JPS60161073A - Automatic clamping or releasing device for screw for clamping - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[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.

[Background of the invention]

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.

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.

[Purpose of the invention]

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. .

[Embodiments of the invention]

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.

The cart driving pulse motor 9 has a chain lO.

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.

Next, the automatic tightening/loosening device will be briefly explained.

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.

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.

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.

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.

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.

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

[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.

[Brief explanation of drawings]

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)

[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.