JP3600644B2 - Automatic Foot Clamp Cutting Device - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a footwear automatic cutting device used for cutting a foothold for lifting that is implanted in a human hole.
[0002]
[Prior art]
For example, when a worker checks a sewer system, a human hole (a manhole or the like) is usually used as an entrance. In this case, an iron U-shaped footrest (step or the like) is provided on the wall of the wall so that the worker goes up and down in the human hole. The operator grasps the foothold metal by hand, moves up and down one step by putting his foot, and moves up and down in the human hole. However, many of these footholds have been installed for several decades, and corrosive gases and the like have also been generated, and the degree of corrosion has now increased. For this reason, a large number of footwear is expected to be replaced in the future, and will be replaced with new iron footwear whose surface is coated with a resin for preventing corrosion.
[0003]
Conventionally, in order to replace the foothold, the worker himself has directly entered the human hole, and the portion protruding from the wall has been removed by some cutting means.
[0004]
[Problems to be solved by the invention]
However, there is a case where toxic gas is sometimes generated in the human hole, and when an operator enters directly into the inside, gas poisoning may occur and life may be jeopardized. In addition, it is also conceivable that the footwear is sometimes damaged by corrosion and the operator steps off or falls down carelessly. Therefore, it would be desirable from the viewpoint of safety if the operator can remove the foothold metal without entering the human hole.
[0005]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a footwear automatic cutting device capable of removing a footwear provided on a wall thereof without a worker entering a human hole.
[0006]
The above objects are achieved by a base on which a hoist is mounted, an articulated robot suspended from the hoist and capable of vertically moving a human hole provided below a bottom of the base, and an articulated robot attached to the articulated robot. A cutting device that cuts a foothold for raising and lowering that is planted on the wall forming the human hole , a photographing device that photographs the vicinity of the cutting device, and an image photographed by the photographing device. and a receiver for receiving, while viewing an image of said image receiving device, said hoist, said joint robot, the row operation control unit of the cutting device Utotomoni, by folding the joint of the joint robot, The present invention is attained by an automatic footwear hardware cutting device characterized in that it can be accommodated in the gantry .
[0007]
[Action]
When the articulated robot moves in the vacant space, the inside of the vacant space can be seen on the video of the receiver by photographing the inside of the vacant space with a camera. You can know. Therefore, the operator can operate the hoist, the joint robot, and the control unit of the cutting device, thereby easily positioning the cutting device attached to the joint robot, and protruding from the wall forming the void. Can be cut by the cutting device.
[0008]
【Example】
Hereinafter, an automatic footwear cutting device according to a first embodiment of the present invention will be described with reference to the drawings.
[0009]
As shown in FIGS. 1 and 2, the automatic footwear cutting device 1 according to the first embodiment mainly includes a hoist 3 mounted on a gantry 2 and an articulated robot 4 suspended on the hoist 3. , And a hydraulic cutter 5 as a cutting device attached thereto.
[0010]
Of these, the gantry 2 has a rectangular frame structure, and is made of steel. Rollers 7 are attached to the lower four corners of the gantry 2 with mounting brackets 6 interposed therebetween, so that the gantry 2 can be easily moved. Similarly, an L-shaped bracket 8 is attached to the corners of the roller 7 so as to be adjacent to the mounting bracket 6 of the roller 7, and the male screw 9 b of the support member 9 is inserted into a hole formed therein. The nuts 10 and 11 screwed to this are for adjusting the height of the support member 9. From the state shown in the figure, when the nut 10 is rotated counterclockwise to move it upward, and then the nut 11 is rotated clockwise, the width h of the bottom 9a of the support member 9 and the bottom of the L-shaped bracket 8 increases. The bottom 9a of the support member 9 presses the ground. Thus, the gantry 2 is changed from supporting the rollers 7 to supporting the supporting members 9, and is fixed to the ground by these four supporting members 9. When the nut 11 is rotated counterclockwise and moved downward from the state shown in the drawing, and the nut 10 is rotated clockwise, the support member 9 moves upward. Thereby, the width h of the bottom 9a of the support member 9 and the bottom of the L-shaped bracket 8 is reduced, the bottom 9a is separated from the ground, the gantry 2 is changed to support four rollers 7, and when the gantry 2 is moved, The rotation enables easy movement.
[0011]
On the other hand, a trapezoidal lid 12 is attached to the upper end of the gantry 2, and two metal fittings 13 are attached to each side surface. Holes 13 a are formed in the metal fittings 13, and when the footwear automatic cutting device 1 is lifted using a crane, a rope can be hung on the holes 13 a.
[0012]
Further, a hoist 3 for suspending the articulated robot 4 is mounted on the gantry 2. The hoist 3 includes four types of winches 3a suspended at the center of each upper frame of the gantry 2, and two pulleys are provided at the upper and lower portions of the gantry 2 for each set. The first pulley 16 provided below is attached to a lower frame of the gantry 2 via a mounting bracket, and the second pulley 17 above is attached to a plate provided on an upper frame of the gantry 2. I have. Wire 15 supplied from winch 3a is wound around pulley 16 and pulley 17 in this order. Then, the end of the wire 15 is attached to the hanging bracket 19, and the flat plate 20 to which the articulated robot 4 is attached is suspended with the end interposed therebetween. When the wire 15 of the winch 3a is extended to the maximum, the length of the wire 15 extends about 10M downward from the second pulley 17. The winch 3a is controlled by operating a hoist control unit 21 (see FIG. 2) electrically connected thereto. When the wire 15 is completely wound, the switch is turned on by the upper part of the hanging bracket 19 abutting on the terminal of the limiter switch 18, and the hoist control unit 21 detects this signal and automatically stops the operation of the winch 3a. Then, the winding of the wire 15 ends.
[0013]
The articulated robot 4 suspended from the wire 15 of the hoist 3 with the flat plate 20 interposed therebetween includes a body 31, a shoulder 32, an arm 33, an elbow 34, an elbow rotating unit 35, and a wrist 36. Of these, the body 31 accommodates mechanical parts such as a motor, and is provided with a connector 31a that is electrically connected to the articulated robot control unit 22.
[0014]
The articulated robot 4 is a six-axis articulated joint. As shown in FIG. 3, the shoulder 32 is rotatable in the direction of arrow a with the vertical direction as the axis, and the arm 33 is bent with the point b as the axis. It is possible. The elbow 34 can be bent about the point c of the arm 33 as an axis, and the elbow rotating part 35 attached to the elbow 34 can rotate in the direction of arrow d about the longitudinal direction as an axis. The wrist 36 attached to the distal end of the elbow rotation part 35 can be bent with the cutter 5 attached around the point e of the elbow rotation part 36 as an axis. It is rotatable in a direction indicated by an arrow f around an axis perpendicular to the direction.
[0015]
A camera 37, which is a CCD type photographing machine, is attached to the elbow rotation unit 35 of the articulated robot 4, and the camera 37 is for photographing the surroundings of the articulated robot 4 and the vicinity of the cutter 5, and a camera control unit. 24 is electrically connected. An image captured by the camera 37 is displayed on the monitor 23 which is a receiver. Further, a light for illumination is integrally attached to the camera 37, and irradiates a portion to be photographed by the camera 37. The operation of this light is also performed by the camera control unit 24.
[0016]
In the cutter 5 shown in FIG. 4, the blades 40a and 40b are formed of special steel, and the tip of the blade is bent at 45 degrees (see FIG. 1), thereby facilitating the cutting operation on a plane. Regarding the mechanism of the blades 40a and 40b of the cutter 5, bolts 41a and 41b serving as fulcrums, bolts 42a and 42b serving as engagement points, and a shaft member 43 serving as an action point are all pivotally mounted at the corresponding positions. Thus, when the input member 44 slides in the longitudinal direction of the cutter 5, the blades 40a and 40b swing about the bolts 41a and 41b as fulcrums, and the blade edges open and close. As shown, when the input member 44 slides forward on the blade edge side, the width between the bolts 42a and 42b at the engagement point increases, the blade edges of the blades 40a and 40b approach, and the cutter 5 closes. Conversely, when the input member 44 slides rearward, the width between the bolts 42a and 42b at the engagement point becomes smaller, and the cutting edges of the blades 40a and 40b are separated, so that the cutter 5 is described by an imaginary line. open.
[0017]
The cutter 5 is of a hydraulic type, receives hydraulic pressure in a cylinder 45 via a hose connected to a cutter control unit 25, and receives the hydraulic pressure by the pressing force of a piston (not shown) provided therein. The connected input member 44 slides back and forth to open and close the cutter 5 as described above.
[0018]
Next, a description will be given of the human hole 50 that forms the empty space A where the articulated robot 4 works. As shown in FIG. 2, the human hole 50 is assembled by several blocks, and cylindrical blocks 56 and 55 having the same shape are stacked in order from the bottom. In order to maintain stability when stacked, the upper and lower ends of the cylindrical upper blocks 55 and 56 are formed in a flange shape. These inner diameters are about 1200 mm in this embodiment. In the vicinity of the entrance of the human hole 50, substantially conical cylindrical blocks 54 and 53 are stacked in order from the bottom, and the inner diameter decreases as approaching the entrance. The inner diameter of the annular block 52 and the lid support member 51 arranged on the flange portion of the cylindrical block 53 is 600 mm.
[0019]
As described above, the cavity A inside the human hole 50 has a narrow entrance portion and a slightly larger inner diameter as it becomes deeper, but the inner wall of the cavity A, On the inner walls of the cylindrical blocks 53 to 56, iron foothold members 57a to 57g are disposed at equal intervals in the vertical direction. The foothold members 57a to 57g have the same U-shape, and two ends are planted on the inner walls of the cylindrical blocks 53 to 56 for each block. When the worker enters or exits the inside of the human hole 50, the operator can alternately grasp the foothold hardware 57a to 57g with his / her hand, place his / her feet, and move up and down the inner walls of the tubular blocks 53 to 56.
[0020]
The configuration of the automatic footwear cutting device 1 according to the first embodiment of the present invention has been described above. Next, the operation thereof will be described.
[0021]
As shown in FIG. 2, the lid of the human hole 50 for performing the operation is opened, and the gantry 2 is moved above the human hole 50 by the rotation of the roller 7. If the articulated robot 4 is placed directly above the human hole 50, the bottom 9a of the support member 9 is grounded, the support of the gantry 2 is changed from the roller 7 to the support member 9, and the gantry 2 is placed on the ground. Is fixed. Next, the operator operates the camera control unit 24 to turn on the power of the camera 37, the monitor 23, and the light. Then, by operating the hoist control unit 21, the wire 15 is supplied from the winch 3a, and the articulated robot 4 is lowered. Since the articulated robot 4 is suspended by the four wires 15 with the flat plate 20 interposed, the articulated robot 4 can move downward with good balance.
[0022]
When the articulated robot 4 is put into the space A, the entrance of the human hole 50 is narrow, and when the articulated robot 4 is lowered into the human hole 50 in a folded state, for example, the cutter 5 may hit the entrance. In such a case, from the state where the articulated robot 4 is housed in the gantry 2, the cutter 5 is first inserted into the space A of the human hole 50. That is, first, the arm 33 is rotated clockwise about the point b of the arm 33 as an axis, and at the same time, the elbow 34 is rotated clockwise about the point c as an axis. Insert into place A. Then, while returning the arm 33 in the counterclockwise direction about the point b, the arm 33, the elbow 34, and the elbow rotating part 35 are extended vertically as shown in FIG. The part 35, the elbow 34, the arm 33 and the human hole are inserted. In this way, the articulated robot 4 can be placed in the space A.
[0023]
When the articulated robot 4 is lowered to a predetermined position, the joint is extended from the accommodated state of the articulated robot 4 shown in FIG. At this time, since the worker can see the state of the vacant space A on the monitor 23, the operation of the articulated robot 4 can be performed safely. To start the cutting operation, for example, to cut from the lower footwear 57g among the footwear 57a to 57g, the operator operates the hoist control unit 21 while watching the image on the monitor 23, and Is lowered to near the bottom of the space A. Next, the elbow 34 is rotated around the point c to turn the camera 37 toward the wall of the empty space A. In this case, if the cutter 5 hits the wall, the arm 33 is bent in a direction opposite to the cutter 5 around the point b. Then, while rotating the shoulder 32, the hoist control unit 21 is operated to slowly raise the articulated robot 4, and the foothold metal fitting 57g is confirmed on the monitor.
[0024]
FIG. 2 shows that the cutter 5 cuts the foothold fitting 57g. This cutting work will be described. When 57 g of foothold metal can be confirmed on the image of the monitor 23, for example, the shoulder 32 and the arm 33 are rotated to roughly position the cutter 5, and then the point e of the elbow rotating part 35 is set. By changing the direction of the cutter 5 as an axis or rotating the wrist 36, the cutting edge of the cutter 5 sandwiches one end of the foothold fitting 57g. At this time, the cutting edge of the cutter 5 is made parallel to the inner wall of the cylindrical block 56 so as to be in contact therewith so that there is no uncut portion. When the operator cuts the foothold metal fitting 57 g with the cutter 5, it is performed by operating the cutter control unit 25. When the cutting of one end of the footwear 57g is completed, the other end of the footwear 57g is cut, and the other remaining footwear 57a to 57f are cut in the same manner. The 57 g cutting operation is completed.
[0025]
When the footwear cutting work is completed, the operator extends the arm 33 and the elbow 34 of the articulated robot 4 downward to make them straight as shown in FIG. Then, the hoist control unit 21 is operated to wind up the winch 3a, and the articulated robot 4 is raised to the ground. As a result, when the upper part of the hanging bracket 19 for suspending the articulated robot 4 comes into contact with the terminal of the limiter switch 18, the winding of the wire 15 of the winch 3a is stopped, and the ascent of the articulated robot 4 is stopped. Therefore, the camera controller 24 is operated to turn off the power of the camera 37, the monitor 23, and the light.
[0026]
In order to accommodate the articulated robot 4 that is linearly downward in the gantry 2, the arm 33 of the articulated robot 4 is rotated clockwise, and at the same time, the elbow 34 is rotated counterclockwise. Thereby, the elbow 34, the elbow rotation part 35, and the cutter 5 can be taken out from the entrance of the human hole 50 on the ground. Then, if the rotation of the arm 33 is stopped and the arm 33 is rotated counterclockwise in the opposite direction, the articulated robot 4 can be accommodated in the gantry 2 in the state of FIG.
[0027]
As described above, according to the present embodiment, the inside of the human hole can be seen from the image on the monitor, and the worker can cut the foothold metal in the human hole while staying on the ground. This prevents the worker from becoming gas-poisoned in the human hole and prevents the worker from falling down due to corrosion of footholds. Further, since the articulated robot 4 is used, it can be folded at the joints, which is convenient for accommodation in the gantry 2 and is compact as a whole.
[0028]
Next, an automatic footwear cutting device 60 according to a second embodiment of the present invention will be described with reference to the drawings. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.
[0029]
FIG. 5 shows a part of the automatic footwear cutting apparatus 60 according to the present embodiment, but differs from the automatic footwear automatic cutting apparatus 1 of the first embodiment in that the flat plate 20 suspended on the wire 15 The position fixing device 63 is provided between the joint robot 4. This position fixing device 63 is provided with a panda graph-shaped fixing member 61 with a mounting member 65 interposed between a cylindrical member 64. The fixing member 61 is formed by screwing a shaft-like member 67 in which a male screw is formed on a female screw portion provided at a joint of two arm members 68a and 68b, like a jack structure of an automobile. When the shaft member 67 is rotated in the clockwise direction, the width of the joint of the arm members 68a and 68b on the shaft member 67 is reduced, and the joint of the arm members 68a and 68b gradually widens from an acute angle. Height becomes large. As a result, the support member 69 provided at the ridge where the arm members 68a and 68b are engaged contacts and presses against the inner wall of the tubular member 54.
[0030]
When the shaft member 67 is rotated counterclockwise, the width of the joint of the arm members 68a and 68b increases on the shaft member 67, and the angle of the joint of the arm members 68a and 68b gradually decreases. The height of the member 61 is reduced, and becomes like an imaginary line.
[0031]
The fixing members 61 are provided at three places on the columnar member 64 at intervals of 120 degrees with respect to the horizontal plane. The fixed member 61 is provided with a motor 66 connected thereto for rotating the shaft-shaped member 67, and this is operated by the articulated robot controller 22 on the ground.
[0032]
Except for these points, the second embodiment has the same configuration as the first embodiment. However, since the position fixing device 63 is provided, the gantry 62 of the present embodiment becomes higher by the height of the column member 64. The stopper member 71 of the roller 70 is used to fix the roller 70 of the gantry 62.
[0033]
As described above, according to the footwear automatic cutting device 60 of the present embodiment, when the articulated robot 4 is lowered to the empty space A, when the monitor 23 finds the footwear 57a to 57h, The articulated robot 4 can be fixed in the space A by operating the position fixing device 63. Therefore, the articulated robot 4 can be prevented from swinging like a pendulum due to the swing of the wire 15. Thereby, the position adjustment of the cutter 5 is facilitated, and the cutting edge of the cutter 5 can be properly adjusted to the roots of the foothold hardware 57a to 58h, so that more accurate cutting can be performed. Other effects are the same as those of the first embodiment.
[0034]
Although the embodiments of the present invention have been described above, the present invention is, of course, not limited thereto, and various modifications can be made based on the technical idea of the present invention.
[0035]
For example, in each of the above embodiments, the camera 37 is attached to the elbow rotation unit 35, but may be attached to the shoulder 32, the arm 33, or the like.
[0036]
Also, in each of the above embodiments, the foothold metal was cut using the hydraulic cutter 5 as a cutting device, but the cutter was cut by rotation, cutting with a rotary grindstone such as a grinder using a mechanical motor, and sawing. The same effect can be obtained by attaching a cutting device using teeth, a cutting device using hydraulic jet water, or the like to the step cutting robot, and these power sources may be hydraulic, electric or pneumatic.
[0037]
In this specification, the term “hoist” is intended to include all types of hoists such as cranes and hoists.
[0038]
【The invention's effect】
As described above, according to the footwear automatic cutting device of the present invention, the state of the vacant space can be understood from the image of the receiver, and the cutting device in the vacant space can be used while the worker is on the ground. It can cut the footwear that has been used. Thereby, the worker does not become gas poisoned in the human hole, and it is possible to prevent the worker from falling due to the corrosion of the footwear. In addition, since the joint robot is used, the joint robot can be folded and placed in a vacant space even in a narrow place, which is convenient for accommodation in a gantry, and the whole is compact.
[Brief description of the drawings]
FIG. 1 is a side view showing a state where an articulated robot of an automatic footwear cutting apparatus according to a first embodiment of the present invention is accommodated in a gantry.
FIG. 2 is a vertical cross-sectional view showing a state where a gantry of the automatic footwear hardware cutting device is set on a human hole and an articulated robot is lowered into the human hole.
FIG. 3 is an enlarged side view of the articulated robot of the footwear automatic cutting device.
FIG. 4 is an enlarged plan view of a cutter of the automatic footwear hardware cutting device.
FIG. 5 is a longitudinal sectional view showing a state where an articulated robot of an automatic footwear cutting device according to a second embodiment of the present invention is fixed in a human hole by a position fixing device.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 footwear automatic cutting device 2 gantry 3 hoist 4 articulated robot 5 cutter 21 hoist control unit 22 robot control unit 23 monitor 25 cutter control unit 37 camera 57 a footwear hardware 57 b footwear hardware 57 c footwear hardware 57 d footwear hardware 57 e Footwear 57f Footwear 57g Footwear 57h Footwear 60 Automatic footwear cutting device 62 Mount 63 Position fixing device A Vacant space

Claims (2)

A gantry hoist is mounted, said is suspended to the hoist, and joint robot capable of moving a manhole provided in the lower vertical than the bottom of the frame, attached to the joint robot, the person hole A cutting device that cuts a foothold for raising and lowering that is planted on a wall forming a camera, a photographing machine that photographs the vicinity of the cutting device, and a receiver that receives an image photographed by the photographing machine. With
While watching the image of said image receiving device, said hoist, the joint robot and the row operation control unit of the cutting device Utotomoni, by folding the joint of the joint robot, allows to accommodate to the frame An automatic cutting device for foothold hardware. 2. The apparatus according to claim 1, further comprising support means for supporting the indirect robot with a human hole .

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