JP2879888B2 - Automatic equipment for changing footwear - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically replacing a footrest installed in an existing manhole.

[0002]

2. Description of the Related Art In an existing manhole, a plurality of footrests are arranged in one or two rows in a vertical direction, and by using this, a worker moves up and down the manhole. I have.
However, when the manhole is used for a long period of time, the footwear may be corroded, and a danger may be sensed when the worker goes up and down. Therefore, an attempt has been made to automatically replace the footrest in the existing manhole (for example, see Japanese Patent Laid-Open No.
-35233, JP-A-8-158388, etc.).

According to the above-mentioned prior art, a gantry provided with a wire device is arranged on the upper surface side of a manhole, and a footrest is automatically replaced with a wire from the wire device. Work robots such as cutting legs, drilling holes, feeding or driving in adhesive materials are suspended, and these robots are controlled and operated on the ground.

[0004]

In the known robot, since the working robot is suspended by a wire from a wire device, the position of a footrest to be replaced and a new one must be drilled. It is necessary to accurately oppose the work robot to the position of the hole, the pouring position of the adhesive for fixing the new footrest, the driving position of the new footrest, and to fix the work robot at that position. It is difficult and troublesome, and it is troublesome and troublesome to move the work robot in accordance with a plurality of footrests arranged or arranged in the vertical direction in the manhole to position and fix the work robot.

The present invention has been made in view of the above-mentioned problems of the prior art, and has as its object to provide a bogie for holding a work robot and a rail for guiding and fixing the bogie. Another object of the present invention is to provide an automatic device for changing a footrest tool that can easily, easily, accurately and quickly replace a footrest tool by using a base for guiding and fixing the rail.

[0006]

In order to achieve the above-mentioned object, the present invention provides an automatic foot-tool replacement device, comprising: a base rotatably arranged on the upper surface of a manhole; A rail guided and held, a truck guided and held by the rail, and a robot for replacing a footrest held by the truck, wherein the base is provided on the upper surface of the manhole. The rail has a through hole concentric with the hole and a rail elevating device. The rail has a semicircular cross section and extends to near the bottom of the manhole, and a lower end has a reaction force receiving device. A self-propelled device accommodated in a semicircular arc of the rail and guided by a rail, wherein the self-propelled device and the working robot held by a bogie are controlled by remote control. Things.

[0007]

1 to 3 relate to an embodiment of the present invention. FIG. 1 is a perspective view of an automatic replacement device for a footrest, FIG. 2 is a perspective view of a base, and FIG. Dolly and lane
FIG.

In FIG. 1, reference numeral 1 denotes a base arranged on an upper surface side of a manhole 2 indicated by a virtual line, and reference numeral 3 denotes a base which is guided and held by a rail lifting / lowering device 4 provided on the base 1. Reference numeral 5 denotes a robot mounting carriage guided and held by the rail 3, and reference numeral 6 denotes a robot mounting carriage provided in the carriage 5 for cutting a leg of a footrest, drilling, inserting an adhesive, or Is a robot setting rail for setting and holding a working robot such as driving.

The base 1 has a horizontal holding device 7 composed of a hydraulic jack and an upper surface entrance hole 8 of the manhole 2.
An annular fixed base 10 having a guide plate 9, 9 for centering to be fitted into the base, and a rail elevating device which is rotatable with respect to the fixed base 10. And an annular turning base 11 provided with a base 4. The turning base 11 stops its rotation by a brake 12 attached to the fixed base 10 and stops the turning. Is to be fixed.

As shown in FIG. 2, a motor 13 used for the rail lifting device 4 is provided on the turning base 11.
13 are installed facing each other, and transmission gearboxes 14 and 14 are arranged on the output shaft side of each motor 13, and the power from the gearboxes 14 is provided on the rail guides 15 and 15 side. Are transmitted to the gear lifting gears 16, 16. A tuning device 17 for rotating the rail lifting gears 16, 16 in synchronization with each other is disposed between the boxes 14, 14. Therefore, the rail 3 is moved up and down by the rail elevating device 4 by driving the motor 13, and is held by the rail elevating device 4 by stopping the motor 13. Reference numerals 18 and 18 denote rail insertion guides.

The rail 3 includes a bottom rail 21, an intermediate rail (one or more) 22 and a top rail 23. Each of the rails has a semicircular cross section and has a bottom rail. 21
Is extended to the vicinity of the bottom of the manhole 2, and three reaction force receiving devices 24 are arranged at the lower end of the bottom rail 21 in the radial direction, and the reaction force receiving devices 24 are configured to be refractible. .

On the outer surface near the two ends of the semicircular arc portion of the rail 3, the rail lifting gears 16 of the rail lifting device 4 provided on the turning base 11 of the base 1 are provided. A rail elevating rack 25 meshing with the rail 16 is formed, and a bogie engaging with the bogie elevating gears 32 provided on the bogie 5 is provided on inner surfaces near both ends of the semicircular arc portion of the rail 3. An elevating rack 26 is formed. And both racks 25, 26
A trolley elevating guide rail 27 is provided in between.

The truck 5 is accommodated in a semicircular arc of the rail 3. The truck 5 has a motor 31 for driving the truck lifting gears 32 on its upper surface 31. A self-propelled device 33 and a trolley 5 and a relay box 34 for controlling the work robot are mounted on the trolley 5. The trolley 5 has a robot mounting positioning pin 35, a robot control connector 36 and a robot setting rail. 6 etc. are provided for the working robot. The trolley 5 is guided by the trolley elevating guide rail 27 so as to move up and down by itself.

Since the device for automatically replacing a footrest having the above-described configuration is installed, first, the fixing base of the base 1 is inserted into the upper entrance hole 8 of the existing manhole 2.
The guide plates 9 for centering provided on the base 10 are positioned in a fitted state. In this state, the hydraulic jack is adjusted and the base 1 is set in a horizontal state by the horizontal holding device 7.

Next, the base is moved to such a position that the opening side of the rail 3 having a semicircular cross section sent by the rail elevating device 4 of the base 1 can face the footholding tool in the manhole 2. The first turning base 11 is rotated, and the turning base 11 is fixed to the fixed base 10 by the brake 12 at that position.

Next, the bottom rail 21 is mounted on the rail lifting device 4 of the base 1, and the rail lifting gear 16 of the rail lifting device 4 and the rail lifting rack of the bottom rail 21 are mounted. 25 and drive the motor 13 to drive the bottom rail 21
Is lowered into the manhole 2. Then, the bottom rail 21 and the intermediate rail 22 are connected in a state where the upper part of the bottom rail 21 is located on the rail lifting device 4, and the bottom rail 21 and the intermediate rail 22 are further connected. Manhole 2
And repeat this operation until the bottom rail 21
With the lower end of the rail extended to near the bottom of the manhole 2, the top rail 23 is placed on top of the middle rail 22 at the top.
Are connected to each other, the top rail 23 is held by the rail elevating device 4, and the reaction force receiving devices 24, 24... Which are bent at the lower end of the bottom rail 21 are directed toward the wall surface of the manhole 2. Extend the bottom rail by the reaction force receiving device 24.
The lower end of the screw 21 is fixed.

Next, the top rail 2 is turned on the turning base 11.
From the opening side of the trolley 3, the trolley lifting gear 32 of the self-propelled device of the trolley 5 is connected to the trolley lifting rack 2 of the rail 3.
The carriage 5 is inserted into the top rail 23 by inserting it to a position where it engages with the carriage 6. Next, a desired work robot is fed into the carriage 5 by using the robot setting rail 6, and the female side of the work robot is set on the robot mounting positioning pin 35 and the robot control connector 36 to set the work robot. The trolley 5 is held.

Next, the motor 33 is driven by a remote control via the relay box 34 to lower the carriage 5 to a desired position, and the work robot set on the carriage 5 is moved to the man-home.
At this position, the motor 33 is stopped and the carriage 5 is held on the rail 3 at this position. In this state, the robot control connector is further remote-controlled via the relay box 34.
36 is operated to perform a desired replacement work by the work robot.

One work process is performed by the work robot,
For example, when the cutting of a pair of legs of one footwear to be replaced is completed, the motor 33 is driven to move the carriage 5 so that the work robot faces the next footwear, and is fixed. Then, the replacement work is performed, and this is repeated. For example, when the cutting of the legs of all the footwear is completed, the motor 33 is driven to lift the carriage 5 to the turning base 11, and the carriage 5 is lifted.
The work robot inside is replaced with the next work process, for example, a work robot for drilling, the bogie 5 is lowered, and a boring work is performed by the work robot set on the bogie 5. In this way, the working robots such as leg cutting, drilling, feeding or gluing of the footrests are sequentially set on the carriage 5 to perform desired operations.

[0020]

According to the present invention, a base rotatably arranged on the upper surface of the manhole, a rail guided and held by the base, and a rail guided by the rail. And a bogie that is held by the bogie and a robot that replaces a footholding tool that is held by the bogie. The base has a through hole coaxial with a hole on the upper surface of the manhole, and a rail elevating device. Since it is housed in the semicircular arc of the rail, the rail can be positioned at the center of the opening of the manhole, and the bogie can be accurately opposed to each footrest in the manhole. The work of replacing the footrest can be reliably performed.

Further, since the upper portion of the rail is held on the base and the lower end of the rail extended to near the bottom of the manhole is held by the reaction force receiving device, the rail does not fluctuate. Since the cart is reliably arranged at the desired position, the work of replacing the footrest can be performed more reliably.

Further, the carriage is provided with a self-propelled device guided by the rail, and the work robot held by the self-propelled device and the carriage is controlled by remote control. A simple and easy and reliable automatic device for replacing a footrest tool that allows quicker replacement of the footwear tool.

[Brief description of the drawings]

FIG. 1 is a perspective view of an apparatus for automatically changing a footrest according to an embodiment of the present invention.

FIG. 2 is a perspective view of a base.

FIG. 3 is a perspective view of a truck and rails.

[Explanation of symbols]

 Reference Signs List 1 base 2 manhole 3 rail 4 rail elevating device 5 bogie 6 robot setting rail 8 hole on manhole upper surface 13,33 motor 16,32 gear 24 reaction force receiving device 25,26 Rack 34 Relay box for control

Continuation of front page (56) References JP-A-8-35233 (JP, A) JP-A-8-158388 (JP, A) JP-A-10-615 (JP, A) JP-A-9-316905 (JP) , A) (58) Field surveyed (Int.Cl. ⁶ , DB name) E02D 29/12

Claims (1)

(57) [Claims] A base that is rotatably arranged on the upper surface of the manhole, and a rail that is guided and held by the base;
A carriage guided and held by the rail, and a robot for replacing a footrest held by the carriage, wherein the base has a through hole concentric with a hole on the upper surface of the manhole; A lifting device, wherein the rail has a semi-circular cross-section and extends to near the bottom of the manhole, and a reaction force receiving device is provided at a lower end; the bogie is accommodated in the semi-circular arc of the rail; A self-propelled device guided by the robot, wherein the self-propelled device and the work robot held by the bogie are controlled by remote control.