JP2552932B2 - Bolt delivery mechanism of bolt fastening device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bolt feeding mechanism of a bolt fastening device, and more particularly to a bolt feeding mechanism of a bolt fastening device capable of automatically feeding and tightening bolts. is there.

[Prior Art] Fastening work of various machine elements such as fastening between segment pieces arranged by an erector device of a shield machine may be partially automated by a bolt fastening device. However, as an example of realizing such automation, there is one disclosed in JP-A-1-263398.

This is a main body part that is installed in the arc part of the erector hand of the shield machine so that it can be moved along the arc, and is hung vertically from this main part, and is vertically driven and swivels with respect to the main body part. A bolt arm provided to be driven and horizontally driven, a nut arm provided with a nut gripping portion at a lower end and facing the bolt arm, and a bolt and a nut supply device attached to an erector hand. And consists of.

With such a bolt fastening device, grasp the bolts and nuts one by one, position the nuts at the bolt holes to be fastened,
Insert the bolt into the bolt hole and rotate the nut with the nut arm to tighten it.

[Problems to be Solved by the Invention] However, in such a conventional bolt fastening device, the bolt used for bolt fastening is a headed bolt, and the head of this bolt is firmly supported by the bolt grasping portion. Since the nut is rotated and tightened to the bolt, the bolt can be securely tightened, whereas the bolt is a headless type bolt and is pre-set in the segment (feed bolt method). It could not be concluded.

The present invention has been made in view of the above problems, and an object thereof is to automatically and surely fasten a bolt and a nut even if the bolt is a headless type and is previously set in a segment. It is an object of the present invention to provide a bolt feeding mechanism of a bolt fastening device that can be performed.

[Means for Solving the Problems] The present invention has been made in view of the above-mentioned object, and the gist of the present invention is an apparatus main body provided movably along an arc portion of an erector hand, and an apparatus. A bolt feeding member provided on the main body for vertical movement, a turning movement, and a horizontal movement, a drive member for driving the bolt feeding member, and an apparatus main body provided for a vertical movement, a turning movement, and a horizontal movement. And a nut support arm having a nut holding portion for holding a nut to be fastened to the device, and the device main body, which is provided adjacent to the bolt feeding member so as to be able to move vertically, horizontally and horizontally, and fastened to the other end of the feeding bolt. The nut arm that has a nut gripping part for gripping the nut, the nut driving member that rotates with the nut gripped by the nut arm, and the driving force of the nut driving member. A power transmission member for transmitting to the nut, wherein the bolt feed member is hung from the mounting portion of the apparatus main body, and each of the three shaft members is arranged on the plane at approximately 120 degrees, and each of the shaft members. A bolt feeding mechanism of a bolt fastening device, characterized in that the bolt feeding mechanism comprises a rotating roller which is attached to a distal end portion of the bolt, and which rotates by sandwiching the bolt between shaft members and screw-feeding the bolt.

[Operation] In the bolt fastening device of the present invention, when a set of nuts is supplied when tightening the bolts, the grasped nuts are positioned at the bolt holes to be fastened. In this case, the bolt that is set in the segment in advance is supported by the shaft member while being sandwiched by the rotating roller from the three directions around the body middle part, and the bolt itself is rotated by the rotation of the rotating roller while the bolt is rotating. It is sent toward the bolt hole on the side and inserted. On the other hand, in the nut support arm, the nut is held on the side opposite to the bolt hole to wait for the bolt to be fed. Then, upon arrival of this bolt, the bolt and the nut are tightened by the rotation of the bolt. Once the bolt is fully inserted into the bolt hole and the threading of the nut has advanced by the desired amount, this threading is halted and the bolt feed member is released from the bolt.
Next, a nut arm grasping the nut is set at the end of the bolt that was supported by the bolt feeding member, and the nut is rotated and screwed. At this time, the opposite end of the bolt is still held by the previous nut support arm to hold the nut, thereby being supported in the rotational direction. Therefore, the bolt does not rotate together with the nut while being screwed by the nut arm, so that the bolt is securely tightened.

[Embodiment] FIGS. 1 to 11 are views showing an embodiment of a bolt fastening device for a segment equipped with a bolt feeding mechanism according to the present invention.

In this embodiment, the device body 1 is attached to an arc portion of an erector hand so as to be movable along the arc portion. The device body 1 includes a nut support arm 2 and
A bolt fastening portion 6 including a bolt feeding member 3 and a nut arm 4 is provided so as to be vertically movable, pivotable, and horizontally movable. Then, the nut supply device 7 causes the erector hand 8 to
Attached to.

On both sides of the tip arc portion 9 of the erector hand 8, there are provided two upper and lower rails 10 extending along the arc and an arc rack 11 extending therebetween.

On the base 12 of the apparatus main body 1, four slides 13 that are vertically engaged with two rails 10 are fixed, and a pinion 14 that meshes with the rack 11 is attached. The pinion 14 is a motor 15 It is designed to be driven to rotate by.

In this way, the apparatus main body 1 has the arc portion 9
You can move along.

Members for moving the bolt fastening portion 6 up and down, turning, and horizontally are sequentially attached to the main body base 12. An upper and lower slide seat plate 16 is provided so as to be vertically driven by a servo motor 17, and a servo motor 19 for swinging a swivel seat plate 18 is fixed to the seat plate 16. A slide seat plate 21 that is horizontally moved by a servomotor 20 is provided on the swivel seat plate 18.
The bolt fastening portion 6 is attached to the.

In this way, the bolt fastening portion 6 is configured to be vertically driven, rotated, and horizontally driven with respect to the apparatus body 1.

The bolt fastening portion 6 is, as shown in FIGS. 6 and 7,
A nut support arm 2 having a nut holding portion 22 that is rotatably driven at the lower end, a bolt feed member 3 provided at a position separated from the nut support arm 2 by a certain distance, and the nut support at a position adjacent to the bolt feed member 3. The nut arm 4 is provided so as to face the arm 2 and has a nut grasping portion 23 at the lower end.

The nut support arm 2 is formed by projecting from a slide body 24 suspended on the slide seat plate 21, and is provided so as to move horizontally with respect to the slide seat plate 21 by a cylinder 25.
The nut holding portion 22 is formed with a hexagonal nut hole 29 for accommodating the nut in the center thereof, and every other elastic member for retaining the nut accommodated in the nut hole 29 so as not to fall off on the inner surface thereof. 5 is glued. Since the nut support arm 2 is intended to fix and hold the nut with respect to the bolt, the nut holding portion 22 does not have a structure for rotating the nut and is not connected to the driving member.

On the other hand, the bolt feeding member 3 is attached to a moving body 30 suspended on a slide body 24, and the moving body 30 is a cylinder 31.
Thus, the slide body 24 is horizontally moved. This bolt member 3 is almost from the bottom surface of the moving body 30.
3 hung and mounted at equal angular intervals of 120 degrees
From the shaft member 32 of the book (divided into 32a, 32b, 32c respectively) and the rotating roller (divided into 33a, 33b, 33c respectively) attached to the tip of each shaft member 32a, 32b, 32c Become. At the upper end portions of the shaft members 32a, 32b, 32c, as shown in FIG. 8, the hydraulic motor 34 as a driving member and the power of the hydraulic motor 34 are supplied to the rotary rollers 33a, 33, respectively.
Flexible shafts 38b and 38c are provided as power transmission members for transmitting to the b and 33c, and the rotating rollers 33b and 33c are rotated by driving the hydraulic motor 34 and operating the power transmission members. The rotary roller 33a has no drive source and can be freely rotated. Also these rotating rollers
33a, 33b, and 33c are made of rubber or other material having a relatively high elasticity and a large coefficient of friction.The position and orientation of each of them are such that when the bolts are sandwiched between them and rotated, the bolts are rotated and fed around the central axis. It is set. Further, among the rotary rollers 33a, 33b, 33c, the rotary roller 33a has a fixed installation position, but the other rotary rollers 33b, 33c have variable intervals. This rotating roller 33b,
Hydraulic cylinder 3 to allow variable spacing of 33c
7, 37 'are installed.

Further, the nut arm 4 includes the bolt feeding member 3
Adjacent to the above, it is attached to a moving body 30 suspended from the slide body 24, and is provided so as to move horizontally with respect to the slide body 24 by a cylinder 31 like the bolt feeding member 3.
A hydraulic motor 27 as a nut driving member that rotationally drives the shaft 26 is provided at an end of the slide body 24, and the rotation of the shaft 26 is a gear train 28 as a power transmission member incorporated in the nut arm 4. The nut grasping portion 23 is rotationally driven via the. Like the nut gripping portion 23 and the nut holding portion 22 of the nut support arm 2, a hexagonal nut hole for accommodating the nut is formed in the central portion, and the nut accommodated in the nut hole is not dropped on the inner surface thereof. An elastic member is adhered for grasping.

In this way, the nut support arm 2 and the nut arm 4 are arranged so as to face each other, and can be independently approached and separated from each other. Further, the bolt feeding member 3 and the nut arm 4 can be independently moved on the moving body 30 to and from the operating position. Alternatively, the bolt feeding member 3 and the nut arm 4 are detachable from the moving body 30, and the bolt feeding member 3 is mounted during the bolt feeding operation, while the nut arm 4 is mounted during tightening the nut. You may Then, the nut support arm 2 and the nut arm 4
With the bolt feeding member 3, the nut can be taken out from the nut supply device 7, the bolt fastening portion 6 can be moved to a desired position, and the bolt fastening can be performed.

The operation of the bolt fastening device of the segment having such a configuration will be described below.

The device body 1 is moved along the arc portion 9 of the erector hand 8, and the nut support device 2, the nut holding portion 22 and the grasping portion 23 of the nut arm 4 from the nut supply device 7 attached to the erector hand 8. Grasp and remove the nuts 36 and 36 '. Here, as the bolt 35, a headless type bolt having threads on both ends of the rod body is set in advance in the segment.

Then, the bolt fastening portion 6 is moved in each direction, and the grasped nut is positioned at the bolt hole of the segment to be fastened. In this case, the bolt 35 set in the segment in advance has the shaft member 32 with the middle portion of the body being sandwiched by the rotating rollers 33 from both sides.
Supported by. Next, the hydraulic motor 34 operatively connected to the bolt feed member 3 is operated. As a result, as shown in FIG. 9, the three rotating rollers 33a, 33b, 33c form one set.
Rotate in the respective directions, and while rotating the bolt 35 around the central axis, advance toward the bolt hole on the opposite side and insert it. On the opposite side of the bolt hole, the nut support arm 2 is set in a state where the nut 36 is held in the nut holding portion 22, and waits for the bolt 35 to be fed. Then, at the same time when the bolt 35 reaches the nut holding portion 22, the bolt 35 rotates due to its own rotation.
Tighten by screwing in (Fig. 10).

When the bolt 35 is fully inserted in the bolt hole and the nut 36 is tightened to the bolt 35 to a certain degree, the screwing is once stopped, and the bolt feeding member 3 is released from and separated from the bolt 35. Next, the nut arm 4 holding another nut 36 'is set at the end of the bolt on the side supported by the bolt feeding member 3, and the hydraulic motor 27 is driven. Then, the power of the hydraulic motor 27 is transmitted to the nut grasping portion 23 of the nut arm 4 through the gear train 28, and the nut 36 'is rotated and screwed into the bolt 35 and tightened (Fig. 11). Bolt at this time
At the end on the opposite side of 35, the first nut supporting arm 2 in which the first nut 36 is held and the nut 36 is screwed in is left set. Thereby, the bolt 35 is fixedly supported in the rotation direction. Therefore, the bolt 35 does not rotate together with the nut while the second nut arm 4 is screwed in, so that the bolt is securely tightened.

Since at least one set of the bolt fastening portions 6 is provided together with the device body 1, the bolts at both axial ends or circumferential both ends of the segment piece can be fastened at the same time. In this case, since the bolt tightening portion 6 can rotate and move horizontally, it is possible to tighten the bolt on the end surface inclined to the axis like the key segment.

[Effects of the Invention] As described above, according to the present invention, it is possible to automate the process from taking out the nut to feeding the bolt and tightening it without any inconvenience in bolt fastening of the feed bolt segment. Further, since the bolt is rotated while being fed and screwed into the nut by the rotation, a part of the mechanism for rotating the nut can be omitted, and the configuration of the device can be simplified. .

[Brief description of drawings]

1 is a front view showing an outline of an embodiment of a bolt fastening device for a segment according to the present invention, and FIG. 2 is a bolt fastening device of FIG. 1, showing the right side surface of FIG. FIG. 3 and FIG. 3 show the device main body 1 used in the bolt fastening device of FIG. 1 and FIG. 2, in which the bolt feed member 3 is rotated 90 degrees counterclockwise by the servomotor 19 FIG. 4 is a right side view of the apparatus main body 1 excluding the drawings, and FIGS.
A device body 1 used in the illustrated bolt fastening device,
FIG. 5 is a left side view of the apparatus body 1 without the motor 15, FIG. 5 is a plan view showing the apparatus body 1 of FIG. 4 from above, and FIG. 6 is a schematic front view of the bolt fastening portion of the embodiment, and FIG. 6 is a sectional view showing the drive mechanism system of the bolt fastening portion shown in FIG. 6, FIG. 8 is a sectional view showing the operation by the bolt feeding member provided in the embodiment, and FIG. 9 is the bolt feeding member. Fig. 10 is a sectional view showing the operation of the nut feeding operation by the bolt feeding member and the nut supporting arm.
FIG. 11 is a cross-sectional view showing a nut tightening operation by the nut support arm and the nut arm. 1 ... Device body, 2 ... Nut support arm, 3 ... Bolt feed member, 4 ... Nut arm, 6 ... Bolt fastening part, 7 ... Nut supply device, 8 ... Electa hand, 9
...... Arc section, 22 ...... Nut holding section, 23 ...... Nut grip section, 27 ...... Hydraulic motor (nut drive member), 28 ...... Gear train (power transmission member), 32 ...... Shaft member, 33 ...... Rotating roller, 34 ... Hydraulic motor (driving member)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hitoshi Ueno 2-5-8 Kita-Aoyama, Minato-ku, Tokyo Within a stock company group (72) Inventor Kazumi Shino 2-5-8 Kita-Aoyama, Minato-ku, Tokyo Stock company (56) Reference JP-A-1-263398 (JP, A) JP-A-2-128099 (JP, A) JP-A-2-157398 (JP, A)

Claims (1)

(57) [Claims] 1. An apparatus main body provided so as to be movable along an arc portion of an erector hand, a bolt feed member provided on the apparatus main body so as to be capable of vertical movement, turning, and horizontal movement, and a drive for driving the bolt feed member. It is provided on the member and the main body of the device so that it can move up and down, rotate and horizontally.
A nut support arm having a nut holding part for holding a nut fastened to one end of the feed bolt, and a device main body provided adjacent to the bolt feed member so as to be vertically movable, pivotable, and horizontally movable. A nut arm that has a nut gripping part for gripping the nut that is fastened to the other end, a nut drive member that rotationally drives the nut gripped by the nut arm, and power that transmits the driving force of the nut drive member to the nut. And a transmission member, wherein the bolt feeding member is hung from the mounting portion of the apparatus main body, and the bolt feeding members are arranged at intervals of approximately 120 degrees on a plane.
A bolt of a bolt fastening device, characterized by comprising a shaft member of a book and a rotary roller attached to the tip end portion of each shaft member, sandwiching the bolt between the shaft members to rotate, and to rotate the bolt by screw feeding movement. Sending mechanism.