JP2879891B2 - Automatic mounting device for 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 installing 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 time, the footrest tool 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 Application Laid-Open No. H8-3).
No. 5233).

According to the above-mentioned prior art, a pedestal provided with a wire device is arranged on the upper surface side of a manhole, and a work robot for attaching a footrest to a wire from the wire device is provided. Hanging, controlling the robot on the ground
I try to operate.

[0004]

In the known robot, the work robot is suspended by a wire from a wire device. It is difficult and troublesome to face the work robot and fix the work robot at that position, and the work robot is moved and positioned and fixed in accordance with a large number of footrests installed vertically in the manhole. This was complicated and troublesome.

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 for mounting a footrest and a guide for the bogie. It is an object of the present invention to provide an automatic device for attaching a footrest, which can easily, easily, accurately and quickly use a rail to be fixed.

[0006]

In order to achieve the above object, an apparatus for automatically attaching a footrest according to the present invention comprises a man-housing device.
An automatic mounting device for footrests mounted on a carriage movably mounted on rails in a rail, wherein the carriage is provided with a box for accommodating a plurality of sliders, and a lowermost slider is provided. Is a step pushing slider, and a step set case is pivotally connected to the tips of both arms fixed to the tips of the pushing slider, and is held by the step set case. Adhesive injection nozzles for holding the footrests and ejecting the adhesive are arranged at almost both ends of the case, and the lower end of the rear end of the box is substantially flush with the step set case. And a cylinder provided on the upper slider of the pushing slider. The pushing slider is slid, and the step set case is pivoted by a cylinder pivoted on the pushing slider. It is characterized in that it has a so that.

[0007]

1 to 4 relate to an embodiment of the present invention. FIG. 1 is a perspective view of an automatic changing device of a footrest, and FIG. 2 is a perspective view of an automatic mounting device of a footrest. FIG. 3
FIG. 4 is a cross-sectional view of a main part thereof, and FIG. 4 is a circuit diagram of an adhesive supply circuit.

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 elevating device 4 provided in the robot, 5 is a bogie for mounting a robot guided and held by the rail 3, and 6 is an inside of the bogie 5. This is a robot setting rail provided for setting and holding a working robot such as leg cutting, boring, mounting of a footrest, and the like.

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.

On the turning base 11, motors 13, 13 used for the rail lifting device 4 are installed 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 both ends of the semicircular arc portion of the rail 3, the rail lifting gear 16 of the rail lifting device 4 provided on the turning base 11 of the base 1 is provided. A rail lifting rack 25 meshing with the rail 16 is formed, and a bogie engaging with the bogie lifting gears 32 provided on the bogie 5 is provided on an inner side surface near both ends of the semicircular 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 a motor 31 for driving the truck lifting gears 32 on its upper surface 31.
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.

[0013] The automatic operation of the foot-holding device having the above-mentioned construction, the basic operation is to first install the rail when installing the upper hole 8 of the existing manhole 2.
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 3 is moved to a position where the opening side of the rail 3 having a semicircular arc section fed by the rail lifting / lowering 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 provided. 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 via a relay box 34 by remote control to lower the carriage 5 to a desired position, and the work robot set on the carriage 5 is moved to a man-home.
At this position, the motor 33 is stopped and the carriage 5 is moved to the rail 3
To be held. In this state, the robot control connector 36 is further operated via the relay box 34 by remote control, so that the work robot can perform a desired footrest mounting work.

One work process is performed by the work robot,
For example, when the mounting operation of the foot rest is completed, the motor 33 is driven to lift the carriage 5 to the turning base 11,
The work robot in the carriage 5 holds the next new footrest, and then drives the motor 33 to move and fix the carriage 5 so that the work robot faces the mounting position of the next footwear. When the mounting operation is repeated and all the footrests are mounted, for example, the motor 33 is driven to lift the carriage 5 to the turning base 11 and the work robot in the carriage 5 is driven. The truck 5 is removed from the rail 3, the rail 3 is raised by the rail lifting device 4, and the rail 3 is sequentially removed from the turning base 11.

By the way, for automatic mounting of footrests,
A working robot as shown in FIGS. 2 and 3 is used. That is, the work robot 50 includes a fixed part 51 fixed to the carriage 5 and a moving part 52 movable with respect to the fixed part 51.

The fixed part 5 of the working robot 50
1, a robot mounting positioning female portion 53 into which the robot mounting positioning pin 35 arranged on the carriage 5 is inserted;
Robot control connector-Connector connected to 36-
And a box 55 for accommodating a slider to be described later.
And an adhesive supply device 56 installed on the upper surface of the box 55, and a television camera 57, an illumination 58, a laser marker 59, and the like mounted on the lower rear end of the box 55. .

The moving part 52 of the working robot 50 has three sliders 60, 61, and 62, and two arms fixed to the distal end of the lowermost slider, the stepping-in slider 62. A step set case 64 and the like, which are pivotally attached to the tips of the programs 63, 63, are arranged.

The step set case 64 is provided with an accommodation chamber 66 for holding a footrest 65 attached to the manhole wall.
5 is provided with an adhesive injection device 68 provided with an adhesive injection nozzle 67 for holding both legs and press-fitting the adhesive around the legs. The rod 70 from the service cylinder 69 is pivoted. Then, the step set case 64
Is positioned substantially at the same height as the laser marker 59 installed at the lower rear end of the box 55 in the horizontal state.

An air cylinder 71 for step pushing is provided on the upper slider 61 of the pushing slider 62, and the pushing slider 62 is slidable by the cylinder 71. Further, the stepping cylinder 69 is pivoted on the pushing slider 62, and the step set case 64 can be pivoted by the stepping cylinder 69.

As shown in FIG. 4, the adhesive supply device 56 includes a compressed air supply source 72, a pump operating solenoid valve 73, a pump driving cylinder 74, and a plurality of chemical liquid pumps 75,
76, two mixing tubes 77, 78, a resin agent tank 79, a hardener tank 80, and the like. Compressed air from a compressed air supply source 72 is sent to a pump drive cylinder 74 via an electromagnetic valve 73, When the rod 81 of the cylinder 74 reciprocates, the pumps 75 and 76 operate at the same time to suck the chemicals from the resin agent tank 79 and the hardening agent tank 80, respectively. The hardening agent and the curing agent are sent to the mixing tube 77 by compressed air, and the respective resin agent and hardening agent from the other pumps 75 and 76 are sent to the mixing tube 78 by the compressed air. As a result, the resin agent and the curing agent are mixed, and supplied from the adhesive injection nozzle 67 of the adhesive injection device 68 to both legs of the foothold device 65. There.

The work robot 50 for mounting a footrest as described above is, as described above, a top rail on the turning base 11.
The fixing portion 51 of the working robot 50 is fixedly set to the carriage 5 from the opening side of the rack 23, and the motor 33 is driven via the relay box 34 by remote control to lower the carriage 5, The position where the work robot 50 set at 5 is opposed to the mounting hole of the footholding tool in the manhole 2 is a laser.
Detected by the marker 58, the drive of the motor 33 is stopped at that position, and the carriage 5 is held on the rail 3.

In this state, the slider-air cylinders 82 and 8 are further remotely controlled via the relay box 34.
3 to drive each of the sliders 60 and 61 into the box 55.
It is pushed out from the inside toward the wall surface of the manhole 2, and when the step set case 64 is located near the mounting hole of the footholding tool, the step set case 64 is turned 90 degrees by the step turning cylinder 69. Then, both legs of the footwear 65 are opposed to the respective mounting holes, and then the stepping air cylinder 71 is driven to insert the two legs of the footwear 65 into the respective mounting holes. Then, the adhesive is supplied from the mixing tubes 77 and 78 to the respective adhesive injection nozzles 67 by the adhesive supply device 56, and the adhesive is applied to the footholding device 6.
The footrest 65 is attached to the wall surface of the manhole 2 by press-fitting and hardening around the two leg portions 5.

When the work robot completes the work of mounting one footrest, sliders 60 and 6 are attached.
1, 62 are retracted into the box 55, the motor 33 is driven to lift the carriage 5 to the turning base 11, and the carriage 5
Next, the work robot in the inside holds the next new footrest, and then drives the motor 33 to move, fix, and mount the carriage 5 so that the work robot faces the mounting position of the next footwear. When the operation is repeated and all the footrests have been mounted, the motor 33 is driven to lift the carriage 5 to the turning base 11, and the work robot in the carriage 5 is removed. The carriage 5 is removed from the rail 3 and the rail lift 4
The rail 3 is lifted, and the rail 3 is sequentially removed from the turning base 11.

[0028]

According to the present invention, a box for accommodating a plurality of stages of sliders is provided on a carriage mounted on the rail so as to be able to move up and down, and the lowermost stage slider is used as a step-in slider. A step set case is pivotally connected to the ends of both arms fixed to the tip of the pushing slider so as to be pivotable, and the pushing slider is moved by a cylinder provided on the upper slider of the pushing slider. , And the step set case can be turned by the step turning cylinder pivoted on the pushing slider, so that the positioning and movement of the mounting device of the footrest can be reliably performed, and the entrance is narrow. The mounting device of the footrest can be easily inserted even with the formed manhole, and the adhesive that presses the footrest held by the step set case and ejects the adhesive is provided. Since the injection nozzles are arranged at almost both ends of the case, the footrest can be automatically fixed to the manhole, and the height at the rear lower end of the box is almost the same as that of the step set case. Since the laser marker is installed on the machine, the position of the mounting hole can be easily checked with the laser marker, etc. It becomes an automatic attachment device of the footrest tool which can be done.

[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 attachment device for a footrest.

FIG. 3 is a sectional view of a main part thereof.

FIG. 4 is a circuit diagram of an adhesive supply circuit.

[Explanation of symbols]

 2 Manhole 3 Rail 5 Bogie 50 Work robot for mounting footrest 55 Box 59 Laser marker 60, 61, 62 Slider 62 63 Arm 64 Step set case 67 Adhesive injection nozzle 69 Step swivel cylinder

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) E02D 29/12

Claims (1)

(57) [Claims] 1. A device for automatically mounting a footrest provided on a carriage mounted on a rail in a manhole so as to be movable up and down, comprising a box for accommodating a plurality of sliders in the carriage. The lowermost slider is used as a step pushing slider, and a step set case is pivotally connected to the ends of both arms fixed to the tips of the pushing slider so as to be pivotable. Adhesive injection nozzles for holding the footrests held by the case and ejecting the adhesive are arranged at almost both ends of the case, and at the lower rear end of the box, the height is substantially the same as that of the step set case. In addition, a laser marker is provided, and the pushing slider is slid by a cylinder provided on an upper slider of the pushing slider, and a step turning cylinder pivoted on the pushing slider is provided. Serial stepset Ke - automatic mounting apparatus footrests tool characterized by being adapted to be pivoted to scan.