JPH0674719B2 - Bolt fastening device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a bolt fastening device, and more specifically, to a bolt fastening suitable for connecting a relatively large and heavy object such as a segment in shield excavation with a bolt. It relates to the device.

[Conventional technology]

Conventionally, for example, in shield excavation, when concrete segments A and B are connected with bolts as shown in FIG. 5,
An iron box b having a bolt hole a is previously embedded in the fastening portion at a predetermined position of the segments A and B, and the segment A and the segment B are aligned by an erector provided in a shield excavator (not shown). A worker inserts a bolt (not shown) into the bolt hole a and tightens it.

[Problems to be Solved by the Invention]

However, the segments A and B, which are such large structures made of concrete, are heavy and are aligned at the site using an erector.
It is extremely difficult to carry out a fine alignment work for accurately aligning. For this reason, after the bolt hole a, that is, the segments A and B are delicately aligned with the erector, the worker further inserts a bar or the like into the bolt hole a and slightly moves the segment A or B by manpower, Since it is necessary to correct the positional deviation of the hole a, the tightening work requires human power, which not only requires time and labor, but also poses a problem of danger.

[Means for Solving the Problems]

The present invention has been made to solve the above-mentioned problems of the prior art, and has the following inventions.

1) A hand 11 having a nut runner 10 is attached to one side of a base plate 4 which is provided so as to be able to move up and down through a cylinder 5 on a support base 2 projectingly provided on a side surface of a substrate 1, and the other side faces the nut runner 10. Is a bolt fastening device in which a support plate 8 having a bolt gripping mechanism 7 is provided, and the hand 11 and the bolt gripping mechanism 7 are supported by the base plate 4 so that they can approach or separate from each other while maintaining a facing state. .

2) Another invention is the above invention 1), in which the bolt gripping mechanism 7 supported by the support plate 8 has two gripping hands 16 pivotally supported by the support plate 8 with pins 17, and the gripping hands 16.
One end is connected to 16 and the other end is connected to a member actuated by the cylinder 20, and the gripping hand 16 is a bolt fastening device configured to be able to grip the taper pin 13 or the head of the bolt 14.

3) Still another invention is that a mounting base 26 is supported on a supporting base 23 provided on a side surface of a substrate 22 so as to be capable of moving up and down through a cylinder 25, and the mounting base 26 has a first rotating arm 28 and a second rotating arm. An arm 29 is displaced and attached, and a hand 36 having a nut runner 35 on the first rotating arm 28 and a bolt head 32 having a bolt holding mechanism 31 supported so as to approach or separate from the hand 36. Further, the receiving head 38 is attached to the second rotating arm 29, and the taper pin head 40 having a taper pin holding mechanism 39 is attached to the receiving head 38 so as to move toward and away from the receiving head 38. 28 and the second rotating arm 29 are bolt fastening devices configured to reciprocate between a working position and a standby position.

[Action]

In the bolt fastening device having such a configuration, the segment A and the segment B that are previously aligned with the erector
First, after the taper pin gripped by the bolt fastening device is forcibly inserted into the bolt hole by a hydraulic device or the like to correct the deviation of the bolt hole, the bolt is gripped and the vicinity of the bolt hole where the taper pin is inserted is fixed. You can insert it into the bolt hole and operate the nut runner to tighten the bolt.

〔Example〕

An embodiment of the bolt fastening device according to the present invention will be described based on FIGS. 1 to 4 above.

In FIG. 1 and FIG. 1A, reference numeral 1 denotes a substrate attached to a robot or the like not shown, and a support arm 3 having a support base 2 is fixedly attached to a side surface of the substrate 1. A base plate 4 is suspended from the support base 2. That is, the base plate 4 is supported by the piston rods 5a of the lifting hydraulic cylinders 5 provided on the support base 2, and is guided up and down by the guide rods 6 provided on both sides of the piston rods 5a.

On the base plate 4, a support plate 8 having a bolt gripping mechanism 7 is movable by a hydraulic cylinder 9 and a hand 11 having a nut runner 10 is movable by a hydraulic cylinder 12 in a direction perpendicular to the surface of the base plate 4. Is installed as.

As shown in FIGS. 2 and 3, the bolt gripping mechanism 7 is designed so that the gripping hands 16, 16 ′ formed with the tapered pin 13 or the socket 15 for gripping the bolt 14 can be rotated by the pin 17. Support and support this grab hand
A link 18 for opening and closing is attached to 16, 16 ', and the link 18 is connected to a hydraulic cylinder 20 which is movable in the left-right direction on the support base 2 and whose vertical movement is restricted by a mounting piece 19. There is. In addition, 21 is a nut runner
It is a motor for operating 10.

〔Method of operation〕

In the bolt fastening device having the above structure, a case where the bolt holes of the fastening portion are now displaced will be described.

B) First, after the taper pin 13 is gripped by the bolt gripping mechanism 7 as shown in FIG. 2, the hydraulic cylinder 5 is moved up and down so that the hand 11 and the bolt gripping mechanism 7 are located on both sides of the fastening portion. .

B) After that, the hydraulic cylinder 9 is operated to bring the bolt gripping mechanism 7 closer to the bolt hole a (Fig. 5), and the taper pin 1 gripped in the socket 15 of the gripping hands 16 and 16 '.
By inserting 3 into the bolt holes a provided in the iron boxes b, the positions of the bolt holes a of both the iron boxes b are corrected. In addition,
By this operation, the positions of the segments A and B, that is, the iron box b
The position of has been corrected.

A taper pin may be used as necessary when correcting the bolt hole a.
It is possible to reduce the insertion pressure of the taper pin 13 by applying ultrasonic vibration to a device 13 not shown.

C) In this way, the position of bolt hole a is tapered pin 13
If it is corrected by inserting the other bolt holes a in the vicinity of this bolt hole a, the bolts are inserted in the other adjacent bolt holes a in this corrected state, and Screw the nut. Other devices are used to fasten the bolts in this case.

Further, when the taper pin 13 is inserted into the bolt hole a as described above and the correction of the position is completed and the fastening of the bolts in the adjacent bolt holes is completed, the position of the bolt hole a into which the taper pin 13 is inserted is completed. Is held in that state, the hydraulic cylinders 9 and 12 are operated to separate the bolt gripping mechanism 7 and the nut side hand 11 by the iron box b, and then the hydraulic cylinder 20 is operated to taper the bolt gripping mechanism 7. Pin 13
Remove.

As shown in FIG. 3, the bolts 14 are held in the sockets 15 of the gripping hands 16, 16 'of the bolt holding mechanism 7, the hydraulic cylinder 5 is operated to lower the bolts 14 to a predetermined position, and the hydraulic cylinder 9 , 12 are operated to bring the gripping hand 7 and the nut side hand 11 close to the bolt hole a.

After inserting the bolt 14 into the bolt hole a, the motor 21 drives the nut runner 10 to screw the nut into the bolt 14.

Next, another embodiment will be described.

FIG. 4 shows another embodiment. In this embodiment, a taper pin head for supporting a taper pin and a bolt head for supporting a bolt, a receiving head support plate and a nut for abutting the tip of the taper pin are shown. The nut side head provided with the runner is integrally rotated (about 90 °).

Similar to the first embodiment, a support arm 24 having a support 23 is fixed to the side surface of the substrate 22. Then, a mounting base 26 is attached to the piston rod 25a of a hydraulic cylinder 25 as an elevating device on the support base 23, and a rotation motor 27,
A first rotary arm 28 and a second rotary arm 29 are attached.

A rotary substrate 30 is attached to the first rotary arm 28, and a bolt head 32 having a bolt holding mechanism 31 is movably attached to the rotary substrate 30 so as to approach and separate from the bolt hole a side by a hydraulic cylinder 33. And a hand 36 having a motor 34 and a nut runner 35 is attached to the hydraulic cylinder.
It is mounted so that it can move toward and away from the bolt hole side by 37.

A receiving head 38 is fixed to a second rotating arm 29 arranged so as to form a right angle with the first rotating arm 28, and a taper pin head 40 having a taper pin holding mechanism 39 is attached to the receiving head 38.
Is attached by a hydraulic cylinder 41 so as to move toward and away from the bolt hole a side. Reference numeral 42 is a guide rod provided in parallel with the piston rod 25a.

〔Method of operation〕

In the bolt fastening device having such a configuration, the rotary motor 27 is operated to rotate the second rotary arm 29 in the direction of the arrow D to position the receiving head 38 downward, and then the hydraulic cylinder 41
Is operated to move the taper pin head 40 and the receiving head 38 so that the distance between them becomes large, and the taper pin holding mechanism 39
Hold the taper pin 43. Then, the hydraulic cylinder 41 is operated again to insert the taper pin 43 into the bolt hole a (not shown) to correct the positional deviation of the bolt hole a. At the time of this correction work, ultrasonic vibration can be applied to the taper pin 43 if necessary.

After that, the hydraulic cylinder 41 is operated and the taper pin 43 is pulled out from the bolt hole a. At this time, the bolt holding mechanism 31 of the bolt head 32 previously attached to the first rotating arm 28
Hold bolt 44 in place.

Then, the rotary motor 27 is operated, and the first rotary arm 28 and the second rotary arm 28
After rotating the rotating arms 29 of the
3, 37 are actuated to insert the bolt 44 into the bolt hole a, and the motor 34 actuates the nut runner 35 to fasten the bolt.

〔The invention's effect〕

As is clear from the above description, according to the bolt fastening device of the present invention, the positional deviation of the bolt holes of the iron box attached to the segment is corrected, and the bolts are inserted into the bolt holes for fastening. As a result, the bolts can be automatically tightened, labor saving can be achieved, and working time can be shortened and dangerous work can be prevented.

[Brief description of drawings]

1 to 4 show an embodiment of a bolt fastening device according to the present invention. FIG. 1 is a perspective view of the bolt fastening device, FIG. 1 (a) is a side view of the same, and FIG. FIG. 3 and FIG. 3 are perspective views of the bolt gripping mechanism. FIG. 4 is a perspective view of a bolt fastening device of another embodiment, and FIG. 5 is an explanatory view of a bolt fastening portion. 1,22 …… Substrate, 2,23 …… Support base, 3,24 …… Support arm, 4…
… Basic plate, 5,9,12,20,25,33,37,41 …… Hydraulic cylinder, 6,42 …… Guide rod, 7 …… Bolt gripping mechanism, 8 …… Support plate, 10,35 …… Nutrunner, 11,36 ... Hand, 1
3,43 …… Tapered pin, 14,44 …… Bolt, 15 …… Socket, 16 …… Grip hand, 17 …… Pin, 18 …… Link, 19 …… Mounting piece, 21,34 …… Motor, 25 ...... Mounting table, 2
7 ... Rotary motor, 28 ... First rotary arm, 29 ... Second rotary arm, 30 ... Rotary board, 31 ... Bolt holding mechanism, 32 ...
… Bolt head, 38 …… Receiving head, 39 …… Taper pin holding mechanism, 40 …… Taper pin head.

Claims (3)

[Claims] 1. A hand having a nut runner (10) on one side of a base plate (4) provided on a support stand (2) protruding from the side surface of a substrate (1) so as to be able to move up and down through a cylinder (5). (11) is attached and the other side is provided with a support plate (8) having a bolt gripping mechanism (7) facing the nut runner (10), and the hand (11) and the bolt gripping mechanism (7) face each other. A bolt fastening device that is supported by the base plate (4) so as to be able to approach or separate from each other while maintaining the state. 2. A bolt gripping mechanism (7) supported by a support plate (8) includes two gripping hands (16) pivotally supported by a pin (17) on the support plate (8) and the gripping hands (16). Hand (16)
One end is connected to the grip hand (1) and the other end is connected to a member operated by a cylinder (20).
The bolt fastening device according to claim 1, wherein 6) is configured to be able to hold the head of the taper pin (13) or the bolt (14). 3. A mount (26) is movably supported by a support (23) provided on a side surface of a substrate (22) through a cylinder (25), and the mount (26) makes a first rotation. The arm (28) and the second rotary arm (29) are displaced and attached, and the first rotary arm (2
8) a hand (36) having a nut runner (35),
A bolt head (32) having a bolt holding mechanism (31), which is supported so as to be able to approach or separate from the hand (36), is attached, and a receiving head (38) is provided on the second rotating arm (29). , The taper pin holding mechanism (3) is movable in the direction approaching or moving away from the receiving head (38).
A bolt which is provided with a taper pin head (40) having 9) and is configured such that the first rotary arm (28) and the second rotary arm (29) reciprocate between a working position and a standby position. Fastening device.