JP3428198B2 - Band saw robot - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a band saw robot used for cutting a projection fixed to a large structure, for example, a temporarily fixed metal fitting after being temporarily fixed.

[0002]

2. Description of the Related Art For example, when assembling a large structure such as a pier member when constructing a pier, a suspension piece is usually temporarily fixed to the surface of the large structure, and a wire rope is attached to the suspension piece. They are hung and hung by a crane for transportation.

It is necessary to remove the temporary fixing metal fittings such as the above hanging pieces after they have been used.

[0004] In the case of removing the temporary fixing metal fittings after use of a large structure, conventionally, a method has been adopted in which after cutting the gas, the cutting point is finished with a grinder.

[0005]

However, in the case of the above-mentioned conventional method, all the manual work is required, which is not only disadvantageous in terms of cost, but also when the work space is narrow or high, it is impossible for the worker. However, there is a problem that the operator is burdened with a heavy posture and an unstable posture. Therefore, although a milling cutting type temporary fastener removing device has been devised, it has a drawback that it is difficult to handle manually because it is so heavy that it can only be used at a place with a crane.

Therefore, the present invention is to provide a band saw robot which is easy to handle and can remove the temporary fixing metal fittings by a simple operation, thereby attempting to save labor and reduce cost. Is.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is intended for adsorbing to the surface of a structure at four corners of a lower surface of a support frame formed in a rectangular shape by front and rear beams and left and right beams. Equipped with a suction cup unit, and each of the front and rear or left and right beams facing each other has a linear rail.
Provided, the moving base frame supported on each of the rails,
Driven by a moving drive device, each line is straight along a rail
The endless band saw.
The projections of the lower end of the opening part of the band saw is fixed onto the structure to each other so as to expose the position with a downward opening to and central portion provided so as to be circularly moved by location both end portions of the band saw body so as to cut the
The height is adjustable on the moving base frames located opposite to each other.

Further, it is preferable that the band saw body is constructed so that its height can be adjusted and can be attached to and detached from the moving base frame which is located opposite thereto.

Furthermore, the front and rear beams and the left and right beams
On the four corners of the lower surface of the rectangular support frame, on the surface of the structure
Equipped with a suction cup unit for adsorption, and before the above
Curved linear rails are installed on the rear or left and right beam facing surfaces.
A moving base provided on each rail and supported on each rail
The frame is moved along the rails by the movement drive device.
It can be moved in a curved line, and is an endless band saw.
Is equipped with a driving device so that it can be circulated
Has a downward opening at the lower end of the opening
The parts are exposed and fixed on the structure.
Both ends of the band saw body that are designed to cut the protruding
Height can be adjusted to the above-mentioned moving base frame
It will be attached to.

Furthermore, suction cup units for adsorbing to the surface of the structure are provided at the four corners of the lower surface of the support frame formed in a square or rectangular shape by the front and rear beams and the left and right beams,
Further, a moving base frame is provided on one of the facing surfaces of the front and rear or left and right beams so as to be linearly movable along the longitudinal direction of these beams by driving of a moving drive device, and the front and rear or left and right beams are also provided. Another moving base frame is provided on one of the other facing surfaces of the beam so as to be able to move in a curved line along the longitudinal direction of these beams by the drive of the moving drive device. Both ends of the band saw body, which has a part of the band saw at the lower end of the opening and can be moved by a driving device to cut a protrusion fixed on the structure, It is advisable to be configured so as to be attachable to and detachable from both the front and rear beam moving base frames and the left and right beam moving base frames.

[0011]

[Operation] After carrying the support frame to the position where the temporary fixing metal fitting is fixed on the structure and fixing it by the sucker unit, the band saw body attached between the moving base frames is linearly driven by the moving drive device. When it is moved in a circular shape, the temporary fastening member is cut by the band saw of the band saw body. This place
If the band saw body, the height can be adjusted to the moving base frame
Since it is installed, you can freely set the level of the band saw
It

If the main body of the band saw is attachable to and detachable from the moving base frame, the handling during transportation becomes easy.

Further, when the moving base frame can be moved in a curved line, it can be dealt with when the temporary fixing member is fixedly mounted on the curved surface.

Furthermore, when a moving base frame that moves in a straight line and a moving base frame that moves in a curved line are combined, the band saw body is replaced to cope with structures of any surface shape. You can

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 4 show an embodiment of the present invention, which is a beam 1 made of a square pipe and arranged in parallel to the left and right.
a rectangular support frame 1 is formed from a and 1b and beams 1c and 1d arranged in parallel to the front and rear, and on the lower surface sides of the left and right ends of the front and rear beams 1c and 1d, which are near the four corners of the support frame 1.
A suction cup unit 3 for adsorbing onto the surface of the structure 2 is provided.

Left and right beams 1 constituting the support frame 1
A pulleys 8a, 8b, 8c and 8d are rotatably provided on shafts 7a, 7b, 7c and 7d, respectively, which are arranged in the vertical direction on the lower surface of each corner where the a and 1b intersect with the front and rear beams 1c and 1d. Together with the front and rear pulleys 8a,
Endless moving belts 12a and 12b are wound around 8b and between 8c and 8d, and bevel gears arranged at the upper ends of the shafts 7b and 7d in the corners of the beams 1a and 1d and in the corners of the beams 1b and 1d. 10a and 10b are attached, the bevel gears 10a and 10b are engaged with the bevel gears 9a and 9b on the shafts 4a and 4b arranged in the front-rear direction, and the pulleys 5a arranged on the outer rear surface of the support frame 1 are attached to the shafts 4a and 4b. And 5b are attached and the pulleys 5a,
A transmission belt 6 is hung between the 5b and the shaft 4a.
A motor 11 as a moving drive device is connected to either one of (1) and 4b (4b in the embodiment) in the beam, and the driving force of the motor 11 is transmitted from the shaft 4b to the pulley 5b, the transmission belt 6, the pulley 5a, The transmission between the pulleys 8a and 8b is transmitted to the pulley 8b via the shaft 4a, the bevel gears 9a and 10a and the shaft 7b, and at the same time transmitted to the pulley 8d from the shaft 4b via the bevel gears 9b and 10b and the shaft 7d. The belt 12a for movement and the belt 12b for movement between the pulleys 8c, 8d are synchronously moved in the front-rear direction (direction of arrow X), and further, in the support frame 1, facing surfaces of the left and right beams 1a, 1b. Both ends of the band saw body 13 having a length corresponding to the dimension between them can be attached to and detached from the moving base frames 14 attached to the left and right moving belts 12a and 12b, respectively. And movable in the longitudinal direction is attached to.

The band saw body 13 is provided with a hollow gate-shaped casing 16 having a downward opening 15 in the center, and pulleys 17 are provided above and below the left and right positions in the casing 16, and each pulley 17 is provided. An endless band saw (band saw) 18 is hung between the
Is exposed at the lower end of the opening 15 of the casing 16 in the left-right direction (arrow Y direction), and the output of the motor 19 installed on the outer side of the casing 16 on the shaft of any one of the pulleys 17 described above. The shafts are connected so that the band saw 18 is circulated between the pulleys 17 by driving the motor 19.

Further, as shown in FIG. 4, the moving base frame 14 is shown by enlarging the moving base frame 14 on the left side.
It is fixed by using bolts 20 so as to be sandwiched by 1, and the outer upper position is slidably supported by a linear guide rail 22 in the front-rear direction provided on the inner side surface of the beam 1a via an engaging member 23. Further, between the upper and lower sides, a height adjusting screw 25 is provided which can be rotated by rotating the knob 24 at the upper end, and the height adjusting screw 25 is provided.
A guide rod 26 is fixed in parallel next to the movable block 27 so that it can be screwed into the height adjusting screw 25.
And the movable block 27 is attached to the guide rod 2
6, the end portion of the casing 16 of the band saw body 13 is attached to the movable block 27 by a mounting screw 28. The right moving base frame 14 has a bilaterally symmetrical structure with the left moving base frame 14.

In FIGS. 1 to 3, 29 and 30 are handles for transportation, 31 is an operation panel, 32 is a magnet for preventing the fall of the temporarily fixed metal fitting 33 after cutting when used vertically, and 34 is a band saw. A limit switch installed at the end of the beam 1a corresponding to the moving base frame 14 so as to regulate the movement position when the main body 13 is moved from the home position HP on the front beam 1c side toward the rear beam 1d side. , 35 are drivers and power supply storages for the respective drive units.

When the work for cutting the temporary fixing metal fitting 33 as a projection fixedly provided on the structure 2 is performed, the band saw main body 13 is previously moved from between the left and right moving base frames 14 on the support frame 1 side. The support frame 1 is grasped until the position where the temporary fixing metal fitting 33 is fixed with the handle 29 removed.
And sucking the sucker units 3 at the four corners onto the surface of the structure 2 to bring the support frame 1 into a fixed state. At this time, the fixing position of the support frame 1 is selected by arranging the temporary metal fittings 33 in the cuttable area S determined based on the opening 15 and the moving range of the band saw body 13. Next, the band saw body 13 that has been removed is carried to a position inside the support frame 1 by using the handle 30, and fixedly arranged between the left and right moving base frames 14. In this case, the band saw body 13 is attached to the movable block 27 screwed to the height adjusting screw 25 of each moving base frame 14 by the attaching screw 28.
The left and right ends of the casing 16 are attached.
Further, the height adjusting screw 25 is turned by operating the knob 24 to adjust the height of the band saw body 13 through the vertical movement of the movable block 27 to adjust the level of the band saw 18 exposed at the lower end position of the opening 15. Set.

In the above state, by operating the buttons 19 on the operation panel 31, the motor 19 for driving the band saw main body is driven, and the motor 11 for moving the band saw main body is driven to move the band saw main body 13 to the front beam 1c side. The home position HP is moved toward the rear beam 1d in the front-rear direction. In this case, when the motor 19 is driven, the band saw 18 is circularly moved along the pulleys 17 arranged in the upper, lower, left and right positions inside the casing 16. When the motor 11 is driven, its driving force is transmitted from the shaft 4b to the pulley 8b via the pulley 5b, the transmission belt 6, the pulley 5a, the bevel gears 9a and 10a, and the shaft 7b, and at the same time, from the shaft 4b to the bevel gear 9b. Since it is transmitted to the pulley 8d via the shaft 10d and the shaft 7d, the left and right moving belts 12a and 12b are moved in synchronization between the front and rear pulleys 8a and 8b and 8c and 8d. The transfer base frame 14 fixed to the transfer belts 12a, 12b
Will be moved together with. In addition, at this time, since the moving base frame 14 is engaged with the guide rail 22 provided in the front and rear direction straight lines provided inside the left and right beams 1a and 1b through the engaging member 23, the band saw body 13 is It can be moved linearly and stably in the front-back direction. Therefore, the movement of the band saw body 13 in the front-rear direction cuts the root part of the temporary fastening member 33. When the band saw body 13 is still moved to the rear beam 1d side and the position of the moving base frame 14 is detected by the limit switch 34 after the temporary fastening metal 33 is cut, the drive of the band saw body 13 is stopped, Moreover, the band saw body 13 is returned to the home position HP.

In this way, by temporarily moving the band saw body 13 in the support frame 1 to easily cut and remove the temporary fixing metal fitting 33, it is possible to force the worker to take an unreasonable posture even in a narrow space. Instead, only the final grinding after cutting should be performed.

In the above, since the band saw main body 13 is moved within the support frame 1, the control system is simple and therefore can be manufactured inexpensively.
Further, since the band saw body 13 is detachable from the support frame 1, handling such as transportation is easy and labor saving can be achieved. Further, since the suction cup unit 3 is used to fix the support frame 1 to the structure, it is possible to easily fix the support frame 1 also to the vertical surface, and at this time, the fall prevention magnet 32 is provided on the rear beam 1d. Since it is provided, there is also an advantage that the cut temporary fastening member 33 can be suction-held and can be prevented from falling downward.

Next, FIGS. 5 to 7 show another embodiment of the present invention, in which the band saw body 13 is configured to be moved in the front-rear direction along a locus along a curved line.

That is, in addition to the linear guide rail 22, curved linear guide rails 36 having an upward convex shape are provided at positions facing the inner side surfaces of the left and right beams 1a and 1b.
On the other hand, as a moving base frame to which the band saw body 13 is detachably attached, an elevating part 14a having an engaging member 37 for the guide rail 36 and a feeding part 14b having an engaging member 23 for the guide rail 22. A moving base frame 14 'is used, and the elevating part 14a is provided with a height adjusting mechanism such as the same height adjusting screw 25 as shown in FIG. 4 so that the band saw body 13 can be attached and detached. An elongated hole 38 extending vertically is provided in the lower part of the side, while the feeding portion 1
4b has one side fixed to the moving belt 12a (12b) via the fixing plate 21, and the other side has the above-mentioned lifting unit 1
A guide pin 39 is slidably fitted into the elongated hole 38 of 4a. The other parts have the same structure as that shown in FIGS. 1 to 4, and the same parts are denoted by the same reference numerals.

In the case of the embodiment shown in FIGS. 5 to 7, when the band saw body 13 moves in the front-rear direction, the feed portions 14b of the left and right moving base frames 14 'are linearly formed via the engaging members 23. Belt 12 for movement along the guide rail 22 of
a, 12b, while the elevating part 14a moves along the curved guide rail 36 via the engaging member 37, at this time, the vertical displacement of the elevating part 14a with respect to the feeding part 14b is guided. By being absorbed by the pin 39 and the elongated hole 38, the band saw body 13 is moved in the front-rear direction along a curved linear locus that is convex upward. Therefore, for example, it is advantageous when it is used for removing work of a temporary fastening member that is fixed to the outer surface of a curved structure such as a segment of a shield machine.

8 and 9 show another embodiment of the present invention, in which the left beam 1 of the support frame 1 having a square shape is shown.
A pulleys 8a and 8b are respectively provided on the lower surface side of the front end portion of a and the lower surface side of the right rear corner portion, and two guide pulleys 40a are provided on the lower surface side of the left rear end corner portion inside and outside, respectively. 8b and the guide pulley 40a are hung around the moving belt 12a, while the pulleys 8c and 8d are provided on the lower surface side of the left front end corner portion of the support frame 1 and the lower surface side of the rear end portion of the right beam 1b, respectively. Two guide pulleys 40b are provided inside and outside on the lower surface side of the front end corner portion, and a moving belt 12b is wound between the respective pulleys 8c and 8d and the guide pulley 40b.
The shaft 4 is connected to the output shaft of the motor 11 installed at the rear end of the right beam 1b, and the bevel gears 9a and 9b are provided on the shaft 4, and the bevel gear 9a is provided with the pulley 8b at the right rear corner. The bevel gear 10a provided on the shaft 7b is meshed, and the bevel gear 9b is provided on the shaft 7d of the pulley 8d at the rear end of the right beam 1b.
b is engaged so that the moving belts 12a and 12b are opposed to each other by the drive of the motor 11 so as to be synchronously moved in the same direction at the respective beam portions.
At the facing surface portions of a and 1b, the moving belts 12a and 12b are guided along the linear guide rail 22 similar to that shown in FIG.
b are provided with moving base frames 14 that can move in the front-rear direction, respectively, while the front and rear beams 1c, 1
In the facing surface portion of d, a moving base that can move in the left-right direction integrally with the moving belts 12b and 12a along the linear guide rail 22 and the curved linear guide rail 36 as shown in FIG. Frames 14 'are provided respectively, and the band saw body 13 can be attached to and detached from both of the moving base frames 14 facing left and right and the moving base frames 14' facing front and back. The band saw body 13 is attached so that it can be used.

In the case of the embodiment shown in FIGS. 8 and 9, the band saw body 13 can be linearly moved in the front-rear direction by mounting the band saw body 13 between the moving base frames 14 facing each other on the left and right sides. By mounting the band saw body 13 between the moving base frames 14 'that face each other in the front-rear direction, the band saw body 13 can be curvedly moved in the left-right direction. Band saw body 13 according to the surface shape
It is extremely convenient because you can select the movement path of.
The mounting positions of the moving base frames 14 and 14 'are
There is no problem even if the left and right sides are reversed.

The present invention is not limited to the above embodiment, but the band saw body 13 shown in FIGS. 1 and 5 may be configured to be movable in the left and right direction, and FIG. The relationship between the elongated hole 38 of the moving base frame 14 'and the guide pin 39 shown in FIG. 7 may be reversed, and various modifications may be made without departing from the scope of the invention. Is.

[0031]

As described above, according to the band saw robot of the present invention, the front and rear beams and the left and right beams are used for quadrature.
The four corners of the lower surface of the support frame
Equipped with a suction cup unit for wearing, and before and after the above
Or, use straight rails on the facing surface of the left and right beams.
A moving base frame provided on each rail and supported on each rail.
Along the rails by the movement drive device.
It is possible to move in a straight line, and further drive an endless band saw.
It is equipped so that it can be circulated by a moving device and
Has a facing opening and a part of the band saw is provided at the lower end of the opening.
A protrusion fixed on the structure that is exposed.
Both ends of the band saw body that was designed to cut
The height can be adjusted on the moving base frame located opposite to each other.
. Doing so may give a it is constituted, Rutotomoni can control system inexpensively manufactured a simple, band saw body moves
Is it attached to the movable base frame so that the height can be adjusted?
, The level of the band saw can be freely set, and the band saw body can be detached so that the support frame and the band saw body can be carried separately, which facilitates handling and saves labor. In addition, since the support frame can be fixed to the surface of the structure with the suction cup unit, it can be easily fixed even in a narrow place or on a vertical surface, which makes it impossible for the worker. The temporary fixing metal fitting can be removed by a simple operation without forcing the posture, and the moving base frame can be moved in a curved line shape so that the temporary fixing metal fitting is fixed to the curved surface. It is possible to deal with the removal work without any hindrance, and by combining the moving base frame that can move linearly and the moving base frame that can move in a curved line, the temporary fixing metal can be fixed. Advantageously able to select the movement locus of the band saw body according to the surface shape of the structure being, it exhibits excellent effects and the like.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of a band saw robot of the present invention.

FIG. 2 is a view taken along the line II-II in FIG.

3 is a view taken along the line III-III in FIG.

FIG. 4 is an enlarged view of IV-IV in FIG.

FIG. 5 is a plan view showing another embodiment of the present invention.

6 is a view taken along the line VI-VI in FIG.

7 is a VII-VII enlarged arrow view of FIG.

FIG. 8 is a plan view showing still another embodiment of the present invention.

9 is a view taken along the line IX-IX in FIG.

[Explanation of symbols]

1 Support Frame 1a, 1b, 1c, 1d Beam 2 Structure 3 Sucker Unit 11 Motor (Moving Drive Device) 13 Band Saw Main Body 14, 14 'Moving Base Frame 15 Opening 18 Band Saw 19 Motor (Drive Device) 24 Knob 25 High Adjusting screw 26 Guide rod 27 Movable block 28 Mounting screw 33 Temporary fixing metal fitting (projection)

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References Actual flat 1-60820 (JP, U) Actual open Sho 61-92521 (JP, U) Actual open Sho 59-17124 (JP, U) (58) Survey Field (Int.Cl. ⁷ , DB name) B23D 53/00-55/10

Claims (5)

(57) [Claims] 1. A suction frame unit for adsorbing to a surface of a structure is provided at four corners of a lower surface of a support frame formed in a rectangular shape by front and rear beams and left and right beams, and facing surfaces of the front and rear or left and right beams. In addition, each straight rail
Provided, the moving base frame supported on each of the rails,
Driven by a moving drive device, each line is straight along a rail
The endless band saw.
The projections of the lower end of the opening part of the band saw is fixed onto the structure to each other so as to expose the position with a downward opening to and central portion provided so as to be circularly moved by location both end portions of the band saw body so as to cut the
A band saw robot having a structure in which heights can be adjusted to be attached to moving base frames facing each other . 2. A rectangle formed by front and rear beams and left and right beams
Adsorbed on the surface of the structure at the four corners of the lower surface of the support frame formed on
Equipped with a suction cup unit for
Are straight rails on the opposite surface of the left and right beams.
Provided, the moving base frame supported on each of the rails,
Driven by a moving drive device, each line is straight along a rail
The endless band saw.
It is equipped so that it can be circulated by placing it and faces downward in the center
Part of the band saw is exposed at the lower end of the opening.
Protrusions that are positioned and fixed on the structure
Cut both ends of the band saw body
A band saw robot having a structure in which heights can be adjusted and which can be attached / detached to / from movable base frames that face each other . 3. A rectangle formed by front and rear beams and left and right beams
Adsorbed on the surface of the structure at the four corners of the lower surface of the support frame formed on
Equipped with a suction cup unit for
A curved linear rail on the facing surface of the left and right beams.
A moving base frame provided on each rail and supported on each rail.
Along the rails by the movement drive device.
It is possible to move in a curved line, and further, an endless band saw
It is equipped with a drive device so that it can be circulated and
Part of the band saw with a downward opening at the lower end of the opening
Is exposed and fixed on the structure
Both ends of the band saw body designed to cut the protrusions
Height can be adjusted to the above-mentioned moving base frame
A band saw robot having a structure attached to a . 4. A suction frame unit for adsorbing to a surface of a structure is provided at four corners of a lower surface of a support frame formed in a square shape by front and rear beams and left and right beams, and either of the front and rear or left and right beams is provided. On one of the facing surface portions, a moving base frame is provided so as to be linearly movable by driving of a moving drive device along the longitudinal direction of these beams, and on the other facing surface portion of the front or rear or left and right beams, Another moving base frame is provided so that it can be moved along the longitudinal direction of these beams in a curved line shape by the drive of the moving drive device, and further has a downward opening in the center and a band saw at the lower end of the opening. Both ends of the band saw body, which is moved by a driving device so that a part of the beam can be moved to cut the protrusions fixed on the structure, are connected to the front and rear beams for moving the beam. A band saw robot characterized in that it is detachably attached to both the base frames and the base frames for moving left and right beams. 5. A suction frame unit for adsorbing to a surface of a structure is provided at four corners of a lower surface of a support frame formed in a rectangular shape by front and rear beams and left and right beams, and either of the front and rear beams is provided. On one of the opposing surface portions, a moving base frame is provided so as to be linearly movable along the longitudinal direction of these beams by driving of a moving drive device,
Another moving base frame is provided on the opposite surface part of the other of the front and rear beams or the left and right beams so as to be able to move in a curved line shape by the drive of the moving drive device along the longitudinal direction of these beams. Of the band saw body, which has a downward opening in a portion thereof so that a part of the band saw is exposed at a lower end portion of the opening and is moved by a driving device to cut a protrusion fixed on the structure. A band saw robot having a structure in which both end portions are detachably attached to both of the front and rear beam moving base frames and between the left and right beam moving base frames.