JP2887343B2 - Rail for automatic change device 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 a rail for guiding and holding a trolley used in an automatic footwear changing apparatus for automatically replacing a footwear installed in an existing manhole. -It is about rules.

[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 an object of the present invention is to use a rail to move and fix a carriage holding a working robot. By doing so, it is an object of the present invention to provide a rail for an automatic device for changing a footrest, which can easily, easily, accurately and quickly replace the footrest.

[0006]

In order to achieve the above object, a rail for an automatic change device for a foot-holding tool according to the present invention is guided and held by a base arranged on the upper surface side of a manhole. A rail for an automatic change device for a foot-holding tool for guiding and holding a bogie holding a work robot for replacing a foot-holding tool, the rail having a plurality of aggregates arranged in a semi-arc region. A rack for raising and lowering the bogie and rails for guiding the bogies are provided on the opposing surfaces of the aggregates at both ends, respectively, and a rail elevating rack is arranged on the outer surface of the aggregates at both ends. It is a feature.

The above-mentioned rail comprises a top rail, at least one intermediate rail and a bottom rail,
The rails are connected by hinges, the top rail is held on the base, and a plurality of rod-shaped reaction force receiving members are provided at the lower end of the bottom rail to abut the manhole wall. The force receiving member is configured to be refractible.

[0008] Further, a reinforcing plate for connecting aggregates at both ends is inserted at the lower end of the bottom rail, and a descent limit stop sensor is provided on the reinforcing plate.

Further, a part of the aggregate constituting the top rail, the intermediate rail and the bottom rail is formed as a hollow tube, and the hollow tube is also used as a ventilation hole. is there.

[0010]

1 to 6 relate to an embodiment of the present invention. FIG. 1 is a perspective view of an automatic replacement device for a footrest, and FIG. 2 shows a connection relationship between a rail and a bogie. FIG. 3 is a cross-sectional view of the bottom rail, FIG.
FIG. 5 is a perspective view of a rail provided with a hinge, and FIG. 6 is a perspective view illustrating a joining form of the rails.

In FIG. 1, reference numeral 1 denotes a base arranged on the upper surface of a manhole 2 indicated by a virtual line, and reference numeral 3 denotes a base which is guided and held by a rail elevating 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.

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.

The rail 3 comprises a bottom rail 21, an intermediate rail (one or more) 22, and a top rail 23. Each rail has a plurality of aggregates 24, 24,. , And these aggregates 24 are arranged in a semicircular cross-sectional area.

On the outer side surface of the rail 3 near both ends of the semicircular arc portion, 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 the 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.

Since this is a rail for an automatic replacement device for a footrest having the above configuration,
First, a guide plate 9 for centering provided on a fixed base 10 of the base 1 is inserted into an entrance hole 8 on the upper surface of the existing manhole 2.
.. Are positioned in the 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 3 is moved to a position where the opening side of the rail 3 having a semicircular cross section sent 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 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.

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 the 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 working process is performed by the working 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.

As described above, the rail 3 is made of a plurality of aggregates 2.
Are arranged in a semi-circular arc region, and a bogie lifting rack 26 and a bogie guide rail 27 are provided on opposite sides of the aggregates at both ends, respectively. Since the rail lift rack 25 is provided on the outer surface, the carriage 5 is easily stored in the semi-circular region of the plurality of aggregates 24, 24, and easily formed by the carriage lift rack 26 and the carriage guide rail 27. And the rail 3 itself can be easily and easily lifted and fixed along the rail, and the rail 3 itself can be easily and easily mounted and dismantled by the rail lifting rack 25.

The rail 3 is a top rail 23.
, An intermediate rail 22 and a bottom rail 21, each of which is connected by a hinge 41 as shown in detail in FIGS. That is, one piece 42 of the hinge 41 is fixed to the upper end of the lower rail, for example, the bottom rail 21, and the other piece 43 is pivoted at the end of this one piece 42. Before connecting the upper intermediate rail 22 to the bottom rail 21, as shown in FIG.
And the other piece 43 are folded, and the other piece 43 is stopped by the rail guide 15 when the bottom rail 21 is fed into the manhole 2 to stop the lowering of the bottom rail 21. . Then, the intermediate rail 22 is arranged on the upper surface of the bottom rail 21 and the other piece 43 is fixed to the lower end of the intermediate rail 22 as shown in FIG. Is connected. The intermediate rails 22 and the intermediate rail 22 and the top rail 2
The connection with 3 is made by the same means.

At the lower end of the bottom rail 21, three bar-shaped reaction force receiving members 44 are provided in the radial direction, which contact the wall of the manhole 2 as shown in FIGS. These reaction force receiving members 44 can be bent near the bottom rail 21. Therefore, while the bottom rail 21 moves within the manhole 2, the reaction force receiving member 44 is bent and is substantially parallel to the bottom rail 21 so that the bottom rail 2
In a state where the lower end of the bottom rail 21 is extended to the vicinity of the bottom of the manhole 2 without obstructing the movement of the first rail 1, the hydraulic pressure is supplied to the hydraulic pipe 45 by remote control so that each reaction force receiving member 44 is provided.
Extends toward the wall of the manhole 2 and contacts the wall,
To prevent the lower part of the screw 3 from wobbling.

As described above, the rail 3 is connected to the top rail 23.
And the intermediate rail 22 and the bottom rail 21 to reduce the weight of each of the rails 21, 22, 23 and reduce the weight of the manhole.
The rails can be easily attached to and removed from the rail 2, and the hinges 41 are used to connect the rails. A stopper for stopping movement is also used. Further, by providing a reaction force receiving member 44 at the lower end side of the bottom rail 21, the rail in the manhole 2 is provided.
The screw 3 is securely fixed.

As shown in FIG. 1, a reinforcing plate 46 for connecting the aggregates 24 at both ends is inserted into the lower end of the bottom rail 21, and the lower limit stop sensor is connected to the reinforcing plate 46.
When 47 is provided, reinforcement of rail 3 and bottom rail
The fact that the lower end of the rail 21 has been extended to the vicinity of the bottom of the manhole 2 is reliably detected, and the movement of the rail 3 can be controlled more accurately.

As shown in FIGS. 1 to 4, the top rail 23, the intermediate rail 22, and the bottom rail 21 are provided.
When a part of the aggregate 24 is formed as a hollow tube and air is supplied into the hollow tube to supply air into the manhole 2 during the automatic replacement of the footrest device, The air in the manhole 2 is purified, so that the inside of the manhole 2 is not fogged by dust, and the work robot can be easily controlled.

[0029]

According to the present invention, the rail is formed by arranging a plurality of aggregates in a semicircular arc region, and the bogie lifting rack and the bogie guide rail are provided on opposite sides of the aggregates at both ends. Rails and racks for rail lift are provided on the outer surfaces of the aggregates at both ends, so that the bogies can be easily, accurately and promptly moved by the racks for bogie lift and rails for bogie guides. The rail can be moved up and down along with the rail, and the rail itself can be easily attached to and removed from the manhole.

Further, the rail is composed of a top rail, at least one or more joint rails and a bottom rail, and each rail is connected by a hinge, and the top rail is held on a base. At the same time, if a plurality of rod-shaped reaction force receiving members are provided at the lower end side of the bottom rail to be in contact with the manhole wall, and each of the reaction force receiving members is configured to be able to bend, the rail is reduced in weight and the rail is reduced. The rails can be easily formed and transported, and the hinges of the connection members can be used as stoppers before connecting the rails. Since the receiving member can be bent, the bottom rail can be easily inserted and the rail can be inserted easily even with a narrow manhole.
Can be securely fixed.

Further, a reinforcing plate for connecting aggregates at both ends is inserted at the lower end of the bottom rail, and a descent limit stop sensor is provided on the reinforcing plate, so that the lowering position of the bottom rail is accurately detected. Can be controlled more accurately.

Further, when a part of the aggregate constituting the top rail, the intermediate rail, and the bottom rail is formed as a hollow tube, and the hollow tube is also used as a ventilation hole, the footrest can be automatically replaced. In addition, the inside of the manhole can be kept clean, and the control of the work robot becomes easy.

[Brief description of the drawings]

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

FIG. 2 is a perspective view showing a connection relationship between a rail and a truck.

FIG. 3 is a sectional view thereof.

FIG. 4 is a sectional view of a bottom rail.

FIG. 5 is a perspective view of a rail with hinges.

FIG. 6 is a perspective view for explaining a mode of joining rails.

[Explanation of symbols]

 Reference Signs List 1 base 2 manhole 3 rail 5 carriage 6 robot setting rail 13,33 motor 16,32 gear 21 bottom rail 22 intermediate rail 23 top rail 24 aggregate 25,26 rack 27 Bogie guide rail 41 Hinge 44 Reaction force receiving member 46 Reinforcement plate 47 Descent limit stop sensor

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

Claims (4)

(57) [Claims] 1. A rail for an automatic change device for a foot-holding tool which is guided and held by a base arranged on the upper surface side of the manhole and guides and holds a bogie holding a work robot for replacing a foot-holding tool. A plurality of aggregates arranged in a semicircular arc region, and a bogie lifting rack and a bogie guide rail are respectively arranged on opposite sides of the aggregates at both ends. A rail for automatically changing a footrest, wherein a rack for raising and lowering a rail is provided on the outer surface of the aggregate at both ends.
Le. 2. The method according to claim 1, wherein the rail is at least one top rail.
Consists of more than one intermediate rail and bottom rail, each rail
The top and bottom rails are connected by hinges, and a plurality of rod-shaped reaction force receiving members are provided at the lower end of the bottom rail to contact the manhole wall. 2. The rail according to claim 1, wherein said rail is configured to be able to bend. 3. The automatic foot-holding device according to claim 2, wherein a reinforcing plate connecting both ends of the aggregate is inserted at a lower end of the bottom rail, and a descent limit stop sensor is provided on the reinforcing plate. Rail for replacement device. 4. A part of the aggregate constituting the top rail, the intermediate rail and the bottom rail is a hollow tube, and the hollow tube is also used as a vent. 2. A rail for an automatic replacement device for footwear according to item 2.