Fastening device and control method

Abstract

To reduce a load of bolt fastening work.SOLUTION: A fastening device includes a truck part, a bolt tensioner, a bolt tensioner operation part, a positioning part and a control part. The truck part is movable by driving control. The bolt tensioner performs a bolt fastening operation by operation by the operation part. The positioning part is mounted on the truck part, is mounted with the bolt tensioner and the operation part, and positions a three-dimensional position of the bolt tensioner. The control part moves the truck part so that a distance with the bolt is within a constant value, operates the positioning part so that the three-dimensional position becomes a position where the bolt is fastened, after moving of the truck part, and drives the operation part so that the bolt tensioner executes the fastening operation, after the three-dimensional position is positioned to a position where the bolt is fastened.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] SUMMARY OF THE DISCLOSURE Embodiments of the present invention relate to a fastening device and a control method. [Background technology]

[0002] The bolts (fastening bolts) that fasten the flanges of wind turbine towers, which are structures in wind power generation facilities, must be checked for looseness at intervals (e.g. once a year) as stipulated in periodic inspection guidelines (e.g. JEAG5005), and retightening inspection work must be carried out to ensure that the axial force or fastening torque is appropriate.Currently, inspection work is mainly carried out manually, but considering that it is heavy labor that involves danger at heights, the high cost of work, and concerns about future labor shortages, there is a desire to automate the inspection work (fastening work) of bolts. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5650171 [Patent Document 2] European Patent No. 3550139 [Patent Document 3] European Patent No. 3934843 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a fastening device and a control method capable of reducing the load of bolt fastening work. [Means for solving the problem]

[0005] The fastening device of the embodiment includes a carriage unit, a bolt tensioner, an operation unit, a positioning unit, and a control unit. The carriage unit is movable by drive control. The bolt tensioner performs a bolt tightening operation. The operation unit operates the bolt tensioner by drive control. The positioning unit is mounted on the carriage unit, is equipped with the bolt tensioner and the operation unit, and positions the three-dimensional position of the bolt tensioner. The control unit moves the carriage unit so that the distance to the bolt is within a certain value, operates the positioning unit after the carriage unit has moved so that the three-dimensional position is a position where the bolt is tightened, and drives the operation unit so that the bolt tensioner performs the tightening operation after the three-dimensional position is positioned at the position where the bolt is tightened. [Brief description of the drawings]

[0006] [Figure 1] FIG. 2 is a side view of the fastening device according to the embodiment. [Diagram 2] FIG. 2 is a top view of the fastening device according to the embodiment. [Diagram 3] FIG. 4 is a diagram showing a configuration example of a hydraulic pressure supply unit. [Figure 4] FIG. 4 is a diagram showing a configuration example of a cart section. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] Top view of the hydraulic supply unit. [Figure 8] FIG. [Figure 9] Top view of the hydraulic supply unit. [Figure 10] FIG. [Figure 11] FIG. 4 is a diagram showing an example of a hydraulic pressure supply unit. [Figure 12] 11 is a flowchart of an access process according to the embodiment. [Figure 13] FIG. 11 is a diagram for explaining a specific example of access processing. [Figure 14] FIG. 13 is a diagram showing an example of marker placement. [Figure 15] 6A and 6B are diagrams for explaining an example of a process for moving a bolt tensioner. [Figure 16]5A and 5B are diagrams for explaining an example of a process for positioning a bolt tensioner. [Figure 17] 5A and 5B are diagrams for explaining an example of a process for positioning a bolt tensioner. [Figure 18] 5A and 5B are diagrams for explaining an example of a process for positioning a bolt tensioner. [Figure 19] 5A and 5B are diagrams for explaining an example of a process for positioning a bolt tensioner. [Figure 20] 4 is a flowchart of an inspection process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] A preferred embodiment of the fastening device according to the present invention will be described in detail below with reference to the accompanying drawings. In the following, the fastening work of a bolt used for fastening a flange portion of a wind turbine tower will be described as an example, but the applicable equipment is not limited to a wind turbine tower and may be any other equipment.

[0008] A wind turbine tower is, for example, a structure in which flanges provided on a plurality of cylindrical structures are fastened with bolts. For the bolt fastening work, a plurality of floors corresponding to the plurality of flanges are provided, and an elevator is installed as a means of transportation between the plurality of floors.

[0009] The automation of bolt tightening work involves technical issues such as those described in (P1) to (P4) below.

[0010] (P1) Size and weight constraints: The fastening device used for bolt fastening work must be of a size (width, height, depth) and weight that can be mounted on an elevator for movement between floors. For example, if the inspection work is assumed to be performed by people (hereafter referred to as inspectors), an elevator that can accommodate a maximum of two adults is used. When using such an elevator, the fastening device must be within the size and weight range of two adults. (P2) Movement on the floor: After the inspector performs a simple initial setting, the fastening device must be able to move sequentially to one or more bolts to be inspected (hereinafter referred to as target bolts) without any work by the inspector. When moving, the fastening device must move to a position where it can access the target bolts while avoiding obstacles on the floor. (P3) Positioning of the bolt tensioner: A bolt tensioner is a tool used to inspect and retighten a target bolt, and is a heavy object, weighing, for example, 10 kg or more. Furthermore, the bolt tensioner requires a high-pressure hydraulic supply to apply the axial force required for inspection to the target bolt. After moving close to the target bolt, the fastening device needs to accurately position the bolt tensioner, which is a heavy tool, to a position where the target bolt can be retightened. (P4) Operation of the bolt tensioner: The fastening device must handle (operate) the bolt tensioner, which is assumed to be operated by an inspector. For example, the fastening device must attach the bolt tensioner, which has been positioned relative to the target bolt, to the target bolt, and fasten the target bolt with the attached bolt tensioner. The fastening device must also operate the hydraulic pump used to supply hydraulic pressure.

[0011] In addition, a bolt tensioner that travels along a guide rail and fastens multiple bolts has been proposed as a bolt tensioner for fastening bolts on the top cover of a pressure vessel such as a heat exchanger. Also, a bolt tensioner that travels on a flange surface and fastens multiple bolts has been proposed as a bolt tensioner for fastening bolts on a flange portion of a wind turbine tower. However, these techniques require the installation of a rail in advance and the installation of a bolt tensioner on the rail or flange surface, and the load of the bolt fastening work cannot be efficiently reduced.

[0012] The fastening device of the present embodiment is configured to solve at least a part of the technical problems described above. For example, the fastening device can be sized and weighed to be mountable on an elevator installed as a means of transportation between floors. On a floor, the fastening device does not require operation by an inspector after a simple initial setting, and can move to the target bolt in sequence while avoiding obstacles on the floor. The fastening device positions a bolt tensioner equipped with a device (handling unit) for handling the bolt tensioner on the target bolt. The fastening device operates the positioned bolt tensioner using the handling unit. The fastening device can store detection information obtained during operation by the handling unit as information indicating the result of the inspection work.

[0013] 1 and 2 are diagrams showing an example of a configuration of a fastening device 100 according to an embodiment. Fig. 1 is an example of a side view of the fastening device 100. Fig. 2 is an example of a top view of the fastening device 100.

[0014] The fastening device 100 mainly comprises a carriage unit 110, a controller 120, a positioning unit 130, a handling unit 140, a bolt tensioner 150, and a hydraulic supply unit 710. The fastening device 100 also comprises a swing drive mechanism (swing drive unit) 750, a range sensor 201, and a camera 202. The fastening device 100 may further be connected to a control device 801.

[0015] The cart unit 110 is movable by drive control by the controller 120, and moves the fastening device 100 toward the target bolt. The cart unit 110 includes, for example, drive wheels 111, auxiliary wheels 112, a battery 113, and an outrigger 114. The outrigger 114 includes a leg portion 114a.

[0016] The controller 120 functions as a control unit that controls the operation of each part of the fastening device 100. For example, the controller 120 moves the carriage unit 110 so that the distance from the target bolt is within a certain value. In addition, the controller 120 operates the positioning unit 130 so that the three-dimensional position of the bolt tensioner 150 becomes a position where the target bolt is tightened after the carriage unit 110 has been moved. In addition, the controller 120 drives the handling unit 140 so that the bolt tensioner 150 performs the tightening operation after the three-dimensional position is positioned at the position where the target bolt is tightened.

[0017] The controller 120 is realized, for example, by one or more processors. For example, the functions of the controller 120 may be realized by having a processor such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit) execute a program, that is, by software. The functions of the controller 120 may be realized by a processor such as a dedicated IC (Integrated Circuit), that is, by hardware. The functions of the controller 120 may be realized by a combination of software and hardware. When multiple processors are used, each processor may realize one of the functions of the controller 120, or may realize two or more of the functions of the controller 120.

[0018] The positioning unit 130 mounts the bolt tensioner 150 that is held by the handling unit 140, and determines the three-dimensional position of the bolt tensioner 150. The positioning unit 130 is mounted on the carriage unit 110.

[0019] The positioning unit 130 includes a support unit 131, a vertical drive unit 132, an arm attachment / detachment unit 133, an arm support unit 134, and arms 135-137.

[0020] The support unit 131 is mounted on the cart unit 110 and supports the vertical drive unit 132. The vertical drive unit 132 is capable of driving the positioning unit 130 in the vertical direction relative to the support unit 131. As shown by the dashed line in Fig. 1, the vertical drive unit 132 can drive the positioning unit 130 in the vertical direction by a length H1-1.

[0021] The arm attachment / detachment section 133 is provided on the vertical drive section 132, and configured to enable attachment / detachment of the arm support section 134. The arm support section 134 is a member that supports the arms 135 to 137. The arms 135, 136, and 137 are rotatable about axes A01, A02, and A03, respectively, in response to the rotation of motors (not shown) provided corresponding to the arms.

[0022] The handling portion 140 corresponds to an operating portion that grips the bolt tensioner 150 and operates the gripped bolt tensioner 150 .

[0023] The bolt tensioner 150 performs a tightening operation to tighten a target bolt and a loosening operation to loosen the target bolt. In this embodiment, the bolt tensioner 150 is configured to be able to apply an axial force to the target bolt according to the hydraulic pressure supplied by the hydraulic pressure supply unit 710.

[0024] The hydraulic pressure supply unit 710 supplies hydraulic pressure to the bolt tensioner 150. FIG. 3 is a diagram showing an example of the configuration of the hydraulic pressure supply unit 710. Note that FIG. 3 corresponds to a diagram of the hydraulic pressure supply unit 710 mounted on the fastening device 100, observed from the side of the fastening device 100, similar to the side view of FIG. 1. As shown in FIG. 3, the hydraulic pressure supply unit 710 is installed on a mounting base plate 721 (mounting portion), and includes a pressure bar 711 and an opening / closing valve lever 712 (switching portion). In addition, the hydraulic pressure supply unit 710 is connected to a pressure gauge 723 via a hydraulic hose 722.

[0025] The pressurizing bar 711 is a member for increasing the hydraulic pressure by swinging it. The on-off valve lever 712 is a member for switching whether or not the hydraulic pressure is pressurized. For example, the on-off valve lever 712 switches between opening and closing the on-off valve. The release valve is closed (ON) when the hydraulic pressure is to be increased (pressurized), and is open (OFF) when not pressurized. The pressure gauge 723 is a measuring instrument for detecting the hydraulic pressure pressurized by the hydraulic pressure supply unit 710.

[0026] The swing drive mechanism 750 in FIG. 1 (FIG. 2) functions as a swing drive unit that performs the swing operation of the pressure bar 711.

[0027] The controller 120 controls the swing drive mechanism 750 based on the value of the hydraulic pressure detected by the pressure gauge 723. For example, the controller 120 controls the swing operation of the pressure bar 711 by the swing drive mechanism 750 so that the detected hydraulic pressure becomes a target value corresponding to the axial force applied to the target bolt.

[0028] The range sensor 201 is an example of a detection unit (first detection unit) that detects detection information (first detection information) indicating at least one of the self-position of the fastening device 100 and an obstacle on the floor. For example, the range sensor 201 is a two-dimensional scanning type optical distance sensor that measures the distance to an object while scanning light. The range sensor 201 may also be called an LRF (Laser Rangefinder) or a LIDAR (Light Detection and Ranging). A three-dimensional operation type LIDAR may also be used.

[0029] Camera 202 is an imaging device that captures an image in front of fastening device 100. Controller 120 can detect, for example, the position of a target bolt by analyzing the image captured by camera 202. Camera 202 is an example of a detection unit (second detection unit) for detecting the position of the target bolt. The position of the target bolt may be detected using a marker that indicates the position of the target bolt.

[0030] The components shown in FIG. 1 and FIG. 2 will be described in detail below.

[0031] Fig. 4 is a diagram showing a configuration example of the cart unit 110. Fig. 4 is a top view of the cart unit 110. The cart unit 110 is controlled to move autonomously on the floor during inspection work to access the target bolt. The cart unit 110 is configured, for example, to have a size (width, depth) that can be mounted in an elevator for moving between floors. For example, the cart unit 110 is configured to have a size of about 40 cm in width and 50 cm in depth.

[0032] As shown in FIG. 4, the cart unit 110 includes driving wheels 111, auxiliary wheels 112, a battery 113, an outrigger 114, a suspension 115, a reduction gear 116, and a motor 117.

[0033] The drive wheels 111 correspond to a cart drive unit that enables the cart unit 110 to move forward, backward, turn, and move along an arcuate path, which are travelling movements required for movement on a floor. For example, the drive wheels 111 are provided on the left and right sides of the rear of the cart unit 110, and are two-wheel drive mechanisms that can be driven independently.

[0034] For example, the controller 120 uses the detection information detected by the range sensor 201 and the position of the target bolt detected by the camera 202 to control the drive wheels 111 (motor 117) to move the cart unit 110 so that the distance from the target bolt is within a certain value. The controller 120 may further use map information to control the movement of the cart unit 110. The map information is information that indicates the positions of the flanges of each floor, the positions of obstacles, and the like. The map information may be updated, for example, when a new obstacle is detected.

[0035] The auxiliary wheels 112 are provided on the left and right sides of the front of the cart unit 110. For the auxiliary wheels 112, for example, omni-wheels that do not rotate horizontally can be used.

[0036] Thus, the cart unit 110 is a wheel-driven cart, but may be capable of being driven by a drive mechanism other than wheels.

[0037] The battery 113 is provided in the center of the bottom side of the cart section 110, and is a power supply device that supplies power to the entire fastening device 100. The battery 113 may be any type of battery, and is, for example, a lithium ion battery.

[0038] The outriggers 114 are used to stabilize the center of gravity balance of the entire fastening device 100 during inspection work. For example, the outriggers 114 are provided on the left and right sides of the front of the bogie section 110. As shown by the dashed line in Fig. 4, the outriggers 114 can be stored within the bogie section 110, and can be extended forward of the bogie section 110 by rotating about the axis A11. In other words, the outriggers 114 are configured to be extendable in the direction in which the center of gravity moves according to the positioning of the bolt tensioner 150.

[0039] During inspection work, the arms (arms 135 to 137) of the positioning unit 130 may be in an extended state (posture) so that the bolt tensioner 150 moves to the vicinity of the target bolt. In such a case, the center of gravity of the entire fastening device 100 is located on the front side of the carriage unit 110.

[0040] For example, the controller 120 rotates (deploys) the outriggers 114 stored in the cart section 110 forward of the cart section 110 and extends the legs 114a to the floor surface. This makes it possible to stabilize the center of gravity balance of the entire fastening device 100.

[0041] The suspension 115 is a shock absorber for stabilizing the movement of the cart unit 110. The speed reducer 116 reduces the speed of the drive wheels 111. The motor 117 corresponds to a drive unit that rotates the drive wheels 111.

[0042] Next, the control of the positioning unit 130 will be described mainly with reference to Fig. 2. After moving the carriage unit 110 so that the distance to the target bolt is within a certain value, the controller 120 operates the positioning unit 130 mounted on the carriage unit 110. In other words, the controller 120 positions the bolt tensioner 150 (the handling unit 140 that grips the bolt tensioner 150) so that the bolt tensioner 150 is in a position where it can be attached to the target bolt.

[0043] The positioning unit 130 includes, for example, a drive mechanism with four or more degrees of freedom to position the bolt tensioner 150 with respect to the target bolt in a three-dimensional space, including the posture. In this embodiment, the positioning unit 130 includes a drive unit with three or more degrees of freedom that moves the bolt tensioner 150 in a specific direction DA (first direction). The direction DA is, for example, a horizontal direction. The direction DA can also be interpreted as a direction parallel to a floor surface. Hereinafter, this drive unit is referred to as a horizontal drive unit (first drive unit). For example, the arms 135 to 137 and the motors that rotate the arms 135 to 137 correspond to the horizontal drive unit. In this case, the horizontal drive unit is a drive with three degrees of freedom. By further adding an arm and a motor that rotates the arm, a horizontal drive unit with four or more degrees of freedom may be obtained.

[0044] The positioning unit 130 also includes a drive unit that moves the bolt tensioner 150 in a direction DB (second direction) perpendicular to the direction DA. The direction DB is, for example, an up-down direction (vertical direction). The vertical drive unit 132 corresponds to this drive unit (second drive unit).

[0045] In this embodiment, the bottom surface of the bolt tensioner 150 is accessed from above toward the upper portion (head portion) of the target bolt. For this reason, the vertical drive unit 132 is configured to have a vertical drive length (stroke) required for attaching and detaching the bolt tensioner 150 to the target bolt. The length H1-1 shown in Fig. 1 corresponds to this vertical drive length. The length H1-1 may be determined according to the size of the target bolt and its height from the flange surface.

[0046] From the viewpoint of reducing the load on the hand, the vertical drive unit 132 is disposed on the cart unit 110. Any drive system may be used for the vertical drive, but for example, a drive system using a motor control with a ball screw can be applied. For example, the ball screw is installed so that the axial direction of the screw is in the direction DB, and the vertical drive unit 132 is configured to move in the direction DB in response to the rotation of a motor (for example, a motor with a reducer).

[0047] Guide rails for guiding the movement by the vertical drive unit 132 are provided in a plurality of places parallel to the ball screw on the side surface of the support unit 131. This makes it possible to maintain the rigidity of the hand load moment.

[0048] The horizontal drive unit (arms 135-137, each motor) is a drive unit with three degrees of freedom that moves bolt tensioner 150 horizontally so as to reduce the effect of the load gravity on the hand. Since the motor capacity can be reduced, the motor can be made smaller, which allows the arm to be made lighter.

[0049] For example, rotation of arm 135 about axis A01 and rotation of arm 136 about axis A02 correspond to two degrees of freedom for mainly moving bolt tensioner 150 horizontally to above the target bolt. Rotation of arm 137 about axis A03 corresponds to one degree of freedom for mainly controlling the attitude of bolt tensioner 150 around the central axis of the target bolt.

[0050] The controller 120 controls the positioning unit 130, for example, as follows. First, the controller 120 controls the positioning unit 130 (vertical drive unit 132) so that the bolt tensioner 150 is positioned higher than the target bolt. In this state, the controller 120 moves the carriage unit 110 to a position where the distance from the target bolt is within a certain value. The controller 120 drives the horizontal drive unit so that the bolt tensioner 150 moves horizontally to a position above the target bolt. After the bolt tensioner 150 is positioned above the target bolt, the controller 120 drives the vertical drive unit 132 so that the bolt tensioner 150 moves until it comes into contact with the target bolt.

[0051] 1 and 2 show a state in which the arms are extended so that the movement of the bolt tensioner 150 toward the front of the fastening device 100 is maximized. For example, when moving between floors, the arms may be folded so that the movement is reduced. Also, the fastening device 100 may be transported with the arm support part 134 detached from the arm attachment / detachment part 133.

[0052] The arm attachment / detachment section 133 can be structured so that the arm support section 134 can be easily attached and detached by using, for example, a mounting jig for a cooperative arm.

[0053] The positioning unit 130 is not limited to the above example, and may be configured, for example, using a vertical articulated arm having four or more degrees of freedom.

[0054] Next, a configuration example of the handling unit 140 will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is an example of a side view of the handling unit 140. Fig. 6 is an example of a top view of the handling unit 140. Figs. 5 and 6 also show the bolt tensioner 150 held by the handling unit 140, the target bolt 61, the nut 51 to be fastened to the target bolt 61, the washer 52, and the flange surface 62.

[0055] 5, the handling unit 140 includes an upper wrench 141 and a lower wrench 142 for attaching the bolt tensioner 150 to the target bolt 61 for inspection. The bolt tensioner 150 includes a female thread portion 153, a female thread rotation portion 151 that rotates the female thread portion 153, and a nut rotation portion 152 that rotates the nut 51.

[0056] The upper wrench 141 is a member for rotating and attaching the female thread portion 153 inside the bolt tensioner 150 to the upper shaft of the target bolt 61. The upper wrench 141 is inserted into a wrench hole provided on the upper surface of the bolt tensioner 150 and rotated. This rotates the female thread rotation portion 151, and the female thread portion 153 rotates in conjunction with the rotation of the female thread rotation portion 151. The lower wrench 142 is a member for applying a constant axial force in response to pressure applied by the hydraulic supply unit 710 after the female thread portion 153 is attached to the target bolt 61, and rotating the nut 51 until it is tightened in accordance with the elongation of the bolt shaft. The lower wrench 142 is inserted into a wrench hole provided on the side surface of the lower part of the bolt tensioner 150 and rotated. This rotates the nut rotation portion 152, and the nut 51 rotates in conjunction with the rotation of the nut rotation portion 152. The axes A21 and A22 correspond to the rotation axes of the upper wrench 141 and the lower wrench 142, respectively.

[0057] In the case of manual inspection work, the upper wrench 141 and the lower wrench 142 are inserted into wrench holes provided in the bolt tensioner 150 by an inspector and operated. In this embodiment, the handling unit 140 operates the upper wrench 141 and the lower wrench 142.

[0058] For such operations, the handling unit 140 includes a gripping unit 501 , motors 502 and 503 , encoders 504 and 505 , an arm connection unit 506 , a lower base plate 509 , a bolt detection camera 510 , and a controller 511 .

[0059] The arm connection part 506 is a jig for connection to the arm 137 of the positioning part 130. The lower base plate 509 is a plate member that corresponds to the bottom of the handling part 140 that is pressed against the side surface of the lower part of the bolt tensioner 150.

[0060] The gripping portion 501 grips both sides of the bolt tensioner 150 while it is pressed against the lower base plate 509. The bolt tensioner 150 may have a structure in which a portion (e.g., an upper portion) having a connection portion 512 (see FIG. 6) that connects to the hydraulic hose 722 is rotatable. In such a case, the gripping portion 501 is configured to grip a portion of the bolt tensioner 150 that does not rotate (e.g., a lower portion).

[0061] The bolt tensioner 150 is fixed to the handling part 140 by the gripping part 501 and the lower base plate 509 and is movable integrally with the handling part 140 .

[0062] The motor 502 is a drive unit for rotating the upper wrench 141. In the example of FIG. 5, the motor 502 rotates about the axis A22, and the power of the rotation is transmitted to the upper wrench 141 rotating about the axis A21 via a belt. The motor 503 is a drive unit for rotating the lower wrench 142. The motor 502 corresponds to a female thread rotation drive unit that rotates the female thread inside the inserted bolt tensioner 150 by rotating the upper wrench 141. The motor 503 corresponds to a nut rotation drive unit that rotates the inserted lower wrench 142 to rotate the nut 51 that tightens the target bolt.

[0063] Encoders 504 and 505 correspond to detection units (third detection units) that detect the amount of rotation of motors 502 and 503, respectively. The amount of rotation is an example of detection information (second detection information) obtained during operation by handling unit 140. Controller 120 may store the detection information, such as the detected amount of rotation, in a storage device provided inside controller 120, for example. This makes it possible to automate the process of storing the results of an inspection operation, for example.

[0064] 5, the motors 502, 503 and the encoders 504, 505 are disposed on the axis of the rotation axis (axis A22) of the lower wrench 142. This allows the handling unit 140 to have a more compact structure.

[0065] The bolt detection camera 510 is an imaging unit used to capture an image of the target bolt 61 and detect the target bolt 61. For example, the controller 120 moves the positioning unit 130 to a position where an image of the target bolt 61 is captured by the bolt detection camera 510. After the movement, the controller 120 moves the positioning unit 130 by drive control using the image captured by the bolt detection camera 510 so that the bolt tensioner 150 is at a position where it tightens the target bolt 61, i.e., so that the bolt tensioner 150 is at a position on the central axis of the target bolt 61.

[0066] The controller 511 is a control unit (motor driver) that controls the driving of the motors 502 and 503. The controller 511 drives the motors 502 and 503 in accordance with an instruction from the controller 120, for example.

[0067] The lower base plate 509 is provided with a hole 509a (see FIG. 5) so that the bolt detection camera 510 can capture an image below. The lower base plate 509 may also have a recessed shape with a recess near the center. That is, the lower base plate 509 may be provided with a notch 509b (see FIG. 6). The notch 509b is provided, for example, so that interference with the nuts 51 and washers 52 installed on the left and right sides can be avoided when attaching the bolt tensioner 150 to the target bolt 61. This makes it possible to expand the range of rotation of the arm 137 about the axis A03 as the central axis, in other words, the range for controlling the attitude of the bolt tensioner 150.

[0068] Next, a configuration example of the hydraulic pressure supply unit 710 and the swing drive mechanism 750 will be described with reference to Fig. 7 to Fig. 10. Fig. 7 is an example of a top view of the hydraulic pressure supply unit 710 to which the swing drive mechanism 750 is attached. Fig. 8 is an example of a side view of the hydraulic pressure supply unit 710 to which the swing drive mechanism 750 is attached.

[0069] Hydraulic pressure supply unit 710 can supply hydraulic pressure (e.g., 90 MPa) necessary for bolt tensioner 150 to apply a high axial force (e.g., 600 kN), and can be configured, for example, by a hand-operated hydraulic pump. The hand-operated hydraulic pump includes a pressure bar 711 that can be manually swung, and supplies pressurized hydraulic pressure in response to the swinging of pressure bar 711.

[0070] The hydraulic pressure supply unit 710 is not limited to a hand-operated hydraulic pump, but may be, for example, an air-operated hydraulic pump or an electric hydraulic pump.

[0071] By using a hand-operated hydraulic pump, the structure can be simplified and made compact in size. In addition, there is no need to prepare a separate device such as a compressor that supplies pressurized air to the hydraulic pump. This makes it easy to attach the hydraulic pump to the fastening device 100 and remove it from the fastening device 100. In addition, it is easy to move the hydraulic pump between floors using an elevator when it is mounted on the fastening device 100.

[0072] 7, the hydraulic pressure supply unit 710 is installed on a mounting base plate 721. When using the hydraulic pressure supply unit 710, first, the open / close valve lever 712 is turned to close the open valve (ON). After that, the pressure bar 711 is swung multiple times to increase the hydraulic pressure.

[0073] The rotation drive unit 770 corresponds to a drive unit for rotating the on-off valve lever 712, that is, a drive unit (switching drive unit) for performing a switching operation of the on-off valve lever 712 (switching unit). The rotation drive unit 770 is realized by, for example, a motor that rotates in response to control from the controller 120. The rotation drive unit 770 may be provided on the rotation axis of the on-off valve lever 712, or on an axis via a spur gear or the like.

[0074] The swing drive mechanism 750 includes a guide shaft 752 , a linear ball bush 753 , a connecting portion 754 , a motor 755 , a linear guide 756 , a gripping portion 757 , a base plate 758 , and a ball screw 759 .

[0075] The guide shaft 752 is a member for guiding the linear ball bushing 753 that moves in response to the swinging motion. The guide shaft 752 is configured to swing (swing and rotate) around the axis A31, which is the same central axis as the pressure bar 711. The arrow AR01 in Fig. 8 indicates the direction of the swinging motion.

[0076] The linear ball bushing 753 is mounted for linear motion along the guide shaft 752 .

[0077] The connecting portion 754 is a member for connecting the linear ball bushing 753 (the guide shaft 752) and the nut portion of the ball screw 759.

[0078] The motor 755 is a drive unit for rotating the ball screw 759. The motor 755 is formed of, for example, a motor with a reducer.

[0079] The linear guide 756 is a member that guides the connecting portion 754 so that it moves linearly in accordance with the rotation of the ball screw 759 .

[0080] The gripping portion 757 is provided at one of both ends of the guide shaft 752, which is different from the end corresponding to the axis A31, and grips the pressure bar 711. This allows the pressure bar 711 to swing in accordance with the swinging motion of the guide shaft 752.

[0081] The base plate 758 is a member for mounting the motor 755, the linear guide 756, and the ball screw 759.

[0082] Ball screw 759 is configured so that connecting portion 754 moves in the axial direction in response to rotation of motor 755. Arrow AR02 represents the direction in which connecting portion 754 moves. Arrow AR03 represents the direction in which linear ball bushing 753 moves in response to movement of connecting portion 754.

[0083] For example, the controller 120 controls the motor 755 to rotate the ball screw 759 so that the connecting portion 754 (linear ball bush 753) moves in a direction away from the motor 755. As a result, the pressure bar 711 is swung so as to be lifted upward. The controller 120 decelerates the rotation of the motor 755 so that the movement of the pressure bar 711 stops before reaching the upper limit of the movable range of the pressure bar 711 (the limit of the upward movement). Next, the controller 120 controls the motor 755 to rotate the ball screw 759 so that the connecting portion 754 (linear ball bush 753) moves in a direction approaching the motor 755. As a result, the pressure bar 711 is swung so as to be lowered downward. The controller 120 decelerates the rotation of the motor 755 so that the movement of the pressure bar 711 stops before reaching the lower limit of the movable range of the pressure bar 711 (the limit of the downward movement). By repeating such an operation, the pressure bar 711 is caused to swing, and the hydraulic pressure supplied by the hydraulic pressure supply unit 710 can be increased.

[0084] The swing drive mechanism 750 is not limited to the configuration shown in Fig. 7 and Fig. 8, and may have any configuration as long as it can swing the pressure bar 711. Fig. 9 and Fig. 10 are diagrams showing other configuration examples of the swing drive mechanism 750. Fig. 9 is an example of a top view of the hydraulic supply unit 710 to which the swing drive mechanism 750 is attached. Fig. 10 is an example of a side view of the hydraulic supply unit 710 to which the swing drive mechanism 750 is attached.

[0085] The swing drive mechanism 750 in FIG. 9 and FIG. 10 rotates a link 761 connected to a guide shaft 752 in one direction to swing the pressure bar 711 .

[0086] 9 and 10 includes a guide shaft 752b, a connecting portion 754b, a motor 755b, a gripping portion 757, a base plate 758, and a link 761. Note that the same components as those in Fig. 7 and Fig. 8 are denoted by the same reference numerals, and description thereof will be omitted.

[0087] The guide shaft 752b is a member for guiding the connecting portion 754b that moves in response to the swinging motion. The connecting portion 754b is a member for connecting the guide shaft 752b and the link 761. The motor 755b is a drive portion for rotating the link 761.

[0088] The link 761 rotates in response to the rotation of the motor 755b. The axis A32 corresponds to the central axis of rotation of the link 761. The link 761 rotates in one direction as indicated by the clockwise arrow in Fig. 10. In response to this rotation, the guide shaft 752b is swung, and the pressure bar 711 is also swung.

[0089] There are cases where the hydraulic supply unit 710 needs to be used in a horizontal state. If the hydraulic supply unit 710 is attached to the fastening device 100 in a horizontal state, a situation may arise where the hydraulic supply unit 710 cannot be mounted on an elevator used for moving between floors, for example. In such a case, the hydraulic supply unit 710 may be transported in a state detached from the fastening device 100, for example, when moving between floors, and may be attached to the fastening device 100 so as to be in a horizontal state before an inspection operation.

[0090] The hydraulic pressure supply unit 710 may be configured so that its orientation can be changed while it is attached to the fastening device 100. Fig. 11 is a diagram showing an example of the hydraulic pressure supply unit 710 configured in this way. Note that Fig. 11 shows only the hydraulic pressure supply unit 710 and the positioning unit 130 which is a member for attaching the hydraulic pressure supply unit 710, and omits other components.

[0091] The mounting base plate 721 is configured to include a rotation shaft 721a that changes the orientation of the hydraulic pressure supply unit 710. For example, the mounting base plate 721 is attached to the positioning unit 130 so as to be rotatable around the rotation shaft 721a. The left part of Fig. 11 shows an example in which the hydraulic pressure supply unit 710 is oriented in a horizontal state. The right part of Fig. 11 shows an example in which the hydraulic pressure supply unit 710 is rotated 90 degrees around the rotation shaft 721a and oriented in a vertical state.

[0092] With this configuration, for example, when moving in a narrow space such as inside an elevator, the hydraulic supply unit 710 can be in a vertical state, and when moving in a wide space such as on a floor, the hydraulic supply unit 710 can be in a horizontal state. In other words, even in a state where the hydraulic supply unit 710 is attached to the fastening device 100, it can be mounted on an elevator (movable between floors).

[0093] Next, a description will be given of the procedure for controlling the operation of inspecting a target bolt by the fastening device 100. First, a description will be given of the process of moving to the target bolt 61 on the floor and moving the bolt tensioner 150 to above the target bolt 61 (hereinafter, referred to as the access process).

[0094] Fig. 12 is a flow chart showing an example of the access process in the embodiment. The following describes the process from the point when the elevator is used to move to the floor where the target bolt 61 is installed. Fig. 13 is a diagram for explaining a specific example of the access process. Fig. 13 is an example of a diagram observed from above the floor.

[0095] The fastening device 100 moves from the elevator 53 (see FIG. 13) to the floor (step S101). For example, the fastening device 100 (controller 120) determines its own position based on detection information from the range sensor 201, and moves to the floor. Note that the movement to the floor may be performed by an inspector. The inspector may perform necessary settings such as mounting the hydraulic supply unit 710 and connecting the hydraulic supply unit 710 and the pressure gauge 723 via the hydraulic hose 722.

[0096] The controller 120 uses map information, detection information from the range sensor 201, and images captured by the camera 202 to determine the self-position of the fastening device 100 and controls the movement of the cart unit 110 so that it moves toward the target bolt 61 (step S102).

[0097] 13, a marker 1311 is used to detect the position of the target bolt 61. The marker 1311 may be placed, for example, to correspond to the target bolts 61 that are a portion (e.g., 10 bolts determined to be every 10 bolts) of a plurality (e.g., 100 bolts) installed on each floor that are predetermined as inspection targets.

[0098] Fig. 14 is a diagram showing an example of setting the markers 1311. As shown in Fig. 14, the markers 1311 are affixed, for example, to a front surface 1401 of the flange portion at positions corresponding to the target bolts 61. When multiple target bolts 61 exist, the multiple markers 1311 are affixed to the front surface 1401 at intervals for a certain number of bolts (for example, 10 bolts) so that the corresponding target bolts 61 can be identified.

[0099] The marker 1311 may be provided for each of all the bolts provided in the flange portion. In this case, a designated bolt or a randomly selected bolt from among all the bolts may be set as a target bolt 61 and be the target of the inspection work.

[0100] The controller 120 can identify the marker 1311, for example, by performing image processing on an image captured by the camera 202. The marker 1311 is, for example, a QR code (registered trademark), an AR (Augmented Reality) marker, or a barcode.

[0101] 12, the controller 120 controls the carriage unit 110 to stop when it approaches within a certain distance of a position substantially in front of the target bolt 61 (step S103). In the example of FIG. 13, the stop position 1301 corresponds to a position where the distance from the front of the target bolt 61 is within a certain value.

[0102] Stop positions 1302 to 1304 correspond to stop positions corresponding to other target bolts. When there are multiple target bolts, which target bolt to approach and in what order to approach the target bolts are determined, for example, based on work instructions that are given in advance. For example, as shown by the dashed arrow, a pattern of sequentially moving to adjacent target bolts along the flange portion may be used. A pattern (for example, a star pattern) in which target bolts that are farther away than adjacent target bolts are sequentially inspected may also be used.

[0103] The controller 120 starts the operation of the positioning unit 130, moves the bolt tensioner 150 to a position above and near the target bolt 61 (step S104), and ends the access process.

[0104] FIG. 15 is a diagram for explaining an example of the process in step S104.

[0105] When the target bolt 61 approaches to a certain distance almost directly in front of the target bolt 61, the controller 120 stops the cart unit 110, and deploys the outriggers 114 as necessary to bring the legs 114a into contact with the floor surface. The controller 120 also operates the positioning unit 130 so that it moves from the initial posture state (home position) to the reference posture state.

[0106] The initial posture state is, for example, a state in which each arm is folded. The reference posture state is a state indicating a posture that is a reference at the start of inspection work. An example of the reference posture state is shown in FIG. 15. FIG. 15 is an example of a reference posture state in which the axis A01 is rotated 45 degrees, the axis A02 is rotated 90 degrees, and the axis A03 is rotated 45 degrees. The reference posture state is, for example, determined in advance as a posture that allows the bolt tensioner 150 to be moved to a position above the vicinity of the target bolt 61 when the bolt tensioner 150 approaches a certain distance in front of the target bolt 61.

[0107] 16 to 19 are diagrams for explaining an example of a process for positioning the bolt tensioner 150 with respect to a target bolt. Note that, among the components of the fastening device 100, only the handling unit 140 and the bolt tensioner 150 are shown in Fig. 16 to 19, and the other components are omitted.

[0108] 16, controller 120 drives the horizontal drive unit (arms 135-137, motor, etc.) and vertical drive unit 132 to move bolt tensioner 150 to a position above and near the target bolt 61, until the upper part of the target bolt 61 is within the angle of view of bolt detection camera 510. Note that positioning point 1601 corresponds to a point on the central axis of the target bolt 61 that positions central axis A21 of bolt tensioner 150.

[0109] In FIG. 17, the controller 120 uses image processing of the bolt shaft detection on the image captured by the bolt detection camera 510 to move the bolt tensioner 150 so that the central axis A21 of the bolt tensioner 150 is positioned on the positioning point 1601.

[0110] In FIG. 18, after the central axis of the target bolt 61 and the central axis A21 of the bolt tensioner 150 are aligned, the controller 120 operates the up-down drive unit 132 to lower the target bolt 61 until the upper part of the target bolt 61 comes into contact with the female thread portion inside the bolt tensioner 150.

[0111] The controller 120 drives and rotates the motor 502 of the handling unit 140 to attach the bolt tensioner 150 to the target bolt 61. Figure 19 shows the state in which the bolt tensioner 150 has been attached to the target bolt 61.

[0112] The controller 120 determines contact between the top surface of the flange portion and the bottom surface of the bolt tensioner 150 by using a method of comparing a target force (torque) value using force control of the motor 502 and a method of detecting changes in the current value of the motor 502. The controller 120 also drives the vertical drive unit 132 in accordance with the rotation drive (rotation speed) of the motor 502 so that the bolt tensioner 150 descends by an amount of movement corresponding to the thread pitch of the target bolt 61. This makes it possible to achieve a smooth installation operation of the bolt tensioner 150.

[0113] Fig. 20 is a flowchart showing an example of the inspection process in the embodiment. The inspection process in Fig. 20 corresponds to the process after the alignment between the central axis of the target bolt 61 and the central axis A21 of the bolt tensioner 150 is completed, for example, as shown in Fig. 18.

[0114] The inspection process in Figure 20 is mainly divided into the following four functions. (F1) Installation of the bolt tensioner 150 to the target bolt 61: Steps S201 to S203 (F2) Applying axial force (pressure) to the target bolt 61: Steps S204 to S205 (F3) Rotation of the nut 51 relative to the target bolt 61 to which an axial force is applied: Steps S206 to S207 (F4) Releasing the axial force of the target bolt 61 and removing the bolt tensioner 150: Steps S208 to S211

[0115] The controller 120 drives the vertical drive unit 132 to lower the bolt tensioner 150 until it contacts the upper surface of the target bolt 61 (step S201). At this time, phase alignment with the nut 51 is not necessary. The controller 120 drives the motor 502 to rotate the upper wrench 141 of the handling unit 140 until the bottom surface of the bolt tensioner 150 contacts the upper surface of the flange portion (step S202). The controller 120 drives the vertical drive unit 132 in accordance with the rotation speed of the upper wrench 141 so that the bolt tensioner 150 is lowered by an amount of movement corresponding to the thread pitch of the target bolt 61 (step S203).

[0116] The controller 120 drives the rotation drive unit 770 so as to close (ON) the opening / closing valve lever 712 of the hydraulic pressure supply unit 710 (step S204). For example, the controller 120 rotates the motor that is the rotation drive unit 770 clockwise. The controller 120 drives the swing drive mechanism 750 so as to swing the pressure bar 711 of the hydraulic pressure supply unit 710 until the pressure reaches a set pressure value (step S205).

[0117] The controller 120 drives the motor 503 to rotate the lower wrench 142 of the handling unit 140 until it detects that the nut 51 has been fastened (step S206). The controller 120 measures the amount of rotation of the motor 503 at this time and stores it in a storage device or the like (step S207). The stored information can be used for tasks such as checking and managing the amount of loosening of the nut 51, for example.

[0118] The controller 120 drives the rotary drive unit 770 so as to open (OFF) the opening / closing valve lever 712 of the hydraulic supply unit 710 (step S208). For example, the controller 120 rotates the motor, which is the rotary drive unit 770, counterclockwise. The controller 120 drives the motor 502 so as to rotate the upper wrench 141 of the handling unit 140 until the female thread in the bolt tensioner 150 is disengaged from the upper shaft of the target bolt 61 (step S209). The controller 120 drives the vertical drive unit 132 so as to raise the bolt tensioner 150 by a movement amount corresponding to the thread pitch of the target bolt 61 in accordance with the rotation speed of the upper wrench 141 (step S210). The controller 120 returns the horizontal drive unit (arms 135 to 137, motor, etc.) and the vertical drive unit 132 to their initial postures (step S211), and ends the inspection process.

[0119] If there is a target bolt 61 to be the next inspection target, the controller 120 moves the fastening device 100 to the next target bolt 61 and further executes the above-mentioned inspection process. In this way, the inspection work of all the target bolts 61 on the floor is completed.

[0120] In each of the above functions, it is necessary to determine (detect) the end of the operation. For example, in each step, it is necessary to detect the following events: Step S202: The bottom surface of the bolt tensioner 150 comes into contact with the top surface of the flange portion. Step S204: The opening / closing valve lever 712 is stopped on the ON side. Step S205: The value measured by the pressure gauge 723 reaches the set pressure value. Step S206: The nut 51 is tightened onto the target bolt 61 to which the axial force is applied.

[0121] Step S205 can be realized by comparing the measured value with a set pressure value. Other processes can be realized, for example, by applying force control to the drive unit (motor, etc.) used. For example, the controller 120 detects the end of the operation based on whether the torque (force) caused by the drive reaches a target value.

[0122] The method of detecting the end of the motion is not limited to the method using force control, and any other method may be used. For example, the controller 120 may use a method of detecting the end of the motion based on a change in the current driving the drive unit. For example, even in the case of position control of the drive unit, the controller 120 can detect the end of the motion based on whether or not the amount of change in the current driving the drive unit has reached a target set value or more.

[0123] The process of turning the on-off valve lever 712 OFF in step S208 can be realized by rotating the on-off valve lever 712 in the opposite direction by the same amount of rotation as when the on-off valve lever 712 was turned ON in step S204. Similarly, the process of rotating the upper wrench 141 until the female thread portion in the bolt tensioner 150 comes off the shaft of the target bolt 61 in step S209 can be realized by rotating the upper wrench 141 in the opposite direction by the same amount of rotation as when the female thread portion in the bolt tensioner 150 was attached to the shaft of the target bolt 61 in step S202.

[0124] Through the above-described processing, the fastening device 100 can perform a series of bolt inspection operations. The fastening device 100 may be configured to perform the inspection operations according to instructions from an inspector, as necessary. The control device 801 (see FIG. 1) is a device used by the inspector to input instructions in such cases. The control device 801 is configured to be able to input instructions such as the operation target (which component is to be the operation target) and the movement direction of the operation target, similar to, for example, a game pad.

[0125] For example, an inspector on the same floor as the fastening device 100 uses the control device 801 to instruct the execution of part or all of the inspection work while visually observing the fastening device 100. The control device 801 is connected to the controller 120 by wire or wirelessly, and is configured to transmit and receive information indicating instructions, etc.

[0126] Controller 120 controls the operation of each component of fastening device 100 in response to instructions input from control device 801. An inspector may operate control device 801 while viewing a display device that displays a screen for selecting instructions and a screen for displaying the status of fastening device 100 (error information, etc.). Control device 801 may be equipped with a display device that displays this information. Control device 801 may also be connected to a display device that displays this information.

[0127] An inspector may operate the fastening device 100 by remotely operating the control device 801 from a location away from the floor. For example, the inspector operates the control device 801 while viewing at least one of an image captured by the camera 202 and an image captured by a camera previously installed to capture images of the inside of the floor. These images are acquired, for example, via a network (which may be either wired or wireless).

[0128] In this manner, the fastening device of the embodiment can reduce the load of the bolt fastening operation.

[0129] The program executed by the fastening device (controller) of the embodiment is provided by being pre-installed in, for example, a ROM (Read Only Memory) included in the controller.

[0130] The program executed by the fastening device of the embodiment may be configured to be provided as a computer program product by being recorded on a computer-readable recording medium such as a CD-ROM (Compact Disk Read Only Memory), a flexible disk (FD), a CD-R (Compact Disk Recordable), or a DVD (Digital Versatile Disk) in an installable or executable format file.

[0131] Furthermore, the program executed by the fastening device of the embodiment may be configured to be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the program executed by the fastening device of the embodiment may be configured to be provided or distributed via a network such as the Internet.

[0132] The program executed by the fastening device of the embodiment can cause a computer to function as each part of the fastening device described above. The computer can read the program from a computer-readable storage medium onto a main storage device and execute the program by a CPU (Central Processing Unit).

[0133] A configuration example of the embodiment will be described below. (Configuration example 1) A carriage unit that can be moved by drive control; A bolt tensioner that tightens the bolt; an operating unit that operates the bolt tensioner by drive control; a positioning unit that is mounted on the carriage and that mounts the bolt tensioner and the operation unit thereon and that positions a three-dimensional position of the bolt tensioner; a control unit that moves the carriage unit so that the distance to the bolt is within a certain value, operates the positioning unit so that the three-dimensional position becomes a position where the bolt is tightened after the carriage unit has moved, and drives the operation unit so that the bolt tensioner performs the tightening operation after the three-dimensional position is positioned at the position where the bolt is tightened; A fastening device comprising: (Configuration example 2) The cart section includes: A carriage drive unit that moves the carriage unit forward, backward, turns, and moves along an arcuate path; an outrigger that is extendable in a direction in which the center of gravity moves according to the positioning of the bolt tensioner; Equipped with The fastening device according to configuration example 1. (Configuration example 3) a first detection unit for detecting first detection information indicating at least one of a self-location and an obstacle; A second detection unit for detecting the position of the bolt, The control unit controls the carriage driving unit using the first detection information and the position of the bolt to move the carriage unit so that the distance from the bolt is within a certain value. The fastening device according to configuration example 2. (Configuration Example 4) The positioning portion is a first drive unit having three or more degrees of freedom that moves the bolt tensioner in a first direction; a second drive unit that moves the bolt tensioner in a second direction perpendicular to the first direction; Equipped with The fastening device according to any one of configuration examples 1 to 3. (Configuration Example 5) The control unit is The carriage is moved to a position where the distance from the bolt to the bolt tensioner is within a certain value in a state where the bolt tensioner is at a position higher than the bolt, driving the first drive unit so that the bolt tensioner moves to a position above the bolt; After the bolt tensioner is positioned above the bolt, the second drive unit is driven to move the bolt tensioner until the bolt tensioner contacts the bolt. The fastening device according to configuration example 4. (Configuration Example 6) The bolt tensioner comprises: A female thread portion attached to the bolt; A female screw rotation portion that rotates the female screw portion; a nut rotating unit that rotates a nut that tightens the bolt, The operation unit includes: A female thread rotation drive unit that drives and controls a wrench that rotates the female thread rotation unit; A nut rotation drive unit that drives and controls a wrench that rotates the nut rotation unit; Equipped with The fastening device according to any one of configuration examples 1 to 5. (Configuration Example 7) The operation unit further includes an imaging unit for capturing an image of the bolt, The control unit is After the carriage part is moved, the positioning part is moved to a position where an image of the bolt is captured by the imaging part, After the positioning unit is moved, the positioning unit is operated by drive control using the captured image so that the three-dimensional position becomes a position where the bolt is tightened. The fastening device according to configuration example 6. (Configuration Example 8) The control unit is The positioning unit is operated so that the bolt tensioner is lowered in accordance with a movement amount corresponding to a thread pitch of the bolt of the female thread portion that is attached to the bolt by rotation, Detecting whether or not the torque by the female thread rotation drive unit has reached a target value, or whether the three-dimensional position has reached a position for tightening the bolt based on a change in the current driving the female thread rotation drive unit. The fastening device according to configuration example 6. (Configuration Example 9) The control unit is Detecting whether the torque generated by the nut rotation drive unit has reached a target value or whether the tightening operation of the bolt tensioner is to be terminated based on a change in the current driving the nut rotation drive unit. The fastening device according to configuration example 6. (Configuration Example 10) The operation unit further includes a third detection unit that detects second detection information indicating an amount of rotation by at least one of the female screw rotation drive unit and the nut rotation drive unit, The control unit stores the second detection information in a storage device. The fastening device according to configuration example 6. (Configuration Example 11) A hydraulic pressure supply unit that supplies hydraulic pressure to the bolt tensioner is further provided. The hydraulic pressure supply unit includes: A pressure bar that increases the hydraulic pressure by swinging; A switching unit for switching whether or not the hydraulic pressure is applied; A swing drive unit that swings the pressure bar; A switching drive unit that performs a switching operation of the switching unit; Equipped with The control unit controls the swing drive unit based on the detected hydraulic pressure value. The fastening device according to any one of configuration examples 1 to 10. (Configuration Example 12) Further comprising a mounting portion for mounting the hydraulic supply unit, The mounting portion includes a rotation shaft for changing the orientation of the attached hydraulic supply unit. The fastening device according to configuration example 11. (Configuration Example 13) The control unit is In response to an instruction input from a control device, a moving operation for moving the carriage unit, a positioning operation for operating the positioning unit, and a part or all of the tightening operation are performed. The fastening device according to any one of configuration examples 1 to 12. (Configuration Example 14) 1. A control method implemented in a fastening device, comprising: The fastening device comprises: A carriage unit that can be moved by drive control; A bolt tensioner that tightens the bolt; an operating unit that operates the bolt tensioner by drive control; a positioning unit that is mounted on the carriage unit, that mounts the bolt tensioner and the operation unit, and that positions a three-dimensional position of the bolt tensioner, moving the carriage so that the distance from the bolt is within a certain value; operating the positioning unit so that the three-dimensional position becomes a position where the bolt is tightened after the carriage unit is moved; After the three-dimensional position is positioned at a position where the bolt is tightened, driving the operating unit so that the bolt tensioner performs the tightening operation; A control method comprising:

[0134] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0135] 100 Fastening device 110 Bogie section 111 Drive wheel 112 Training wheels 113 Battery 114 Outrigger 115 Suspension 116 Reducer 117 Motor 120 Controller 130 Positioning part 140 Handling Section 141 Upper wrench 142 Lower wrench 150 bolt tensioner 151 Female thread rotating part 152 Nut rotation part 153 Female thread 201 Range Finder 501 Gripping part 502, 503 motor 504, 505 Encoders 506 Arm connection part 509 Lower base plate 510 Volt Detection Camera 511 Controller 512 Connection 710 Hydraulic supply unit 711 Pressure bar 712 Opening and closing valve lever 721 Mounting base plate 722 Hydraulic Hose 723 Pressure Gauge 750 Swing Drive Mechanism 752 Guide shaft 753 Linear Ball Bush 754 Connecting part 755 Motor 756 Linear Guide 757 Gripping part 758 Base plate 759 Ball Screw 761 Link 770 Rotary Drive Unit 801 Controls

Claims

1. A carriage unit that can be moved by drive control; A bolt tensioner that tightens the bolt; an operating unit that operates the bolt tensioner by drive control; a positioning unit that is mounted on the carriage and that mounts the bolt tensioner and the operation unit thereon and that positions the bolt tensioner in three dimensions; a control unit that moves the carriage unit so that the distance to the bolt is within a certain value, operates the positioning unit so that the three-dimensional position becomes a position where the bolt is tightened after the carriage unit has moved, and drives the operation unit so that the bolt tensioner performs the tightening operation after the three-dimensional position is positioned at the position where the bolt is tightened; A fastening device comprising:

2. The cart section includes: A carriage drive unit that moves the carriage unit forward, backward, turns, and moves along an arcuate path; an outrigger that is extendable in a direction in which the center of gravity moves according to the positioning of the bolt tensioner; Equipped with The fastening device according to claim 1 .

3. a first detection unit for detecting first detection information indicating at least one of a self-location and an obstacle; A second detection unit for detecting the position of the bolt, The control unit controls the carriage driving unit using the first detection information and the position of the bolt to move the carriage unit so that the distance from the bolt is within a certain value. The fastening device according to claim 2.

4. The positioning portion is a first drive unit having three or more degrees of freedom that moves the bolt tensioner in a first direction; a second drive unit that moves the bolt tensioner in a second direction perpendicular to the first direction; Equipped with The fastening device according to claim 1 .

5. The control unit is The carriage is moved to a position where the distance from the bolt to the bolt tensioner is within a certain value in a state where the bolt tensioner is at a position higher than the bolt, driving the first drive unit so that the bolt tensioner moves to a position above the bolt; After the bolt tensioner is positioned above the bolt, the second drive unit is driven to move the bolt tensioner until the bolt tensioner contacts the bolt. The fastening device according to claim 4.

6. The bolt tensioner comprises: A female thread portion attached to the bolt; A female screw rotation portion that rotates the female screw portion; a nut rotating unit that rotates a nut that tightens the bolt, The operation unit includes: A female thread rotation drive unit that drives and controls a wrench that rotates the female thread rotation unit; A nut rotation drive unit that drives and controls a wrench that rotates the nut rotation unit. The fastening device according to claim 1 .

7. The operation unit further includes an imaging unit for capturing an image of the bolt, The control unit is After the carriage part is moved, the positioning part is moved to a position where an image of the bolt is captured by the imaging part, After the positioning unit is moved, the positioning unit is operated by drive control using the captured image so that the three-dimensional position becomes a position where the bolt is tightened. The fastening device according to claim 6.

8. The control unit is The positioning unit is operated so that the bolt tensioner is lowered in accordance with a movement amount corresponding to a thread pitch of the bolt of the female thread portion that is attached to the bolt by rotation, Detecting whether or not the torque by the female thread rotation drive unit has reached a target value, or whether the three-dimensional position has reached a position for tightening the bolt based on a change in the current driving the female thread rotation drive unit. The fastening device according to claim 6.

9. The control unit is Detecting whether the torque generated by the nut rotation drive unit has reached a target value or whether the tightening operation of the bolt tensioner is to be terminated based on a change in the current driving the nut rotation drive unit. The fastening device according to claim 6.

10. The operation unit further includes a third detection unit that detects second detection information indicating an amount of rotation by at least one of the female thread rotation drive unit and the nut rotation drive unit, The control unit stores the second detection information in a storage device. The fastening device according to claim 6.

11. A hydraulic pressure supply unit that supplies hydraulic pressure to the bolt tensioner is further provided. The hydraulic pressure supply unit includes: A pressure bar that increases the hydraulic pressure by swinging; A switching unit for switching whether or not the hydraulic pressure is applied; A swing drive unit that swings the pressure bar; A switching drive unit that performs a switching operation of the switching unit; Equipped with The control unit controls the swing drive unit based on the detected hydraulic pressure value. The fastening device according to claim 1 .

12. Further comprising a mounting portion for mounting the hydraulic supply unit, The mounting portion includes a rotation shaft for changing the orientation of the attached hydraulic supply unit. The fastening device according to claim 11.

13. The control unit is In response to an instruction input from a control device, a moving operation for moving the carriage unit, a positioning operation for operating the positioning unit, and a part or all of the tightening operation are performed. The fastening device according to claim 1 .

14. 1. A control method implemented in a fastening device, comprising: The fastening device comprises: A carriage unit that can be moved by drive control; A bolt tensioner that tightens the bolt; an operating unit that operates the bolt tensioner by drive control; a positioning unit that is mounted on the carriage unit, that mounts the bolt tensioner and the operation unit, and that positions a three-dimensional position of the bolt tensioner, moving the carriage so that the distance from the bolt is within a certain value; operating the positioning unit so that the three-dimensional position becomes a position where the bolt is tightened after the carriage unit is moved; After the three-dimensional position is positioned at a position where the bolt is tightened, driving the operating unit so that the bolt tensioner performs the tightening operation; A control method comprising:

Images