JPH085613B2 - Segment gripping device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a segment gripping device used when a concrete segment is automatically assembled using a robot in a shield construction method.

“Prior art” Conventionally, when assembling a concrete segment by hand, the hanging metal fitting was screwed into the grout hole of the segment each time, and the hanging metal fitting was pin-connected to the hook of the erector to grip the segment. However, as an alternative to such low manual work,
A segment assembly robot has been devised, and a segment gripping device is attached to an arm of the robot.

6 and 7 show an example of the segment gripping device attached to the arm of the above-mentioned assembly robot. This gripping device is the inner wall surface 1a of the concrete segment 1 (in the figure, it is in a state before being assembled). The pipe 3 which is embedded in the central position of the upper surface) so as to project from the inner wall surface to form the grout hole 2, and the locking projection 4 which is provided on the outer periphery of the portion of the pipe 3 projecting from the inner wall surface 1a. And a suspending tool 5 for suspending the concrete segment 1 by engaging with the locking projection 4 by a twisting motion from an assembling robot.

[Problems to be Solved by the Invention] However, when gripping the segment 1 by using the gripping device having the above-described configuration, because the locking projection 4 of the hanging fitting 5 is engaged with the pipe 3 from above by twisting motion, Since the shape dimensions and play of both are limited, it is sufficient to handle when the segment 1 supplied to the assembly robot side does not have sufficient grip position accuracy (usually this is the case). There was an inseparable drawback.

Further, it is necessary to manually apply the grout cap each time the segment assembly is completed because the grout cap is removed and the segment is gripped.

The present invention has been made in view of the above circumstances, and even in the case where the grip position accuracy of the segment supplied to the assembly robot side is not sufficiently ensured, the segment is prevented from rotating and swinging. An object is to provide a segment gripping device that can be easily gripped.

[Means for Solving the Problem] In order to achieve the object in the present invention, a segment for gripping the concrete segment by engaging with a head locking portion of a cap fixed to a grout hole of the concrete segment In the gripping device, a plurality of engaging claws that engage with the head locking portion of the cap, and some of the plurality of engaging claws are moved in a direction substantially orthogonal to the axis of the cap. A first moving means for engaging and disengaging the engaging claw with a head locking portion of the cap, and a second moving means for moving the engaging claw in the axial direction of the cap.
And a fitting portion that is provided at the lower end of the casing that houses the engagement claw and that fits into a rectangular groove formed around the cap on the upper surface of the concrete segment, and the fitting portion. The concave portion of the concrete segment is provided when the concrete segment is lifted together with the cap provided at the lower end of the joint portion and the second moving means is operated while the engaging claw is engaged with the head locking portion of the cap. It is characterized in that it is provided with a segment retainer that abuts the bottom surface of the groove.

[Operation] According to the segment gripping device of the present invention, the plurality of locking claws are positioned outside the head locking portion of the cap with the locking claws open, and the locking claws of the cap are moved by the first moving means. It is moved in a direction substantially orthogonal to the axis to be engaged with the head locking portion of the cap. Then, the second moving means moves the cap in the axial direction of the cap while the engaging claw is engaged with the head engaging part of the cap to suspend the segment.

In this way, by lifting the segment, the segment can be brought into contact with the segment retainer that is positioned above the segment, thereby preventing the suspended concrete segment from swinging.

When releasing the engagement between the gripping device and the segment, contrary to the above operation, first, the engaging claw is moved to the segment side in the engaged state by the second moving means to contact with the segment presser. After the contact is released, the locking claw is moved and opened by the first moving means to release the engagement with the head locking part of the cap.

Embodiment An embodiment of the present invention will be described below with reference to FIGS. 1 to 3.

In FIG. 1, reference numeral 11 is a cap, which is fixed to the grout hole 2 of the concrete segment 1 by screwing. As shown in FIG. 3 (a), a hexagonal columnar locking portion 12 that is tapered so as to become gradually smaller as it goes downward is formed coaxially with the cap 11 at the head of the cap 11. ing. In addition, the locking portion 12 of the cap 11
The length l of is, when assembled to the grout hole 2,
It is set so that it does not project more than a predetermined amount from the inner wall surface 1a of the segment 1. This is because when the segments 1 are stacked and temporarily placed, they do not interfere with the back surface of the segment 1. Further, in the vicinity of the opening of the grout hole 2 on the inner wall surface 1a of the segment 1, a rectangular groove 13 is formed so that the bottom surface is one step lower than the other inner wall surfaces.

Further, reference numeral 15 indicates a segment gripping device according to the present invention, and this gripping device 15 is attached to the tip of an arm of an assembling robot which also functions as an erector.

Inside the casing 16 of the gripping device 15, a pair of engaging claws 17 and 18 that engage with the head engaging portion 12 of the cap 11 are provided inside a body 19 provided integrally with one engaging claw 17. The rod 20 that is integrally provided with the other engaging claw 18 is slidably inserted so that the rod 20 can approach and separate. Engaging claw
At the tips of 17,18, the projections 2 projecting in the opposite direction to each other.
1, 22 are formed, and the tip shapes of the protrusions 21, 22 are the third
As shown in FIG. 2 (a), tapered hexagonal column recesses 21a and 22a are formed corresponding to the locking portions 12. In addition, the lower end of the casing 16 has an inner wall surface of the segment 1.
A fitting portion 16b that fits into the rectangular groove 13 formed in 1a is provided, and the lower end 16a of the fitting portion 16b is a segment retainer. And, the lower ends of the locking claws 17 and 18 are the fitting portions 1
It is arranged at a position slightly higher than the segment retainer of the lower end 16a of 6b.

Reference numeral 23 indicates a gripping cylinder (first moving means). The gripping cylinder 23 moves the engaging claw 18 in a direction substantially orthogonal to the axis of the cap 11 to move the engaging claws 17, 18 from each other. The head locking portion 12 of the cap 11 is engaged or disengaged. Specifically, the cylinder body 24 is fixed to the body 19, and the internal piston rod 25 is fixed to the rod 20, and by operating the gripping cylinder 23, the piston rod 25 and the rod 20 are fixed.
The locking claw 18 can be moved in the left-right direction in the figure via the.

Further, 27 denotes the engaging claws 21 and 22 for the gripping cylinder 2
It is a telescopic cylinder that moves the cap 3 in the axial direction of the cap 11. That is, the support cylinder 28 is fixed to the body 19, the support cylinder 28 is slidably fitted into the cylindrical portion 29 of the casing 16, and the cylinder body 30 is attached to the bottom 28a of the support cylinder 28.
However, the piston rods 32 are fixed to the cover plate 31 of the cylindrical portion 29, respectively.

Then, the casing 16 is provided with a connecting portion 33,
The assembly robot is connected through the connecting portion 33. Further, the mutual positions of the connecting portion 33 and the locking claws 17 and 18 are set so that the connecting portion 33 and the axis of the cap 11 gripped by the locking claws 17 and 18 are on the same axis. This is because when the cap 11 is gripped by the locking claws 17 and 18 and the segment 1 is lifted up, an unnecessary moment is not generated in the connecting portion 33 due to the load of the segment 1.

Next, a procedure for hoisting the segment 1 using the segment gripping device 15 having the above-described configuration and supporting the segment 1 from the inside during assembling in a mine, and an operation at that time will be described.

(1) When the segment 1 is carried into the mine, the cap 11 is screwed into the grout hole 2. At this time, the head locking portion 12 of the cap 11 is aligned and screwed into the segment 1 so as to face a certain direction.

(2) Next, the segment gripping device 15 provided on the assembly robot side with respect to the segment 1 accurately supplied at a predetermined position on a segment supply table (not shown)
Are brought close to each other and positioned so that the connecting portion 33 and the cap 11 are located on substantially the same axis, and thereafter, they are moved to the concrete segment 1 side to project the protruding lower end 16a of the casing 16.
Is fitted into the concave groove 13 on the upper surface of the concrete segment 1. As a result, the segment gripping device 15 can be positioned and prevented from rotating with respect to the concrete segment 1. Next, the telescopic cylinder 27 is extended and the engaging claws 17 and 18 are lowered to adjust the height to a position where the head locking portion 12 of the cap 11 can be engaged.

(3) The gripping cylinder 23 is operated to move the locking claw 18 to the right in the figure, and the cap 11 is moved between the locking claw 17 on the fixed side.
The head locking portion 12 is engaged.

At this time, since the head locking portion 12 of the cap 11 and the protrusions 21 and 22 of the locking claws 17 and 18 corresponding to the head locking portion 12 are provided with corresponding tapered portions extending in the vertical direction, Even if there is a vertical error between the locking claws 17 and 18,
It is absorbed naturally. Further, since the cap 11 has a hexagonal prism shape and the corresponding projections of the locking claws 17 and 18 have a hexagonal recess, the cap 11 and the locking claws 17 and 18 are displaced from each other in the left-right direction. However, it is naturally absorbed by the corresponding sides of both. That is, the cap
Since there is a centripetal action between 11 and the locking claws 17 and 18, even if the positional accuracy of the segment 1 is somewhat poor, the cap 11 can be gripped by the locking claws 17 and 18 without any trouble.

(4) The telescopic cylinder 27 is contracted to lift the segment 1. Then, the protruding lower end 16a of the casing 16 comes into contact with the bottom surface of the concave groove 13 of the concrete segment 1, whereby
The segment 1 can be firmly grasped and fixed by the grasping device, and the segment 1 can be prevented from moving in any of the front-rear direction, the left-right direction, and the up-down direction and rotating. In addition, the inner wall surface 1a of the segment 1 also abuts against the fixed-length spacer S or pressure bearing jack (not shown) which is arranged in advance, and the suspended segment 1 is also prevented from swinging by the spacer S or the like. This also allows the segment 1 to be stably gripped and fixed.

In this way, the segment 1 is supported in a stable state, moved to a predetermined position on the pit cross section, and the adjacent segments are bolted together.

(5) In order to release the engagement with the segment 1 by the holding device 15, the telescopic cylinder 27 is extended to release the contact of the inner wall surface 1a of the segment 1 with the fixed-length spacer S, and then the holding cylinder 23 is removed. It is operated to move the locking claw 18 to the left in FIG. As a result, the locking with the head locking portion 12 of the cap 11 by the locking claws 17 and 18 can be released.

According to the gripping device 15, since the locking claw 18 moves in the direction orthogonal to the axial direction of the cap 11 and locks on the head locking portion 12 of the cap 11, the segment supplied to the assembly robot side. The segment 1 can be easily gripped even when the grip position accuracy of 1 is not sufficiently ensured.

Further, since the cap 11 that is fixed to the grout hole 2 is used as the object to be gripped, no special member is used for gripping, which is economical.

The cap 11 has an advantage that it can be used as it is as a grout cap and can also be used for positioning the reinforcing bars of the secondary lining.

In addition, in the above embodiment, the shape of the locking portion 12 provided on the head portion of the cap 11 is a tapered hexagonal column shape, but the shape is not limited to this, and the sectional shape is circular as shown in FIG. Alternatively, a square flat plate 42 may be provided on the upper end of the rod 41, or as shown in FIG.
It may be provided with concave portions 52 for engaging the claws at the four corners of the bottom portion.

In that case, the locking claws 17 and 18 provided on the gripping device 15 also need to be changed to a shape that can be sufficiently engaged with them.

Further, the number of the locking claws 17, 18 is not limited to two as shown in FIGS. 3 to 5, but may be three or four or more.

Further, in the above embodiment, the cap 11 to be grasped is the object.
Although only one is attached to the segment 1, the number of caps may be increased if necessary, for example, when the weight of the segment is heavier than a predetermined value. In that case, the same number of gripping devices 15 are also prepared.

[Advantages of the Invention] As described above, according to the present invention, by moving the engaging claws in a direction substantially orthogonal to the axis of the cap, the engaging claws are engaged with the head locking portion of the cap or Since the engagement is released, even if the positions of the gripping device and the cap are slightly displaced, in other words, even if the gripping position accuracy of the segment supplied to the assembly robot side is not sufficiently secured, The segment can be easily and simply gripped.

Since the fitting part is provided at the lower end of the casing that houses the engaging claws, by fitting this fitting part in the rectangular groove on the top surface of the concrete segment, the concrete segment can be lifted when gripping and lifting the concrete segment. It is possible to prevent the segment from rotating. Further, when the second moving means is operated to lift the concrete segment together with the cap while the engaging claw is engaged with the head locking portion of the cap, the segment presser at the lower end of the fitting portion of the casing is the concrete segment. Abuts the bottom of the concave groove of the, which allows the gripping device to firmly grip and fix the concrete segment, and prevent the segment from moving in any of the front-back, left-right, and up-down directions and rotating. can do.

[Brief description of drawings]

1 to 3 show an embodiment of a segment gripping device according to the present invention, and FIG. 1 is a sectional view of the gripping device, and FIG.
The figure shows a perspective view of a segment gripped by a gripping device,
3 (a) and 3 (b) are detailed views of the cap and locking claw fixed to the segment, and FIGS. 4 (a) and 4 (b) and FIGS. 5 (a) and 5 (b) are cap and engagement. FIG. 6 is a view showing another embodiment of the pawl, FIG. 6 is a perspective view illustrating a conventional gripping device, and FIG. 7 is a perspective view of a segment. 1 ... Concrete segment, 2 ... Grout hole, 11 ... Cap, 12 ... Head locking part, 13 ... Concave groove,
15 …… Segment gripping device, 16 …… Casing, 16a…
… Segment retainer, 16b …… Mating part, 17,18 …… Locking claw,
23 ... Gripping cylinder (first moving means), 27 ... Telescopic cylinder (second moving means),

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Yasumasa Suzuki 2-16-1, Kyobashi, Chuo-ku, Tokyo Shimizu Construction Co., Ltd. (72) Yoshiki Aoki 2-16-1 Kyobashi, Chuo-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Yuichi Kikuchi 2-16-1, Kyobashi, Chuo-ku, Tokyo Shimizu Construction Co., Ltd. (56) Reference JP-A-52-155759 (JP, A) Actual development Sho-57- 199269 (JP, U) Actually open 51-16280 (JP, U)

Claims (1)

[Claims] Claims: 1. By engaging with a head locking portion of a cap fixed to a grout hole of a concrete segment,
A segment gripping device for gripping the concrete segment, wherein a plurality of engaging claws are engaged with the head locking portion of the cap,
By moving some of the plurality of engagement claws in a direction substantially orthogonal to the axis of the cap, the engagement claws are engaged with and released from the head locking portion of the cap. Moving means, a second moving means for moving the engaging claw in the axial direction of the cap, and a lower end of a casing accommodating the engaging claw, provided around the cap on the upper surface of the concrete segment. A fitting portion that fits into the formed rectangular groove, and a second movement that is provided at the lower end of the fitting portion, with the engagement claw engaged with the head locking portion of the cap. A segment gripping device comprising a segment retainer that abuts a bottom surface of the concave groove of the concrete segment when the means is operated to lift the concrete segment together with the cap.