マイクロコンピュータ
22に記録されていたxllll座棚上のボルト位置情
報に従い、ボルトの締緩作業を行なうことになる。The operation of this embodiment will be explained. The formwork to be tightened and loosened is transported by a crane or the like and installed on the formwork frame 3. First, the pulse motor 9 for driving the cart starts, and the monitoring sensor 7.7' installed on the cart captures the formwork l. When the edge of the formwork is detected, a position signal from the monitoring sensor 7.7' is sent. is transmitted to the image processing microcomputer 13, which transmits the image-processed end face device information to the motion control microcomputer 22, clears the X-axis coordinate counter of the cart drive pulse motor 9 to zero, and determines the position of the formwork 1. Start counting. Furthermore, when the visual sensor 7.7' installed on the trolley moves and the image of the bolt is detected,
The image processing microcomputer 13 processes the image and sends a bolt center position signal to the motion control microcomputer 22. The motion control microcomputer 22 stores this bolt position information one after another on the X-axis counter. Then, the automatic tightening/loosening device 4, which has been waiting at one end of the formwork frame 3, starts moving toward the formwork. The automatic tightening/loosening device 4 first detects the end face of the formwork with a detection sensor 21 on the end face of the formwork, and determines the size of the formwork stored in the motion control microcomputer 22 according to a predetermined program. The shaft drive pulse motor 19 is driven until the impact wrench 15.15' held on the carriage 14.14' reaches a position directly above the bolt position in the X-axis direction of the formwork. The automatic tightening/loosening device 4 is traveling toward the formwork at a constant speed in accordance with the position pulse of the formwork detected by the visual sensor 7. When the end face of the formwork is detected by the formwork end face detection sensor 21, the bolt tightening/loosening work is performed based on this position as a reference point and according to the bolt position information on the xllll seat shelf previously recorded in the motion control microcomputer 22. I will do it.
その詳細は第4図に示すように、記憶されたボルトが締
緩装置の走行に従い、#緩装置に列してX軸方向に移動
する軌跡を表わした線図であり、型枠端面(零クリア一
点)よりXIだけ後方にあるインパクトレンチ15.1
5’ が締緩装置の走行と共にA時間後に第一本目のボ
ルト位置に到達する。この時点でxl[lI駆動用パル
スモータ18が始動し、締緩装置と同じ速度で反対方向
にキャリッジ14.z′を駆動する。同時に2軸シリン
ダー1.6.16’ がt1時間作動してインパクトレ
ンチ1.5,15’ が降下し1番目のボルトに係合す
る。さらに12時間インパクトレンチが作動し、ポル1
〜の締緩を行ない、その後、13時間でX軸方向にイン
パクトレンチを上昇し、一本目のボルド締緩作業を終了
する。この間(A+時間)キャリラドは締緩装置とは反
対方向に同期して移動しているため地上側に設置された
型枠に対しては。The details are as shown in Fig. 4, which is a line diagram showing the locus of the memorized bolt moving in the X-axis direction in line with the #loosening device as the tightening/loosening device travels, and the formwork end face (zero Impact wrench 15.1 located XI behind (one clear point)
5' reaches the first bolt position after time A as the tightening/loosening device travels. At this point, the xl[lI drive pulse motor 18 is started and the carriage 14. Drive z′. At the same time, the two-shaft cylinder 1.6.16' operates for a time t1, and the impact wrench 1.5, 15' descends and engages the first bolt. The impact wrench was activated for another 12 hours, and Pol 1
After tightening and loosening the first bolt, the impact wrench was raised in the X-axis direction after 13 hours, and the first bolt was tightened and loosened. During this time (A+time), the Calirad is moving synchronously in the opposite direction to the tightening/loosening device, so it is not working against the formwork installed on the ground side.
そのホルトの位置で停止した状態で締緩作業をしている
ことになる。インパクトレンチの2軸方向の上昇が終了
すると二木目のボルトを自差して、キャリッジを迅速前
進移動し第二番目のボルト直上にインパクトレンチを移
動する。その後は先に述べた締緩作業を行なって次々と
ボルトを締緩して行く。このようにして、一本の型枠の
締緩用ボルトの締緩作業が終了するとキャリッジ14゜
14′はQの距離だけX軸方向に追い込まれることにな
り、最初の位置まで復帰して停止し、かつ、締緩装置も
待機位置まで後進して次の作業のために待機する。本実
施例では型枠の型枠端面検出センサー21が設けてあり
、これにより型枠端面の位置検出を行ない、各々のボル
ト位置をこの端面からの距離として表現することができ
る。This means that the tightening and loosening work is performed while the tool is stopped at the Holt position. When the impact wrench has finished rising in the two axial directions, the second bolt is inserted, the carriage is quickly moved forward, and the impact wrench is moved directly above the second bolt. After that, perform the tightening/loosening work mentioned earlier and loosen/tighten the bolts one after another. In this way, when the tightening/loosening work of the bolts for one formwork is completed, the carriage 14゜14' will be driven in the X-axis direction by the distance Q, and will return to its initial position and stop. At the same time, the tightening/loosening device also moves backward to the standby position and waits for the next operation. In this embodiment, a formwork end face detection sensor 21 is provided, which allows the position of the formwork end face to be detected and the position of each bolt to be expressed as a distance from this end face.
次に、型枠のボルト位置検出のために視覚センサー6を
用いているが、この代りに超音波センサー、磁気センサ
ーのような非接触型センサーを用いてもよく、また機体
的な接触形センサーを用いても良い。Next, although the visual sensor 6 is used to detect the bolt position of the formwork, a non-contact type sensor such as an ultrasonic sensor or a magnetic sensor may be used instead, or a contact type sensor such as an airframe sensor may be used instead. You may also use
〔発明の効果〕
本発明によれば作業時間の単線化を図ることができ、故
障や誤動作がなく、キャリッジ部でポル1ル位置検出を
行なう必要がない。[Effects of the Invention] According to the present invention, the working time can be reduced to a single line, there is no failure or malfunction, and there is no need to detect the pole position in the carriage section.
第1図は締緩作業のための全体機1mtA成を示す斜視
図、第2図は型枠の斜視図、第3図は型枠の締結部の斜
視図、第4図は自動締緩装置に対し、型枠ボルトの移動
軌跡とキャリッジの動作を示す時間−距離線図である。
■・・・型枠、3・・・型枠用架台、4・・・ボルト締
緩装置、5・・・案内レール、6,6′・・・台車、7
,7′・・・視覚センサー、8,8・・・案内レール、
9・・・台車駆動用パルスモータ、13・・・画像処理
用マイクロコンピュータ。
代理人 弁理士 高橋明夫Fig. 1 is a perspective view showing the overall machine 1 mtA configuration for tightening and loosening work, Fig. 2 is a perspective view of the formwork, Fig. 3 is a perspective view of the fastening part of the formwork, and Fig. 4 is an automatic tightening and loosening device. In contrast, it is a time-distance diagram showing the movement locus of the formwork bolt and the movement of the carriage. ■... Formwork, 3... Frame for formwork, 4... Bolt tightening/loosening device, 5... Guide rail, 6, 6'... Trolley, 7
, 7'... Visual sensor, 8, 8... Guide rail,
9... Pulse motor for driving the trolley, 13... Microcomputer for image processing. Agent Patent Attorney Akio Takahashi
Claims (1)
型枠が停止した段階で型枠分割面締結用ねじを締緩する
ものにおいて、 前記型枠の長手方向に平行移動できる台車と、この台車
の移動量を計数する装置と、表尺物の締結用ねじの位置
を前記台車側から予め監視検出する装置と、移動する前
記台車の前記長手方向の相対座標出番コ締結用ねじの存
在位置を記録する制御装置と、前記監視検出装置とは独
立に前記長手方向に移動し得るねじの締緩装置を設け、
この締緩装置をX軸方向の相対座標上で予め検出記録さ
れている締結用ねじの位置に合わせるように駆動制御す
る装置とからなることを特徴とする締結用ねじの自動締
緩装置。[Claims] 1. In a system in which the formwork dividing surface fastening screws are tightened and loosened at the stage when the long formwork conveyed in a closed @ ring path as a whole system has stopped, in the longitudinal direction of the formwork. A cart that can move in parallel, a device that counts the amount of movement of the cart, a device that monitors and detects the position of a fastening screw for a scale object from the cart side, and a relative coordinate number code in the longitudinal direction of the moving cart. A control device for recording the location of the fastening screw, and a screw tightening/loosening device that can move in the longitudinal direction independently of the monitoring and detection device,
An automatic tightening/loosening device for fastening screws, comprising: a device for driving and controlling the tightening/loosening device so as to align the tightening/loosening device with a position of the fastening screw that is detected and recorded in advance on relative coordinates in the X-axis direction.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1327384A JPS60161073A (en) | 1984-01-30 | 1984-01-30 | Automatic clamping or releasing device for screw for clamping |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1327384A JPS60161073A (en) | 1984-01-30 | 1984-01-30 | Automatic clamping or releasing device for screw for clamping |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS60161073A true JPS60161073A (en) | 1985-08-22 |
Family
ID=11828600
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1327384A Pending JPS60161073A (en) | 1984-01-30 | 1984-01-30 | Automatic clamping or releasing device for screw for clamping |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60161073A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6176396B1 (en) | 1998-08-27 | 2001-01-23 | Mitsubishi Pencil Kabushiki Kaisha | Fluid substance dispenser |
WO2006001515A1 (en) | 2004-06-28 | 2006-01-05 | Canon Kabushiki Kaisha | Photosensitive resin composition, ink jet head using photosensitive resin composition, and process for manufacturing ink jet head |
JP2019219492A (en) * | 2018-06-19 | 2019-12-26 | ニチアス株式会社 | Fastening experiencing system |
-
1984
- 1984-01-30 JP JP1327384A patent/JPS60161073A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6176396B1 (en) | 1998-08-27 | 2001-01-23 | Mitsubishi Pencil Kabushiki Kaisha | Fluid substance dispenser |
WO2006001515A1 (en) | 2004-06-28 | 2006-01-05 | Canon Kabushiki Kaisha | Photosensitive resin composition, ink jet head using photosensitive resin composition, and process for manufacturing ink jet head |
JP2019219492A (en) * | 2018-06-19 | 2019-12-26 | ニチアス株式会社 | Fastening experiencing system |
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