JP2879889B2 - Automatic cutting device for leg of footrest - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically cutting a leg of a footrest 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.
-158388).

According to the above-mentioned prior art, a work provided with a wire device is arranged on the upper surface side of a manhole, and a leg of a footholding tool is cut on a wire from the wire device. The robot is suspended, and the robot is controlled and operated on the ground.

[0004]

By the way, in the known robot, since the working robot is suspended by a wire from a wire device, a position of a leg of a footrest to be cut is determined. It is difficult and troublesome to accurately oppose the work robot and fix the work robot at that position, and the work robot is moved in accordance with a large number of footrests arranged vertically in the manhole. Positioning and fixing are complicated and troublesome.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and has as its object to guide a truck holding a leg cutting work robot and guide and fix the truck. SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic leg cutting device for a leg of a footrest which can easily, easily, accurately and quickly cut the leg of the footrest by using the rail.

[0006]

In order to achieve the above object, an automatic cutting device for a leg portion of a foot-holding tool according to the present invention is provided on a bogie mounted on a rail in a manhole so as to be movable up and down. An automatic cutting device for a leg portion of a footrest provided, wherein a plurality of sliders capable of turning in the lateral direction are attached to the carriage, and a bracket provided on the lowermost slider is provided via a spherical bearing. A cutter member is disposed so as to be rotatable in the vertical direction, and a laser marker for confirming the position of a leg portion of a footrest to be cut is provided below the rear end of the cutter member, and the cutter member is provided forward. A cutter blade positioning stopper and a cutter blade retaining piece are provided.

Further, a set base is formed on the cutter member, one side of the set base is held by the bracket by the spherical bearing, and a pair of cutters is provided on the other side.
Each of the plates is pivotably pivoted, a cutter blade is attached to one end of each cutter plate, and the other end of each cutter plate is connected to a hydraulic cylinder. is there.

[0008]

1 to 5 relate to an embodiment of the present invention, wherein FIG. 1 is a perspective view of an automatic changing device of a footrest, and FIG. 2 is a perspective view of an automatic cutting device of a leg portion. 3, FIG. 3 is a side view of the cutter part, FIG. 4 is a front view of a main part thereof, and FIG. 5 is a sectional view taken along line AA of FIG.

In FIG. 1, reference numeral 1 denotes a man phone indicated by a virtual line.
A base 2 disposed on the upper surface side of the base 2;
Is a rail guided and held by a rail lifting device 4 provided in the robot, 5 is a robot mounting trolley guided and held by the rail 3, and 6 is provided in the trolley 5. This is a robot setting rail for setting and holding a working robot for cutting a leg, drilling a hole, pouring or driving in an adhesive, and the like.

The base 1 includes 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.

Motors 13 and 13 used for the rail lifting device 4 are installed on the turning base 11 so as to face each other. The gearboxes 14 are arranged, and power from the gearbox 14 is transmitted to rail lifting gears 16 provided on the rail guides 15. And
Between the two boxes 14, 14, the rail lifting gear 16,
A tuning device 17 for tuned rotation of 16 is arranged. 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.

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. Elevating racks 26 are formed facing each other. In addition, both racks 2
A bogie elevating guide rail 27 is disposed between 5 and 26.

The truck 5 is accommodated in a semicircular arc region of the rail 3. The truck 5 has on its upper surface 31 a motor for driving the truck lifting gears 32, 32.
A self-propelled device consisting of a motor 33 and a trolley 5 and a relay box 34 for controlling the work robot are mounted. In the trolley 5, a robot mounting positioning pin 35, a robot control connector 36 and a robot setting rail are provided. 6 are provided for the work robot. And the cart 5
Is guided by the carriage elevating guide rail 27 to ascend and descend by itself.

Since the foot-holding device is automatically replaced as described above, the basic operation is as follows. First, when installing the rail, the entrance hole 8 of the upper surface of the existing manhole 2 is used.
The guide plates 9, 9... For centering provided on the fixed base 10 of the base 1 are positioned in the fitted state. In this state, the hydraulic jack is adjusted, and the horizontal holding device 7 adjusts the base 1 Is set in a horizontal state.

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.
And the top rail 23 is held by the rail lifting device 4.

In this manner, with the rail 3 installed in the manhole 2, the top rail is turned on the turning base 11.
The bogie 5 is inserted from the opening side of the rail 23 to a position where the bogie elevating gears 32 of the self-propelled device of the bogie 5 engage with the bogie elevating rack 26 of the rail 3.
The trolley 5 is mounted inside. 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.

A working robot as shown in FIGS. 2 to 5 is used for cutting the legs of the footrest. That is, the work robot 50 includes a fixed part 51 fixed to the carriage 5 and a moving part 52 that can turn with respect to the fixed part 51.

The fixing portion 51 of the working robot has a robot mounting positioning pin 35 disposed on the carriage 5.
And a connector 54 to be connected to the robot control connector 36.
55 for rotating the rotary unit 52 and the moving unit 52, a hydraulic pump 56 for driving a hydraulic cylinder for a cutter blade (to be described later), and a rotating shaft bearing case and oil tank 5.
7 and the like are arranged.

The moving section 52 of the working robot is configured so as to be pivotable as a whole by the motor 55, and the moving section 52 is capable of storing three-stage sliders 58, 59, and 60 and is fixed. A box 61 pivoted on a shaft (not shown) in a swivel bearing case 57 in part 51;
A television camera and illumination 62 mounted below the rear of the box 61; a bracket 63 fixed to the lowermost slider 60;
A cutter member 65 and the like, which are mounted to be rotatable in the up-down direction via the. 74, 75 and 76 are slider-air cylinders provided on the lower surfaces of the box 61 and the sliders 58 and 59, respectively.
It is for letting 9, 60 appear.

The cutter member 65 is used to confirm the position of the leg of the footrest to be cut below the rear end thereof.
In addition to the armor 66, a stopper 68 for positioning the cutter blades 67, 67 is formed in the front, and a pair of cutter plates 69, 69 are pivotably pivoted downward. A set base 72 having a retaining piece 70 for the cutter blade 67 and a micro switch 71; a cutter blade 67 formed at one end of each cutter plate 69; And a hydraulic cylinder 73 arranged on the other end side.

As described above, the working robot 50 for cutting the leg portion of the footrest tool has the fixing portion 51 of the working robot from the opening side of the top rail 23 on the turning base 11 as described above. It is fixedly set on the carriage 5. Then, the motor 33 is driven by the remote control via the relay box 34 to lower the carriage 5, and the work robot 5 set on the carriage 5
The laser marker 66 detects the position of the carriage 0 facing the footrest to be replaced in the manhole 2, and stops driving the motor 33 at that position to move the carriage 5 to the rail. 3 is held.

In this state, the slider-air cylinders 74 and 7 are further remotely operated via the relay box 34.
The sliders 58, 59, 60 are pushed out of the box 61 toward the wall surface of the manhole 2 by operating the sliders 5, 76, and the positioning stopper 68 of the cutter member 65 is moved.
Is located near the wall surface of the manhole 2.

Next, after the carriage 5 is slightly lowered, the motor 55 is driven to slightly turn the entire moving section 52, and the micro switch 71 of the cutter member 65 is cut off by the footrest. Contact one of the legs. Then trolley 5
Is slightly lowered to position the leg to be cut between the cutter blades 67, 67 of the cutter member 65. Next, the slider 60 is slightly extruded to form a cutter member 6.
The positioning stopper 68 of 5 is brought into close contact with the wall surface of the manhole 2. In this state, the hydraulic pump 56 is driven by air to send the oil in the oil tank 57 to the hydraulic cylinder 73, and the cutter plates 69, 69 are operated to operate the cutter.
The legs are cut by the blades 67, 67.

When the leg is cut, the positioning stopper 68 is pressed so as to be in close contact with the wall surface of the manhole 2, so that the cutter blade 67 is formed by the positioning stopper 68 and the spherical bearing 64. , 67 can reliably follow the wall surface of the manhole 2 and also have a retaining piece 70 for the cutter blade, so that the leg portion of the foot-holding tool can accurately follow the wall surface of the manhole 2. It works and the footrest is man-
Thus, it is surely cut almost along the wall surface of the ruler 2.

When the cutting of one leg of the foot rest is completed, the cutter blades 67, 67 are returned to their original positions, the positioning stopper 68 is separated from the wall of the manhole 2, and the carriage 5 is slightly raised. After that, the entire moving section 52 is slightly swung toward the other leg to be cut, and the microswitch 71 is brought into contact with the other leg of the footrest tool to be cut. Hereinafter, the other leg is cut by the same operation as the cutting of one leg.

When the cutting of both legs of the foot rest is completed, the motor 33 is driven via the relay box 34 by remote control to move the carriage 5 to a position facing the next foot rest to be cut. The motor 33 is stopped at that position to stop the drive of the motor 33 and the carriage 5 is held on the rail 3, and both legs of the footrest are cut by the same operation as described above.

[0030]

According to the present invention, a laser marker for confirming the positions of the legs of the footrests to be cut is provided on a bogie mounted on the rail so as to be movable up and down. Attach the slider and connect the cutter member to the bracket provided on the lowermost slider via a spherical bearing so that it can rotate vertically.
Since the cutter member is provided with a stopper for positioning the cutter blade and a retaining piece for the cutter blade, the carriage can be easily and reliably moved and fixed, and the automatic cutting device can operate quickly and accurately. In addition, the position of the footrest to be cut can be easily confirmed with a laser marker, and the position can be easily set by a recording or the like at the time of post-work (installation of a new footrest). Because of the use of the slider, the cutter member can be easily inserted even with a narrow manhole at the entrance,
The stopper for positioning the cutter blade and the spherical bearing allow the cutter blade to reliably follow the manhole wall, and also have a retaining piece for the cutter blade. Is an automatic cutting device for the legs of the footrest that can be operated accurately and along the manhole wall.

A set base is formed on the cutter member, and one side of the set base is held on the bracket by a spherical bearing, and a pair of cutter plates are rotatably pivoted on the other side. Since the cutter blade is attached to one end of each cutter plate and the other end of each cutter plate is connected to the hydraulic cylinder, the operation of the cutter blade is reliable and there is little uncut portion. An automatic cutting device for the leg of a footrest with a clean cut surface along the wall.

[Brief description of the drawings]

FIG. 1 is a perspective view of an automatic replacement device for a footrest.

FIG. 2 is a perspective view of an automatic leg cutting device according to an embodiment of the present invention.

FIG. 3 is a side view of a cutter unit.

FIG. 4 is a front view of the main part.

FIG. 5 is a sectional view taken along line AA of FIG. 3;

[Explanation of symbols]

 2 Manhole 3 Rail 5 Bogie 33,55 Motor 58,59,60 Slider 63 Bracket 64 Spherical bearing 65 Cutter member 66 Laser marker 67 Cutter blade 68 Positioning stopper 69 Cutter plate 70 Retaining piece 72 Set base 73 Hydraulic cylinder

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) E02D 29/12

Claims (2)

(57) [Claims] An automatic cutting device for a leg portion of a footrest provided on a carriage mounted on a rail in a manhole so as to be able to move up and down. A step slider is mounted, a cutter member is arranged on a bracket provided on the lowermost slider via a spherical bearing so as to be vertically rotatable, and a foot to be cut below a rear end of the cutter member. A foot-holding tool comprising a laser marker for checking the position of the leg of the hook and a stopper for positioning the cutter blade and a retaining piece for the cutter blade provided in front of the laser marker. Automatic cutting device for legs. 2. A set base is formed on the cutter member, one side of the set base is held by the bracket by the spherical bearing, and a pair of cutter plates are rotatable on the other side. Attaching a cutter blade to one end of each cutter plate and attaching each cutter plate
2. The apparatus according to claim 1, wherein the other end of the foot is connected to a hydraulic cylinder.