Slab adjusting device

Abstract

To provide a slab adjusting device capable of shortening the time required for adjusting the position and posture of a slab with respect to roadbed concrete.SOLUTION: A slab adjusting device 1 includes a plurality of hands 4 in contact with a lower surface of a slab SL, a frame 21 holding the plurality of hands 4 and disposed on roadbed concrete, and vertical actuators 41u vertically moving at least one of the plurality of hands 4 with respect to the frame 21, a front and rear actuation device 41f for moving at least one of the plurality of hands 4 back and forth with respect to the frame 21, a right and left actuation device 41L for moving at least one of the plurality of hands 4 to the right and left with respect to the frame 21, and two operation terminals 31 operated when at least one of the plurality of hands 4 is moved with respect to the frame 21 by at least one of the plurality of actuation devices.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a slab adjustment device that adjusts the position and posture of a slab relative to a roadbed concrete. [Background technology]

[0002] Patent Document 1 discloses a track slab laying position adjustment device for adjusting the position of a track slab placed between left and right temporary tracks with respect to a reference laying position. Paragraph 0008 of Patent Document 1 states, "The slab is lifted by a crane. In the lifted state, the slab can be easily moved in any direction, including up and down, front and rear, and left and right." Paragraph 0032 of Patent Document 1 states, "The left and right front hoists 34 are of the same structure and are hand-operated." [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-104849 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, Patent Document 1 does not describe an actuator that moves the slab lifted by the crane up and down, forward and backward, and left and right. Therefore, the slab needs to be moved by manually rotating and moving the hoist. This type of work takes a lot of time.

[0005] SUMMARY OF THE PRESENT EMBODIMENTS Accordingly, one object of the present invention is to provide a slab adjustment device capable of shortening the time required to adjust the position and attitude of a slab relative to a roadbed concrete. [Means for solving the problem]

[0006] One embodiment of the present invention is a slab adjustment device that adjusts the position and posture of a slab relative to a roadbed concrete, the slab adjustment device comprising: a plurality of first hands including a first right hand that contacts the underside of the slab to the right of the center of the slab in the left-right direction and a first left hand that contacts the underside of the slab to the left of the center of the slab in the left-right direction; a plurality of second hands including a second right hand that is arranged forward or rearward of the first right hand and contacts the underside of the slab to the right of the center of the slab in the left-right direction and a second left hand that is arranged forward or rearward of the first left hand and contacts the underside of the slab to the left of the center of the slab in the left-right direction; a frame that holds the plurality of first hands and the plurality of second hands, and is placed on the roadbed concrete; a first up-down actuator that moves at least one of the plurality of first hands up and down relative to the frame; and a first up-down actuator that moves at least one of the plurality of first hands up and down relative to the frame. Provided is a slab adjustment device comprising: a plurality of first actuators including a first front-to-rear actuator which moves the hands back and forth and a first left-to-right actuator which moves at least one of the plurality of first hands left and right relative to the frame; a plurality of second actuators including a second up-down actuator which moves at least one of the plurality of second hands up and down relative to the frame, a second front-to-rear actuator which moves at least one of the plurality of second hands back and forth relative to the frame and a second left-to-right actuator which moves at least one of the plurality of second hands left and right relative to the frame; a first operation terminal which is operated when at least one of the plurality of first actuators moves at least one of the plurality of first hands relative to the frame; and a second operation terminal which is operated when at least one of the plurality of second actuators moves at least one of the plurality of second hands relative to the frame.

[0007] In the embodiment, at least one of the following features may be added to the slab adjustment device.

[0008] The first operating terminal is switchable between an individual mode in which at least one of the plurality of first hands can be moved relative to the frame by at least one of the plurality of first actuators, and a linked mode in which at least one of the plurality of first hands can be moved relative to the frame by at least one of the plurality of first actuators and at least one of the plurality of second hands can be moved relative to the frame by at least one of the plurality of second actuators.

[0009] The plurality of first actuators further includes a first rotation actuator that rotates the first hand to increase or decrease a distance in the left-right direction from a center of the frame to the first hand in the left-right direction.

[0010] The plurality of first actuators further include a first position-changing actuator that rotates the first right hand and the first left hand relative to the frame around a horizontal rotation axis extending forward and backward between a horizontal position in which a first support surface of the first hand in contact with the lower surface of the slab is horizontal and an inclined position in which the first support surface of the first hand is inclined, and the plurality of second actuators rotate the second right hand and the first left hand relative to the frame around a horizontal rotation axis extending forward and backward between a horizontal position in which a second support surface of the second hand in contact with the lower surface of the slab is horizontal and an inclined position in which the second support surface of the second hand is inclined. The robot further includes a second position-changing actuator that rotates the first left hand relative to the frame, wherein the first up-down actuator moves at least one of the multiple first hands in a direction perpendicular to the first support surface of the first hand relative to the frame, regardless of whether the first right hand and first left hand are in the horizontal position or the inclined position, and the second up-down actuator moves at least one of the multiple second hands in a direction perpendicular to the second support surface of the second hand relative to the frame, regardless of whether the second right hand and second left hand are in the horizontal position or the inclined position.

[0011] The slab adjustment device further includes two distance sensors that measure distances from two positions in a vertical plane extending left and right to an upper surface of the slab before the first right hand and the first left hand and the second right hand and the second left hand are brought into contact with the lower surface of the slab; The first position-changing actuator and the second position-changing actuator rotate the first right hand and the first left hand and the second right hand and the second left hand based on detection values ​​of the two distance sensors. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is a front view of a slab adjustment device according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view of the slab adjustment device. [Diagram 3] FIG. 2 is a conceptual diagram of a slab adjustment device. [Figure 4A-B] 1A and 1B are a left side view and a front view of a starting unit. [Figure 4C] FIG. [Diagram 5] 13 is a diagram for explaining two support shafts that support an inclined beam. FIG. [Figure 6] FIG. 13 is a schematic diagram showing a state in which the tilt beam is tilted. [Figure 7A-C] FIG. 13 is a schematic diagram of a portion of the originating unit including a hand and an arm. [Figure 8] FIG. 13 is a plan view of the starting-point unit with parts of the gate-shaped frame omitted. [Figure 9] FIG. 9 is an enlarged view of a part of FIG. 8. [Figure 10] FIG. 13 is a plan view of the starting-point unit with parts of the gate-shaped frame omitted. [Figure 11] FIG. 13 is a left side view showing a structure for transmitting the power of the attitude-changing actuator to the tilt beam. [Figure 12A] 11A and 11B are diagrams for explaining an example of the operation of a slab adjustment device when adjusting the position and attitude of a slab. [Figure 12B]This is a continuation of Figure 12A. [Figure 12C] This is a figure showing a continuation of Figure 12B. [Figure 12D] This is a continuation of Figure 12C. [Figure 12E] FIG. 13 shows brackets and retaining bars attached to the sides of the slab. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0014] The slab adjustment device 1 is disposed so that the front-rear, left-right, and up-down directions of the slab adjustment device 1 match or nearly match the front-rear, left-right, and up-down directions of the slab track. The front-rear and left-right directions are horizontal directions that are perpendicular to each other, and the up-down direction is a vertical direction. The front-rear and left-right directions correspond to the direction of travel of the track, and the left-right direction corresponds to the direction perpendicular to the track. The inner side refers to the direction parallel to the left-right direction that approaches the center WO of the slab adjustment device 1 in the left-right direction, and the outer side refers to the direction parallel to the left-right direction that moves away from the center WO.

[0015] Fig. 1 is a front view of a slab adjustment device 1 according to an embodiment of the present invention, Fig. 2 is a plan view of the slab adjustment device 1, and Fig. 3 is a conceptual diagram of the slab adjustment device 1.

[0016] 1 and 2 show the slab adjustment device 1 in the initial state. In the following, unless otherwise specified, the slab adjustment device 1 in the initial state will be described. The initial state means a state in which the hand 4, the arm 6, and the tilt beam 9 are in their initial states. The initial state of the hand 4 is a state in which the hand 4 is disposed in its initial position and its upper position. The initial state of the arm 6 is a state in which the arm 6 is disposed in the center of its range of movement in the front-rear direction and in the center of its range of movement in the left-right direction. The initial state of the tilt beam 9 is a state in which the tilt beam 9 is in a horizontal position.

[0017] The slab adjustment device 1 is a device that adjusts the position and posture of a slab SL, which is placed between two protruding concrete CON protruding upward from the roadbed concrete RB, before filling a cushioning material such as cement asphalt mortar between the slab SL and the roadbed concrete RB.

[0018] The slab adjustment device 1 adjusts at least one of the following with respect to two reference points provided on two protruding concrete CON arranged at the front (starting point side) and rear (end point side) of the slab SL: the vertical position of the slab SL, the gradient of the slab SL, the horizontal position of the slab SL, and the cant of the slab SL. The gradient of the slab SL is the inclination angle of the top surface of the slab SL in a vertical plane extending from front to back. The cant is the inclination angle of the top surface of the slab SL in a vertical plane extending from left to right.

[0019] The slab SL is a roughly rectangular concrete flat plate, also called a track slab or a slab plate. The slab SL is precast concrete. The slab SL may be a square-shaped frame-type track slab with a hole penetrating the center of the slab SL from top to bottom, or may be a flat track slab without such a hole. Figure 2 shows an example of the latter. The slab SL is placed between two cylindrical protruding concrete CON with parts of the two cylindrical protruding concrete CON placed in two semicircular notches NO recessed backward or forward from the front and rear faces of the slab SL.

[0020] The slab adjustment device 1 is placed on a pair of rails RA that are temporarily placed on the roadbed concrete RB on the right and left sides of the slab SL. The slab adjustment device 1 may be a manual type that runs on the pair of rails RA by being pulled or pushed by a worker walking along the pair of rails RA, or it may be pulled or pushed by the force of an assist device operated by the same worker. The slab adjustment device 1 may be a towed or propelled type that runs on the pair of rails RA by being pulled or pushed by the force of a prime mover such as an engine or an electric motor, or it may be a self-propelled type that runs on the pair of rails RA by the force of a prime mover provided in the slab adjustment device 1.

[0021] As shown in Fig. 2, the slab adjustment device 1 includes an start-side unit 2F that supports the slab SL forward of the center of the slab SL in the front-rear direction, and an end-side unit 2B that supports the slab SL rearward of the center. The slab adjustment device 1 further includes a joint unit 3 that connects the start-side unit 2F and the end-side unit 2B. A pulling or pushing force for one of the start-side unit 2F and the end-side unit 2B is transmitted to the other of the start-side unit 2F and the end-side unit 2B via the joint unit 3.

[0022] The joint unit 3 includes two joint frames 3f arranged between the start point unit 2F and the end point unit 2B on the right and left sides of the slab SL, and four ball joints 3j connecting the two joint frames 3f to the start point unit 2F and the end point unit 2B. When the rail RA has a gradient or is curved, the start point unit 2F and the end point unit 2B run along the pair of rails RA while moving relatively in at least one of up and down, front and rear, and left and right due to the relative movement of the balls and sockets of the ball joints 3j.

[0023] As shown in Fig. 3, the slab adjustment device 1 has at least two pairs of hands 4 that support the slab SL in the air while contacting the underside of the slab SL at four or more positions symmetrical with respect to the left-right center of the slab SL (a vertical plane that divides the slab SL into left and right sides). Fig. 3 shows an example in which the start-side unit 2F and the end-side unit 2B each include two pairs of hands 4. The pair of hands 4 is composed of a right hand 4 that contacts the underside of the slab SL on the right side of the left-right center of the slab SL, and a left hand 4 that contacts the underside of the slab SL on the left side of the left-right center of the slab SL. Therefore, in the example shown in Fig. 3, the slab adjustment device 1 includes four right hands 4 and four left hands 4.

[0024] The end point unit 2B has the same configuration as the start point unit 2F. Therefore, the following mainly describes the start point unit 2F. The end point unit 2B will be described as necessary. When distinguishing between the configurations of the start point unit 2F and the end point unit 2B, the name of the configuration of the start point unit 2F may be prefixed with "first" and the name of the configuration of the end point unit 2B may be prefixed with "second." For example, the right hand 4 and the left hand 4 of the start point unit 2F are the first right hand 4 and the first left hand 4, respectively. The right hand 4 and the left hand 4 of the end point unit 2B are the second right hand 4 and the second left hand 4, respectively.

[0025] FIG. 2 shows an example in which the start-side unit 2F and the end-side unit 2B are point-symmetrical with respect to a vertical line (vertical straight line) located between them. When the end-side unit 2B is rotated 180 degrees around the vertical line, the end-side unit 2B coincides with the start-side unit 2F. Not limited to this, the start-side unit 2F and the end-side unit 2B may be plane-symmetrical with respect to a vertical plane extending left and right, or may be in a relationship in which the start-side unit 2F and the end-side unit 2B coincide when one of them is translated forward and backward. The relationship between the start-side unit 2F and the end-side unit 2B may be other than the above. As long as the main configurations are the same, the configuration of the end-side unit 2B may be different from the configuration of the start-side unit 2F.

[0026] As shown in FIG. 1, the starting point unit 2F includes a pair of arms 6 that hold at least a pair of hands 4 on the right and left sides of the center of the slab SL, and a portal frame 21 that holds at least a pair of hands 4 via the pair of arms 6. The pair of arms 6 is composed of a right arm 6 that holds at least one right hand 4 and a left arm 6 that holds at least one left hand 4. As described above, the starting point unit 2F has two pairs of hands 4, that is, two right hands 4 and two left hands 4. The two right hands 4 are held by the right arm 6. The two left hands 4 are held by the left arm 6. The two right hands 4 are held by the portal frame 21 via the right arm 6, and the two left hands 4 are held by the portal frame 21 via the left arm 6.

[0027] The frame of the slab adjustment device 1 includes two gate-shaped frames 21, a start-side unit 2F and an end-side unit 2B, and a joint unit 3 that connects the two gate-shaped frames 21. The center of the frame of the slab adjustment device 1 in the left-right direction corresponds to the center WO of the slab adjustment device 1 in the left-right direction. The center WO of the slab adjustment device 1 placed on a pair of rails RA temporarily placed on the roadbed concrete RB on the right and left sides of the slab SL coincides or approximately coincides with the center of the track in the left-right direction.

[0028] The frame of the slab adjustment device 1 is shorter in the front-to-rear direction than the slab SL. The frame is longer in the left-to-right direction than the slab SL. The frame is longer in the up-to-down direction than the slab SL. The length of the frame in the front-to-rear direction is longer than the length of the frame in the left-to-right direction and longer than the length of the frame in the up-to-down direction. The length of the frame in the front-to-rear direction may be shorter than the length of the frame in the left-to-right direction, or may be shorter than the length of the frame in the up-to-down direction. The length of the frame in the front-to-rear direction may be longer than the length of the slab SL in the front-to-rear direction.

[0029] 3, the starting point side unit 2F includes an up-down actuator 41u that moves the hand 4 up and down relative to the gate-shaped frame 21, a front-rear actuator 41f that moves the hand 4 back and forth relative to the gate-shaped frame 21, and a left-right actuator 41L that moves the hand 4 left and right relative to the gate-shaped frame 21. As will be described later, the starting point side unit 2F further includes a rotation actuator 41r and a position-changing actuator 41p.

[0030] An actuator is a device that converts driving energy, which may be electrical, fluid, magnetic, thermal, or chemical energy, into mechanical work, i.e., the motion of a tangible object. Actuators include electric motors (rotary motors), linear motors, hydraulic cylinders, air cylinders, and other devices. The up-down actuator 41u, the front-rear actuator 41f, the left-right actuator 41L, the attitude-changing actuator 41p, and the rotation actuator 41r are all electric motors. At least one of these may be an actuator other than an electric motor.

[0031] The starting unit is provided with two of each of the up-down actuator 41u, the front-rear actuator 41f, the left-right actuator 41L, and the attitude-changing actuator 41p. In contrast, one rotation actuator 41r is provided for each hand 4. Therefore, the starting unit is provided with four rotation actuators 41r that correspond one-to-one to the four hands 4 consisting of two right hands 4 and two left hands 4.

[0032] The two rotation actuators 41r, the up-down actuator 41u, the front-rear actuator 41f, the left-right actuator 41L, and the posture-changing actuator 41p constitute an actuator group 41 provided for each arm 6. Therefore, in the example shown in Fig. 3, four actuator groups 41 are provided. Each of the start-point unit 2F and the end-point unit 2B has two actuator groups 41. The actuator group 41 is made up of a plurality of actuators that move the hand 4 held by the same arm 6 relative to the gate-shaped frame 21.

[0033] The up-down actuator 41u may move the arm 6 up and down relative to the gate-shaped frame 21 to move the hand 4 up and down relative to the gate-shaped frame 21, or may move the hand 4 up and down relative to the arm 6 to move the hand 4 up and down relative to the gate-shaped frame 21. The same applies to other actuators such as the front-rear actuator 41f. In this embodiment, the up-down actuator 41u moves the hand 4 relative to the arm 6, and the front-rear actuator 41f and the left-right actuator 41L move the arm 6 relative to the gate-shaped frame 21.

[0034] As shown in Fig. 3, the slab adjustment device 1 is provided with two operation terminals 31 operated by an operator. One operation terminal 31 is an operation terminal 31 for the starting point side operated by an operator when operating the starting point side unit 2F. The other operation terminal 31 is an operation terminal 31 for the end point side operated by an operator when operating the end point side unit 2B.

[0035] The end point side unit 2B may be operated by operating the start point side operation terminal 31. The start point side unit 2F may be operated by operating the end point side operation terminal 31. In this case, the operation terminal 31 may be switchable between an individual mode in which only the start point side unit 2F or the end point side unit 2B can be operated, and a linked mode in which both the start point side unit 2F and the end point side unit 2B can be operated.

[0036] The line connecting the two operation terminals 31 in Fig. 3 indicates that the two operation terminals 31 are electrically connected by wire or wirelessly. When the end point unit 2B is operated by the start point operation terminal 31, commands etc. input by an operator to the start point operation terminal 31 are sent to the end point operation terminal 31 by wire or wirelessly. The end point operation terminal 31 receives these commands etc. and operates the end point unit 2B. The same is true when the start point unit 2F is operated by the end point operation terminal 31.

[0037] The operation terminal 31 includes a control device 31c that controls the electric and electronic devices provided in the slab adjustment device 1. Actuators such as the up / down actuator 41u and a camera CA (see FIG. 7C) described below are included in the control objects directly or indirectly controlled by the control device 31c. The detection values ​​of the sensors are input to the control device 31c. The control device 31c includes at least one computer. The computer includes a memory that stores information such as programs, and a CPU (central processing unit) that controls the slab adjustment device 1 in accordance with the programs stored in the memory.

[0038] The operation terminal 31 includes an input device 31i that the worker touches when inputting at least one of commands, information, and data (hereinafter also referred to as commands, etc.) to the control device 31c, and a display device 31d that displays information. FIG. 3 shows an example in which an image captured by a camera CA is displayed on the display device 31d. The display device 31d may be a display dedicated to display without a touch panel, or may be a touch panel display that also serves as the input device 31i. The input device 31i may be a physical input device such as a button, lever, or knob, or a figure, etc. displayed on a touch panel display, or may be both a physical input device and a figure, etc.

[0039] The operation terminal 31 includes a communication module 31m that receives, by wire or wireless, electrical signals such as commands sent to the control device 31c from an external device other than the operation terminal 31, such as another operation terminal 31, and transmits, by wire or wireless, electrical signals such as commands to be sent from the control device 31c to an external device. When the end point unit 2B is operated by operating the operation terminal 31 for the start point, the end point unit 2B is operated via the operation terminal 31 for the end point. At this time, commands are transmitted from the control device 31c of the start point unit 2F to the control device 31c of the end point unit 2B via the communication module 31m of the start point unit 2F and the communication module 31m of the end point unit 2B.

[0040] The operation terminal 31 includes an operation box 31b that houses a control device 31c. The input device 31i, the display device 31d, and the communication module 31m are attached to the operation box 31b. As shown in FIG. 2, one operation box 31b is attached to the gate frame 21 of the starting unit 2F via a support arm 32. The other operation box 31b is attached to the gate frame 21 of the end unit 2B via a support arm 32. The support arm 32 may be an adjustable arm that can change the distance between the operation terminal 31 and the gate frame 21, or may be a fixed arm that cannot change the distance between the operation terminal 31 and the gate frame 21. FIG. 2 shows an example of the former.

[0041] As shown in Fig. 2, the operation terminal 31 for the starting point side is disposed at a position where a worker on the protruding concrete CON in front of the slab SL can operate the operation terminal 31 for the starting point side. The operation terminal 31 for the end point side is disposed at a position where a worker on the protruding concrete CON in the rear of the slab SL can operate the operation terminal 31 for the end point side. The operation terminal 31 for the starting point side is disposed forward of the upper frame 22 of the portal frame 21 of the starting point side unit 2F. The operation terminal 31 for the end point side is disposed rearward of the upper frame 22 of the portal frame 21 of the end point side unit 2B.

[0042] As shown in Fig. 1, the operation terminal 31 is disposed below the upper frame 22 of the portal frame 21. The upper end of the operation terminal 31 may be disposed below the lower end of the inclined beam 9, or may be disposed above the lower end of the inclined beam 9. The operation terminal 31 is disposed inside the two side frames 23 of the portal frame 21. When the slab SL is being lifted by the multiple hands 4, the operation terminal 31 is disposed above the upper surface of the slab SL.

[0043] A structure for holding the hand 4, such as the gate frame 21, will be described below. After that, a structure for moving the hand 4 relative to the gate frame 21, such as the rotation actuator 41r, will be described.

[0044] Fig. 4A is a left side view of the starting point side unit 2F. Fig. 4B is a front view of the starting point side unit 2F. Fig. 4C is a plan view of the starting point side unit 2F. Fig. 5 is a diagram for explaining two support shafts 10 that support the inclined beam 9. Fig. 6 is a schematic diagram showing the inclined beam 9 in a tilted state.

[0045] 4A and 4B, the portal frame 21 includes two side frames 23 disposed on the right and left sides of the slab SL (see FIG. 1). The side frame 23 includes a base frame 24 extending in the front-to-rear direction on the right or left side of the slab SL, two side posts 23p extending upward from the base frame 24 to face each other in the front-to-rear direction with a gap between them on the right or left side of the slab SL, and a side bar 23b suspended across the two side posts 23p on the right or left side of the slab SL.

[0046] As shown in FIG. 4C, the portal frame 21 further includes an upper frame 22 disposed above the slab SL. The upper frame 22 is suspended between two side frames 23. The upper frame 22 includes two upper bars 22b extending left and right above the slab SL, facing each other in the front-rear direction with a gap between them. The front upper bar 22b is suspended between two front side posts 23p. The rear upper bar 22b is suspended between two rear side posts 23p. FIG. 4B shows an example in which the entire side posts 23p are vertically straight and the entire upper bar 22b is horizontally straight.

[0047] As shown in FIG. 4B, the starting point unit 2F includes a plurality of traveling rollers 25 that move along the rail RA together with the gate frame 21 while rolling on the rail RA around a horizontal rotation axis extending left and right. FIG. 4C shows an example in which two traveling rollers 25 arranged on the right rail RA and two traveling rollers 25 arranged on the left rail RA are provided. The two traveling rollers 25 on the right side are held by the right base frame 24. The two traveling rollers 25 on the left side are held by the left base frame 24. Each traveling roller 25 includes a roller portion that rotates on the rail RA around a horizontal rotation axis extending left and right, and a flange portion that restricts the movement of the roller portion in the left and right direction relative to the rail RA.

[0048] As shown in Figs. 5 and 6, the starting unit 2F includes a diagonal beam 9 that holds a pair of arms 6. The pair of arms 6 extend downward from the diagonal beam 9. The diagonal beam 9 is held by a portal frame 21. The pair of arms 6 are held by the portal frame 21 via the diagonal beam 9. The diagonal beam 9 can rotate relative to the portal frame 21 in both clockwise and counterclockwise directions around a rotation axis that extends forward and backward. Fig. 6 shows an example in which the diagonal beam 9 has rotated counterclockwise as viewed from the front. The rotation of the diagonal beam 9 relative to the portal frame 21 changes the attitude of the diagonal beam 9 relative to the portal frame 21.

[0049] The inclined beam 9 is movable with respect to the portal frame 21 between a horizontal position in which the support surfaces 4s (see FIG. 7C) of the pair of hands 4 arranged at the use position are horizontal, and an inclined position in which the support surfaces 4s of the pair of hands 4 arranged at the use position are inclined with respect to the horizontal plane. FIG. 5 shows a state in which the inclined beam 9 is in the horizontal position, and FIG. 6 shows a state in which the inclined beam 9 is in the inclined position. As long as the support surfaces 4s of the pair of hands 4 arranged at the use position are horizontal, the horizontal position may be a position in which the upper and lower surfaces of the inclined beam 9 are horizontal, or a position inclined with respect to the horizontal plane.

[0050] As shown in Fig. 4C, the inclined beam 9 includes two inclined bars 9b extending left and right so as to face each other in the front and rear with a gap between them above the slab SL, and two connecting brackets that are hung on the two inclined bars 9b on the right and left sides of the center of the two inclined bars 9b in the left and right direction. The front-rear slide table 7 and the left-right slide table 8 described later correspond to the connecting brackets.

[0051] As shown in Fig. 5, the inclined bar 9b is disposed below the upper frame 22. Fig. 5 shows an example in which the entire upper bar 22b and the entire inclined bar 9b are horizontally linear, and the upper bar 22b and the inclined bar 9b are parallel to each other. The right end of the inclined bar 9b passes between two side posts 23p of the right side frame 23 from side to side. The left end of the inclined bar 9b passes between two side posts 23p of the left side frame 23 from side to side.

[0052] The starting unit 2F includes two support shafts 10 that support the inclined beam 9 on the right and left sides of the center of the gate frame 21 in the left-right direction. The inclined beam 9 is supported by the gate frame 21 via the two support shafts 10. The support shafts 10 are supported by the side frame 23 in a position extending horizontally in the front-to-rear direction. The right support shaft 10 is suspended between two right side posts 23p. The left support shaft 10 is suspended between two left side posts 23p. The two inclined bars 9b of the inclined beam 9 are disposed on the two support shafts 10. The lower surfaces of the inclined bars 9b are in contact with the outer peripheral surface of the outer ring of a rolling bearing coaxial with the support shafts 10.

[0053] The starting point unit 2F includes at least one right stopper 11r that restricts the movement of the inclined beam 9 to the right relative to the gate frame 21, and at least one left stopper 11L that restricts the movement of the inclined beam 9 to the left relative to the gate frame 21. Fig. 5 shows an example in which two right stoppers 11r and two left stoppers 11L are provided. In other words, Fig. 5 shows an example in which one right stopper 11r and one left stopper 11L are provided for each support shaft 10.

[0054] The right stopper 11r on the right side is disposed to the left of the right support shaft 10, i.e., between the two support shafts 10. The right left stopper 11L on the right side is disposed to the right (outside) of the right support shaft 10. The left right stopper 11r on the left side is disposed to the left (outside) of the left support shaft 10. The left left stopper 11L on the left side is disposed to the right of the left support shaft 10, i.e., between the two support shafts 10.

[0055] FIG. 5 shows an example in which a part of the U-shaped bracket 11 surrounding the right support shaft 10 is the right stopper 11r and the left stopper 11L on the right side, and a part of the U-shaped bracket 11 surrounding the left support shaft 10 is the right stopper 11r and the left stopper 11L on the left side. Each U-shaped bracket 11 includes an upper stopper 11u extending from the right stopper 11r to the left stopper 11L in the space below the support shaft 10. In the example shown in FIG. 5, the right stopper 11r and the left stopper 11L are two vertical square or rectangular plates that face each other in parallel to the left and right with a gap between them, and the upper stopper 11u is a horizontal square or rectangular plate that is perpendicular to the right stopper 11r and the left stopper 11L. The movement of the inclined beam 9 in the upward direction relative to the portal frame 21 is restricted by the contact of the upper stopper 11u with the support shaft 10.

[0056] The distance in the left-right direction between the right stopper 11r and the left stopper 11L on the right side may be equal to or different from the distance in the left-right direction between the right stopper 11r and the left stopper 11L on the left side. FIG. 5 shows an example in which the distance in the left-right direction between the right stopper 11r and the left stopper 11L on the right side is larger than the distance in the left-right direction between the right stopper 11r and the left stopper 11L on the left side. In this example, the U-shaped bracket 11 on the right side is a loose stopper in which the total size of the gap in the left-right direction formed between the right stopper 11r and the left stopper 11L and the support shaft 10 is relatively large, and the U-shaped bracket 11 on the left side is a tight stopper in which the total size of the gap in the left-right direction formed between the right stopper 11r and the left stopper 11L and the support shaft 10 is relatively small.

[0057] When the right support shaft 10 rises or falls, the inclined beam 9 rotates around the left support shaft 10 at a rotation angle corresponding to the amount of up-down movement of the right support shaft 10 while sliding rightward or leftward relative to the right support shaft 10. When the left support shaft 10 rises or falls, the inclined beam 9 rotates around the left support shaft 10 at a rotation angle corresponding to the amount of up-down movement of the left support shaft 10 while sliding rightward or leftward relative to the right support shaft 10. When the inclined beam 9 rotates around the left support shaft 10 corresponding to the rotation axis of the inclined beam 9, the height difference between the two pairs of hands 4 supported on the inclined beam 9 via the pair of arms 6 increases or decreases while the relative positions of the two pairs of hands 4 are maintained constant.

[0058] As shown in FIG. 5, the starting point unit 2F includes two laser sensors LA that measure the distance from two positions in a vertical plane extending left and right to the top surface of the slab SL. The laser sensors LA are an example of a distance sensor. The distance sensor may be a sensor other than an optical type, such as an ultrasonic type. The two laser sensors LA are disposed above the slab SL (see FIG. 1). The two laser sensors LA are disposed on the right and left sides of the center of the portal frame 21 in the left-right direction. The two laser sensors LA are attached to the inclined beam 9. The two laser sensors LA may be attached to a member other than the inclined beam 9, such as the portal frame 21.

[0059] Next, the structure for holding the hand 4 and the arm 6 will be described.

[0060] Fig. 7A is a front view of a portion of the starting point side unit 2F including the hand 4 and the arm 6. Fig. 7B is a schematic diagram of the hand 4 and the arm 6 viewed horizontally from inside. Fig. 7C is a schematic diagram of two hands 4 held by one arm 6 viewed from above. Fig. 8 is a plan view of the starting point side unit 2F with part of the gate-shaped frame 21 and the like omitted. Fig. 9 is an enlarged view of a portion of Fig. 8. Figs. 7A to 7C show a state in which the hand 4 is placed in the usage position.

[0061] As shown in Fig. 7A, the arm 6 is supported by the inclined beam 9 via a front-rear slide table 7 and a left-right slide table 8 that are arranged above the inclined beam 9. The front-rear slide table 7 is arranged above the left-right slide table 8. The front-rear slide table 7 is supported by the left-right slide table 8 via a linear guide LG that extends in the front-rear direction. The left-right slide table 8 is supported by the inclined beam 9 via a linear guide LG that extends in the left-right direction.

[0062] The linear guide LG includes a linear guide rail and a slide block that moves along the guide rail in the length direction of the guide rail. The guide rail between the front-rear slide table 7 and the left-right slide table 8 is fixed to the left-right slide table 8 in a position extending forward and backward along the left-right slide table 8. The slide block between the front-rear slide table 7 and the left-right slide table 8 is fixed to the front-rear slide table 7. The guide rail between the left-right slide table 8 and the inclined beam 9 is fixed to the left-right slide table 8 in a position extending left and right along the inclined beam 9. The slide block between the left-right slide table 8 and the inclined beam 9 is fixed to the left-right slide table 8.

[0063] The front-rear slide table 7 is disposed above the arm 6. The arm 6 extends downward from the front-rear slide table 7. The arm 6 is fixed to the front-rear slide table 7. The arm 6 passes vertically through a space formed by the left-right slide tables 8. The arm 6 also passes vertically through the space between the two inclined bars 9b.

[0064] When the front-rear slide table 7 is translated forward and backward relative to the left-right slide table 8, the arm 6 is translated forward and backward relative to the inclined beam 9. When the left-right slide table 8 is translated left and right relative to the inclined beam 9, the arm 6 is translated left and right together with the front-rear slide table 7 relative to the inclined beam 9. As a result, the two right hands 4 or the two left hands 4 are translated forward and backward or left and right relative to the gate-shaped frame 21.

[0065] The starting unit 2F includes a pair of hand holders 5 that hold at least a pair of hands 4. The pair of hand holders 5 are held by a pair of arms 6, respectively. The two right hands 4 are held by the right hand holder 5. The two left hands 4 are held by the left hand holder 5. The right hand holder 5 together with the two right hands 4 can move up and down in parallel relative to the right arm 6. The left hand holder 5 together with the two left hands 4 can move up and down in parallel relative to the left arm 6. As shown in FIG. 7B, the two left hands 4 are arranged in front of and behind the left arm 6. The two right hands 4 are arranged in front of and behind the right arm 6.

[0066] The hand 4 includes a horizontal support surface 4s that contacts the lower surface of the slab SL. FIGS. 7A to 7C show an example in which the hand 4 is a horizontal plate and the horizontal upper surface of the plate is the support surface 4s. The hand 4 may include a plurality of support surfaces 4s that are arranged in a single horizontal plane while being spaced apart from each other. When the hand 4 is made of metal, the support surface 4s may be made of metal or may be made of a material softer than the slab SL, such as resin or rubber. In the latter case, the hand 4 may include a metal member at least a part of which is arranged below the slab SL, and a soft member that contacts the lower surface of the slab SL between the metal member and the slab SL.

[0067] The hand 4 can rotate with respect to the hand holder 5 between a use position where the hand 4 can be brought into contact with the underside of the slab SL and an initial position where the hand 4 is separated from the slab SL. FIG. 7C shows an example in which two positions where the rotation angles of the hand 4 around a vertical rotation axis differ by 90 degrees are the use position (position shown by solid line) and the initial position (position shown by two-dot chain line) of the hand 4. When the hand 4 is a rectangular horizontal flat plate, the use position of the hand 4 is a position where the long sides of the hand 4 extend left and right, and the initial position of the hand 4 is a position where the long sides of the hand 4 extend front and rear. When the hand 4 is located at any position within the range from the use position to the initial position, the support surface 4s of the hand 4 is horizontal.

[0068] The use position of the hand 4 is a position where the shortest distance from the center of the gate-shaped frame 21 to the hand 4 in the left-right direction is less than 1 / 2 the width of the slab SL. The initial position of the hand 4 is a position where the shortest distance exceeds 1 / 2 the width of the slab SL. If these conditions are met, the hand 4 may be rotatable relative to the hand holder 5 between the use position and the initial position around a horizontal rotation axis extending forward and backward. In this case, the initial position of the hand 4 may be a position where the support surface 4s of the hand 4 extends obliquely downward toward the center of the gate-shaped frame 21 in the left-right direction.

[0069] Next, a description will be given of a structure, such as the rotary actuator 41r, for moving the hand 4 relative to the gate frame 21. First, the rotary actuator 41r, the limit switch Li, and the camera CA will be described.

[0070] As shown in FIGS. 7A to 7C, the starting unit 2F includes a rotation actuator 41r that rotates the hand 4 between the use position and the initial position about a vertical line with respect to the gate-shaped frame 21. One rotation actuator 41r is provided for each hand 4. The two rotation actuators 41r corresponding to the two right hands 4 are held by the right hand holder 5. The two rotation actuators 41r corresponding to the two left hands 4 are held by the left hand holder 5. As shown in FIGS. 7B to 7C, the two rotation actuators 41r are disposed in front and behind the arm 6.

[0071] The rotation actuator 41r may be directly or indirectly connected to the hand 4. In either case, the rotation axis of the rotation actuator 41r may be disposed on a line including the rotation axis of the hand 4, or may be separated from the line. FIG. 7C shows an example of the former. The rotation actuator 41r is disposed above the hand 4. When any of the four rotation actuators 41r rotates, only the hand 4 corresponding to the rotated rotation actuator 41r rotates relative to the hand holder 5 and the arm 6.

[0072] The starting point unit 2F includes two limit switches Li that cause the left and right actuators 41L (see FIG. 8) to stop movement of the arms 6 when the left and right actuators 41L come into contact with the right or left side of the slab SL while moving the arms 6 inward relative to the portal frame 21. One limit switch Li is a right limit switch Li that stops movement of the right arm 6. The other limit switch Li is a left limit switch Li that stops movement of the left arm 6. The right limit switch Li is attached to the right hand holder 5. The left limit switch Li is attached to the left hand holder 5.

[0073] When a gap is formed between the slab SL and the roadbed concrete RB and the hand 4 is placed in the use position (see FIG. 12), moving the arm 6 inward relative to the portal frame 21 increases the left-right length of the part of the hand 4 that is placed between the slab SL and the roadbed concrete RB. This length is defined as the hand insertion amount. When the hand insertion amount reaches a certain value, the limit switch Li comes into contact with the side of the slab SL, causing the left-right actuators 41L to stop the movement of the arm 6. Therefore, the fact that the movement of the arm 6 inward relative to the portal frame 21 has stopped means that the hand insertion amount is a certain value and the arm 6 is away from the side of the slab SL.

[0074] The limit switch Li is an example of a hand stop sensor that causes the left and right actuators 41L to stop the inward movement of the hand 4 relative to the slab SL when the hand insertion amount reaches a certain value. The hand stop sensor may be a non-contact switch such as a proximity switch that detects that the hand insertion amount has reached a certain value without contacting the slab SL, or a distance sensor that measures the left-right distance from the arm 6 to the side of the slab SL without contacting the slab SL. In these cases, the control device 31c causes the left and right actuators 41L to stop the inward movement of the hand 4 relative to the slab SL based on the detection value of the non-contact switch or distance sensor.

[0075] As shown in Figs. 7A to 7C, the starting point side unit 2F includes at least one camera CA that captures an image of a portion of the gap between the slab SL and the concrete roadbed RB where the hand 4 is inserted. In this embodiment, two cameras CA are provided. One camera CA is a right camera CA that captures an image of the gap between the slab SL and the concrete roadbed RB from the right side of the slab SL. The other camera CA is a left camera CA that captures an image of the gap between the slab SL and the concrete roadbed RB from the left side of the slab SL. The right camera CA is attached to the right hand holder 5. The left camera CA is attached to the left hand holder 5. A still image or a video captured by the camera CA is displayed on a display device 31d (see Fig. 3) of the starting point side unit 2F.

[0076] Next, the vertical actuator 41u will be described.

[0077] The starting unit 2F includes a conversion device that converts the rotation of the vertical actuator 41u into the movement of two right hands 4 or two left hands 4 in the vertical direction. As shown in FIG. 7A, the conversion device includes a ball screw 42s that rotates as the vertical actuator 41u rotates, and a ball nut 42n attached to the ball screw 42s. The two right hands 4 or the two left hands 4 are fixed to the ball nut 42n via a hand holder 5.

[0078] The vertical actuator 41u is held by the gate frame 21 via an inclined beam 9. The ball screw 42s and the ball nut 42n are also held by the gate frame 21 via an inclined beam 9. The vertical actuator 41u is held by the front-rear slide table 7 with the rotation axis of the vertical actuator 41u extending left and right. The ball screw 42s is held by the arm 6 with the rotation axis extending up and down. The vertical actuator 41u is connected to the ball screw 42s via a non-parallel shaft gear such as a cross shaft gear or a skew shaft gear.

[0079] When the vertical actuator 41u rotates, the ball screw 42s rotates by a rotation angle corresponding to the rotation angle of the vertical actuator 41u. The ball nut 42n translates upward or downward along the ball screw 42s by a movement amount corresponding to the rotation angle of the ball screw 42s. The hand holder 5 that holds the two right hands 4 or the two left hands 4 is fixed to the ball nut 42n. Therefore, when the vertical actuator 41u rotates, the two right hands 4 or the two left hands 4 translate upward or downward relative to the arm 6 by a movement amount corresponding to the rotation angle of the vertical actuator 41u.

[0080] Next, the front and rear actuator 41f will be described.

[0081] The front-rear actuator 41f is a part of a chain-type electric actuator called a Zip Chain Actuator (registered trademark). As shown in Figures 8 and 9, the chain-type electric actuator includes two chains that mesh with each other to form a linear pillar portion 43p, an electric motor (front-rear actuator 41f) that moves the tip of the pillar portion 43p along a linear path, a sprocket that transmits the rotation of the electric motor to one of the two chains while meshing with the other, thereby moving the two chains relatively, and a chain case 43c that houses the two chains and the sprocket.

[0082] The chain-type electric actuator including the front-rear actuator 41f is held by the portal frame 21 via the inclined beam 9. The chain-type electric actuator is held by the inclined beam 9. The tip of a linear pillar 43p formed by two chains can reciprocate back and forth relative to the inclined beam 9 and is connected to the front-rear slide table 7. When the front-rear actuator 41f moves the tip of the pillar 43p forward or backward, the front-rear slide table 7 moves forward or backward together with the arm 6 relative to the left-right slide table 8 and the inclined beam 9 by an amount corresponding to the amount of movement of the tip of the pillar 43p. As a result, the right hand 4 and the right arm 6, or the left hand 4 and the left arm 6, move forward or backward in parallel relative to the portal frame 21.

[0083] Next, the left and right actuators 41L will be described.

[0084] As shown in Fig. 8, the left and right actuators 41L are part of an electric cylinder 44c that converts electric power into linear motion of a tangible object. The electric cylinder 44c includes an electric motor (the left and right actuators 41L) that converts electric power into rotation of a rotor, a ring that is driven in a rotational direction by the electric motor with its axial movement restricted, a rod 44r that moves in the axial direction of the ring relative to the ring as the ring rotates, and a cylinder tube 44t that houses the ring and the rod 44r with a part of the rod 44r protruding in the axial direction of the ring. The rod 44r and the ring may be a ball screw and a ball nut that mesh with each other via a plurality of balls, or may be a male screw and a female screw.

[0085] Two electric cylinders 44c including two left and right actuators 41L are held by the gate frame 21 via the inclined beam 9. The electric cylinders 44c are held by the inclined beam 9 in an orientation in which the center line of the rod 44r extends to the left and right. The rod 44r of the electric cylinder 44c that moves the two right hands 4 is directed to the right with respect to the cylinder tube 44t of the electric cylinder 44c. The rod 44r of the electric cylinder 44c that moves the two left hands 4 is directed to the left with respect to the cylinder tube 44t of the electric cylinder 44c. The two rods 44r are connected to the two left and right slide tables 8, respectively.

[0086] When the left-right actuator 41L moves the rod 44r to the right or left, the left-right slide table 8 slides to the right or left relative to the inclined beam 9 by an amount of movement corresponding to the amount of movement of the rod 44r. When the left-right slide table 8 slides left or right, the front-rear slide table 7 supported by the left-right slide table 8 also slides left or right, and the arm 6 supported by the front-rear slide table 7 also slides left or right. As a result, the right hand 4 and right arm 6, or the left hand 4 and left arm 6, move in parallel left or right relative to the portal frame 21, and the distance in the left-right direction between the right hand 4 and right arm 6 and the left hand 4 and left arm 6 increases or decreases.

[0087] Next, the attitude changing actuator 41p will be described.

[0088] Fig. 10 is a plan view of the starting point side unit 2F with parts of the gate frame 21 omitted. Fig. 11 is a left side view showing a structure for transmitting the power of the attitude changing actuator 41p to the tilt beam 9.

[0089] The starting point unit 2F includes at least one position-changing actuator 41p that changes the height difference between the pair of hands 4 while maintaining a constant relative position of the pair of hands 4 by rotating the pair of hands 4 relative to the gate-shaped frame 21 around a horizontal rotation axis that extends forward and backward. Fig. 10 shows an example in which two position-changing actuators 41p are provided. The two position-changing actuators 41p are disposed on the right and left sides of the center of the gate-shaped frame 21 in the left-right direction.

[0090] The starting point unit 2F includes a conversion device that converts the rotation of the attitude-changing actuator 41p into the movement of the tilt beam 9. As shown in Fig. 11, the conversion device includes a plurality of reduction gears 45g that rotate while decelerating the rotation of the attitude-changing actuator 41p, a transmission shaft 45t that rotates as the plurality of reduction gears 45g rotate, two ball screws 45s that rotate as the transmission shaft 45t rotates, and two ball nuts 45n attached to the two ball screws 45s.

[0091] The attitude-changing actuator 41p is held by the gate-shaped frame 21. The reduction gear 45g, the transmission shaft 45t, the ball screw 45s, and the ball nut 45n are also held by the gate-shaped frame 21. The attitude-changing actuator 41p is disposed on the base frame 24. The transmission shaft 45t extends forward and backward along the upper surface of the base frame 24. The two ball screws 45s are disposed in two side posts 23p of the side frame 23 in a vertical position. The two ball nuts 45n are also disposed in the two side posts 23p. The two ball screws 45s are connected to the transmission shaft 45t via non-parallel shaft gears (such as intersecting shaft gears and intersecting shaft gears) that convert the rotation of the transmission shaft 45t into the rotation of the ball screw 45s.

[0092] When the position-changing actuator 41p rotates, the transmission shaft 45t also rotates. The two ball screws 45s rotate in conjunction with the rotation of the transmission shaft 45t. The ball nut 45n moves upward or downward along the ball screw 45s by an amount of movement corresponding to the rotation angle of the ball screw 45s. Both ends of the support shaft 10 are fixed to the two ball nuts 45n. When the position-changing actuator 41p rotates, the support shaft 10 moves upward or downward in parallel with the gate frame 21 by an amount of movement corresponding to the rotation angle of the position-changing actuator 41p. This changes the position and attitude of the inclined beam 9 with respect to the gate frame 21.

[0093] Next, an example of the operation of the slab adjustment device 1 will be described.

[0094] Figures 12A to 12D are diagrams for explaining an example of the operation of the slab adjustment device 1 when adjusting the position and posture of the slab SL. Figure 12E is a diagram showing a bracket 52 and a holding rod 53 attached to the side of the slab SL. Figures 12A to 12D show an example in which the angle of the slab laying surface on which the slab SL is laid is inclined with respect to the installation surface (horizontal plane) of the slab adjustment device 1. Figure 3 will be referred to below. Figures 12A to 12E will be referred to as appropriate.

[0095] When adjusting the position and posture of the slab SL before laying it on the roadbed concrete RB, the slab adjustment device 1 is made to travel along the pair of rails RA to the location where the slab SL whose position and posture should be adjusted is placed, and the slab adjustment device 1 is stopped at that location. This places the slab SL inside the portal frames 21 of the start-point unit 2F and the end-point unit 2B.

[0096] After the slab SL is placed inside the two portal frames 21, a worker performs a measurement operation on the starting-side operation terminal 31 to make the two laser sensors LA of the starting-point unit 2F measure the distance to the top surface of the slab SL. When this operation is performed, the control device 31c makes the two laser sensors LA of the starting-point unit 2F measure the distance to the top surface of the slab SL. This measures the inclination angle of the top surface of the slab SL in a vertical plane extending left and right.

[0097] If the upper surface of the slab SL is not horizontal, that is, if the inclination angle of the upper surface of the slab SL in the vertical plane extending left and right is not 0, the control device 31c operates one or both of the two lifting units of the starting point side unit 2F to change the inclination angle of the inclined beam 9 until the inclined beam 9 becomes parallel to the upper surface of the slab SL. As a result, as shown in Fig. 12A, all the hands 4 of the starting point side unit 2F become parallel to the lower surface of the slab SL. If the upper surface of the slab SL is horizontal, the inclined beam 9 is parallel to the upper surface of the slab SL, so the control device 31c does not change the inclination angle of the inclined beam 9.

[0098] After making the inclined beam 9 parallel to the upper surface of the slab SL, or after confirming that the upper surface of the slab SL is horizontal, the control device 31c operates the two upper and lower actuators 41u of the starting unit 2F to lower all the hands 4 of the starting unit 2F from an upper position where the hands 4 are located above the slab SL to a lower position where the hands 4 are located below the slab SL. Then, as shown in Fig. 12B, the control device 31c operates all the rotation actuators 41r of the starting unit 2F to rotate all the hands 4 of the starting unit 2F from the initial position to the use position.

[0099] 12B, the slab SL is supported by a plurality of square timbers 51 arranged between the slab SL and the concrete roadbed RB, and is spaced apart from the upper surface of the concrete roadbed RB. The use position may be a position where a part of the hand 4 is inserted between the slab SL and the concrete roadbed RB before the arm 6 is brought close to the slab SL, or a position where the entire hand 4 is arranged outside the space between the slab SL and the concrete roadbed RB.

[0100] After all the hands 4 have been moved to their usage positions, the control device 31c causes the two cameras CA (see FIG. 7A) of the starting point unit 2F to start capturing images. The cameras CA may start capturing images before the hands 4 reach their usage positions. The control device 31c causes the display device 31d of the operation terminal 31 for the starting point to display images captured by the two cameras CA of the starting point unit 2F. FIG. 3 shows an example in which the display device 31d displays the hands 4 and slab SL captured by the two cameras CA.

[0101] The worker checks the image displayed on the display device 31d and confirms that the right hand 4 and the left hand 4 are placed in the use position and that the right hand 4 and the left hand 4 are placed in an appropriate position relative to the slab SL. If there is no problem with the position of the right hand 4 and the left hand 4, the worker performs an image checking operation on the operation terminal 31 for the starting point side to communicate this to the control device 31c.

[0102] When the control device 31c is informed that there is no problem with the position of the right hand 4 and the left hand 4, the control device 31c operates the two left and right actuators 41L of the starting unit 2F to move the right arm 6 and the left arm 6 inward. When the limit switch Li for the right arm 6 (see Figs. 7B and 7C) contacts the right side surface of the slab SL, the left and right actuators 41L for the right arm 6 stop the movement of the right arm 6. Similarly, when the limit switch Li for the left arm 6 contacts the left side surface of the slab SL, the left and right actuators 41L for the left arm 6 stop the movement of the left arm 6. Fig. 12C shows the state in which the movement of the right arm 6 and the left arm 6 has been stopped.

[0103] After confirming that the inward movement of the right arm 6 and the left arm 6 has stopped, the control device 31c operates the two up and down actuators 41u of the starting point side unit 2F to raise all the hands 4 of the starting point side unit 2F. As a result, all the hands 4 come into contact with the underside of the slab SL, and the slab SL is lifted by the two right hands 4 and the two left hands 4. As a result, as shown in Fig. 12D, the underside of the slab SL separates from the multiple square beams 51 that support the slab SL between the slab SL and the roadbed concrete RB.

[0104] The process from when a worker performs a measurement operation on the operation terminal 31 to when the slab SL is lifted is also performed in the end-side unit 2B in parallel with the start-side unit 2F performing the same process, by another worker operating the end-side operation terminal 31. Therefore, all the hands 4 of the end-side unit 2B come into contact with the underside of the slab SL, and the slab SL is lifted by the two right hands 4 and the two left hands 4. When both the start-side unit 2F and the end-side unit 2B lift the slab SL, the underside of the slab SL separates from all the square timbers 51 arranged between the slab SL and the roadbed concrete RB.

[0105] When the slab SL is lifted, the control device 31c displays a timber removal notification on the display device 31d of the operation terminal 31, urging the worker to remove the timber 51. The timber removal notification may be performed by generating at least one of sound and light on the operation terminal 31 in addition to or instead of displaying at least one of characters and figures on the display device 31d. After confirming this notification, the worker removes all the timbers 51 from between the slab SL and the roadbed concrete RB. After removing all the timbers 51, the worker may perform a removal completion operation on the operation terminal 31 to notify the control device 31c of the removal, or another operation on the operation terminal 31 may also serve as the removal completion operation.

[0106] After all the square timbers 51 have been removed from between the slab SL and the roadbed concrete RB, the start-side unit 2F and the end-side unit 2B perform a vertical position adjustment (HS (height slab) adjustment) to adjust the position of the slab SL in the vertical direction relative to two reference points provided on the two protruding concrete CON at the front and rear of the slab SL.

[0107] Specifically, when a worker performs a vertical position adjustment operation on the start-side operation terminal 31 to adjust the position of the slab SL in the vertical direction, the control device 31c of the start-side unit 2F moves the slab SL upward or downward by operating the two vertical actuators 41u of the start-side unit 2F. Similarly, when a worker performs a vertical position adjustment operation on the end-side operation terminal 31, the control device 31c of the end-side unit 2B moves the slab SL upward or downward by operating the two vertical actuators 41u of the end-side unit 2B.

[0108] The control device 31c may continue to move the slab SL from when a worker performs a movement start operation such as a vertical position adjustment operation on the operation terminal 31 until the worker performs a movement stop operation, or may automatically stop the movement of the slab SL after moving the slab SL by a specified movement amount when a worker performs a movement start operation on the operation terminal 31. In the latter case, the specified movement amount may be input to the control device 31c by a worker, or may be input to the control device 31c via the communication module 31m of the operation terminal 31 by wire or wirelessly from a digital slab laying gauge that measures the height difference and cant between a reference point provided on the protruding concrete CON and the top surface of the slab SL.

[0109] In either case, the start point side unit 2F and the end point side unit 2B move the slab SL upward or downward so that the height difference between the reference point and the upper surface of the slab SL coincides or nearly coincides with a predetermined value. This adjusts the position of the slab SL in the vertical direction. Furthermore, by adjusting the position of the slab SL in the vertical direction on both the start point side and the end point side, the gradient of the slab SL (the inclination angle of the upper surface of the slab SL in the vertical plane extending forward and backward) is also adjusted.

[0110] After adjusting the position of the slab SL in the up-down direction, a left-right position adjustment is performed to adjust the position of the slab SL in the left-right direction relative to the two reference points.

[0111] Specifically, when a worker performs a left-right position adjustment operation on the start-side operation terminal 31 to adjust the position of the slab SL in the left-right direction, the control device 31c of the start-side unit 2F moves the slab SL to the right or left by operating the two left and right actuators 41L of the start-side unit 2F. Similarly, when a worker performs a left-right position adjustment operation on the end-side operation terminal 31, the control device 31c of the end-side unit 2B moves the slab SL to the right or left by operating the two left and right actuators 41L of the end-side unit 2B.

[0112] As with the vertical position adjustment, the control device 31c may continue to move the slab SL from when the worker performs a movement start operation on the operation terminal 31 until the worker performs a movement stop operation, or may automatically stop the movement of the slab SL after moving the slab SL by a specified movement amount when the worker performs a movement start operation on the operation terminal 31. In the former case, the worker may move the slab SL leftward or rightward in the starting point unit 2F or the end point unit 2B so that the position of a mark indicating the left-right center of the slab SL (such as a line drawn on the top surface of the slab SL) visually matches the position of a mark indicating the center of the track in the left-right direction (such as a water string stretched between two protruding concrete CON at the front and rear of the slab SL) in the left-right direction.

[0113] After adjusting the position of the slab SL in the left-right direction, a front-rear position adjustment is performed to adjust the position of the slab SL in the front-rear direction relative to the two reference points.

[0114] Specifically, when a worker performs a front-to-rear position adjustment operation on the starting point side operation terminal 31 to adjust the position of the slab SL in the front-to-rear direction, the control device 31c of the starting point side unit 2F moves the slab SL in the forward or backward direction by operating the two front-to-rear actuators 41f of the starting point side unit 2F and the two front-to-rear actuators 41f of the end point side unit 2B.

[0115] In other words, when the front-rear position adjustment operation is performed, the control device 31c of the start-side unit 2F switches to an interlocking mode in which the two front-rear actuators 41f of the end-side unit 2B are interlocked with the two front-rear actuators 41f of the start-side unit 2F. After that, the control device 31c of the start-side unit 2F causes the four front-rear actuators 41f to move the slab SL in the same direction, at the same speed, and by the same distance. The operation of switching to the interlocking mode and the operation of moving the slab SL may be a single operation or may be separate operations.

[0116] As with the vertical position adjustment, the control device 31c may continue to move the slab SL from when the worker performs a movement start operation on the operation terminal 31 until the worker performs a movement stop operation, or may automatically stop the movement of the slab SL after moving the slab SL by a specified movement amount when the worker performs a movement start operation on the operation terminal 31. In either case, the worker may adjust the position of the slab SL in the forward and backward directions as follows. That is, the size of the gap between the cylindrical outer peripheral surface of the protruding concrete CON and the semi-cylindrical inner surface of the notch NO is measured on both the starting point side and the end point side. Then, the four forward and backward actuators 41f are caused to move the slab SL in the forward or backward direction so that the size of the gap on the starting point side and the end point side are the same or approximately the same. In this way, the size of the gap between the protruding concrete CON and the slab SL can be made uniform on both the starting point side and the end point side.

[0117] After adjusting the position of the slab SL in the front-to-rear direction, a cant adjustment is performed to adjust the cant of the slab SL (the inclination angle of the upper surface of the slab SL within a vertical plane extending left and right).

[0118] Specifically, when a worker performs a cant adjustment operation on the start-side operation terminal 31 to adjust the cant of the slab SL, the control device 31c of the start-side unit 2F changes the elevation difference between the right end of the slab SL and the left end of the slab SL by operating the two up-down actuators 41u of the start-side unit 2F and the two up-down actuators 41u of the end-side unit 2B.

[0119] That is, when the cant adjustment operation is performed, the control device 31c of the starting point side unit 2F switches to an interlocking mode in which the up and down actuator 41u for the right hand 4 of the end point side unit 2B is interlocked with the up and down actuator 41u for the right hand 4 of the start point side unit 2F, and the up and down actuator 41u for the left hand 4 of the end point side unit 2B is interlocked with the up and down actuator 41u for the left hand 4 of the start point side unit 2F. After that, the control device 31c of the starting point side unit 2F causes the two up and down actuators 41u for the right hand 4 to move the slab SL in the same direction at the same speed by the same amount, and causes the two up and down actuators 41u for the left hand 4 to move the slab SL in the same direction at the same speed by the same amount. The operation of switching to the interlocking mode and the operation of moving the slab SL may be one operation or separate operations.

[0120] As with the vertical position adjustment, the control device 31c may continue to move the slab SL from when the worker performs a movement start operation on the operation terminal 31 until when the worker performs a movement stop operation, or when the worker performs a movement start operation on the operation terminal 31, the control device 31c may move the slab SL by a specified movement amount and then automatically stop the movement of the slab SL. In the latter case, the specified movement amount may be input to the control device 31c by the worker, or may be input to the control device 31c from the digital slab laying gauge via the communication module 31m of the operation terminal 31 by wire or wirelessly.

[0121] After adjusting the cant of the slab SL, the position and attitude of the slab SL relative to the roadbed concrete RB is fixed by a plurality of holding rods 53 attached to a plurality of brackets 52 fixed to the slab SL, as shown in Fig. 12E. Specifically, a worker operates the plurality of holding rods 53 to bring the lower ends of the plurality of holding rods 53 into contact with the roadbed concrete RB. As a result, while being supported by the four right hands 4 and the four left hands 4, the slab SL is supported by the roadbed concrete RB via the plurality of holding rods 53.

[0122] After the slab SL is supported on the roadbed concrete RB via multiple holding rods 53, all of the hands 4 are moved away from the underside of the slab SL, and a return to the origin is performed in which the hands 4, arms 6, and inclined beams 9 are moved to their initial positions.

[0123] Specifically, when the worker performs an origin return operation on the operation terminal 31 for the starting point side to move the hand 4, the arm 6, and the inclined beam 9 to their initial positions, the control device 31c of the starting point side unit 2F operates the two up-down actuators 41u of the starting point side unit 2F to move the two right hands 4 and the two left hands 4 downward relative to the right arm 6 and the left arm 6 until they leave the lower surface of the slab SL. After that, the control device 31c of the starting point side unit 2F operates the two left-right actuators 41L of the starting point side unit 2F to move the right arm 6 and the left arm 6 outward to their initial positions. As a result, the two limit switches Li leave the right and left sides of the slab SL.

[0124] The control device 31c of the starting point unit 2F moves the right arm 6 and the left arm 6 outward, and then operates the four rotary actuators 41r of the starting point unit 2F to move the two right hands 4 and the two left hands 4 from the use positions to the initial positions. After that, the control device 31c of the starting point unit 2F operates the two up-down actuators 41u of the starting point unit 2F to move the two right hands 4 and the two left hands 4 upward relative to the right arm 6 and the left arm 6 from a lower position where the hands 4 are located below the slab SL to an upper position where the hands 4 are located above the slab SL.

[0125] When the inclined beam 9 has moved from the horizontal position corresponding to the initial position, the control device 31c of the starting unit 2F returns the inclined beam 9 to the horizontal position by operating one or both of the two position changing actuators 41p of the starting unit 2F after the two right hands 4 and the two left hands 4 have retreated above the slab SL. The control device 31c of the starting unit 2F may return the inclined beam 9 to the horizontal position while moving the two right hands 4 and the two left hands 4 upward relative to the right arm 6 and the left arm 6, or may return the inclined beam 9 to the horizontal position after the two right hands 4 and the two left hands 4 are stopped relative to the right arm 6 and the left arm 6.

[0126] In the end point side unit 2B, the hand 4, the arm 6, and the tilt beam 9 are moved to the initial position, similarly to the start point side unit 2F. The origin return in the end point side unit 2B may be performed by an operator performing an origin return operation on the operation terminal 31 for the start point side, or may be performed by an operator performing an origin return operation on the operation terminal 31 for the end point side. The origin return operation may be one operation or multiple operations. For example, the origin return operation may be divided into three or more operations including an operation of moving the hand 4 away from the lower surface of the slab SL, an operation of moving the hand 4 and the arm 6 outward, and an operation of moving the hand 4 above the slab SL.

[0127] After the hands 4, arms 6, and tilt beams 9 of the start-side unit 2F and the end-side unit 2B have been moved to their initial positions, the slab adjustment device 1 is made to travel along the pair of rails RA, and the slab adjustment device 1 is moved away from the slab SL whose position and posture have been adjusted. If there is another slab SL whose position and posture needs to be adjusted, the slab adjustment device 1 is made to travel along the pair of rails RA to that location, and the above-mentioned series of steps are repeated. In this way, the positions and postures of multiple slabs SL are adjusted by the slab adjustment device 1.

[0128] After adjusting the position and posture of the slab SL, the space between the slab SL and the roadbed concrete RB is filled with a buffer material such as cement asphalt mortar. As a result, the slab SL is supported by the roadbed concrete RB via the buffer material. The buffer material is also called a filling layer or a filling material. After the buffer material is filled between the slab SL and the roadbed concrete RB, the retaining rod 53 and the bracket 52 are removed from the slab SL, and a pair of left and right rails RA are placed on the slab SL. After that, the pair of left and right rails RA are fixed to the slab SL by the rail fastening device. In this manner, the slab track is laid.

[0129] Next, the effects of this embodiment will be described.

[0130] In this embodiment, the right hand 4 of the start point side unit 2F and the end point side unit 2B, i.e., the first right hand 4 and the second right hand 4 separated from each other in the front and rear, are brought into contact with the underside of the slab SL on the right side of the center of the slab SL. Similarly, the left hand 4 of the start point side unit 2F and the end point side unit 2B, i.e., the first left hand 4 and the second left hand 4 separated from each other in the front and rear, are brought into contact with the underside of the slab SL on the left side of the center of the slab SL. In this state, the first right hand 4, the second right hand 4, the first left hand 4, and the second left hand 4 are moved upward to lift the slab SL.

[0131] When a worker operates the operation terminal 31 for the starting point side, the up-down actuator 41u, the front-rear actuator 41f, and the left-right actuator 41L for the starting point side move the multiple hands 4 for the starting point side relative to the frame. When a worker operates the operation terminal 31 for the end point side, the up-down actuator 41u, the front-rear actuator 41f, and the left-right actuator 41L for the end point side move the multiple hands 4 for the end point side relative to the frame. Therefore, the time required to adjust the position and posture of the slab SL can be shortened compared to the case of using a hand-cranked hoisting machine.

[0132] The first right hand 4 and the second right hand 4 come into contact with the underside of the slab SL at two positions spaced apart in the front and rear. The same is true for the first left hand 4 and the second left hand 4. Therefore, by operating the two operation terminals 31, the slab SL can be moved at two positions spaced apart in the front and rear. If two workers operate the two operation terminals 31, the position of the slab SL can be adjusted simultaneously at two positions spaced apart in the front and rear. This further reduces the time required to adjust the position and posture of the slab SL.

[0133] In this embodiment, the operation terminal 31 can be switched between an individual mode and a linked mode. The individual mode is a mode in which the multiple hands 4 can be moved relative to the frame by multiple actuators of one of the start point side unit 2F and the end point side unit 2B. The linked mode is a mode in which the multiple hands 4 can also be moved relative to the frame by multiple actuators of the other of the start point side unit 2F and the end point side unit 2B. Therefore, if the operation terminal 31 is set to the linked mode, the entire slab SL can be moved without two workers having to operate two operation terminals 31.

[0134] In this embodiment, the hand 4 is rotated by the rotary actuator 41r. This increases or decreases the distance in the left-right direction from the center of the frame to the hand 4. Therefore, the length in the left-right direction of the space through which the hand 4 passes can be shortened compared to the case where the hand 4 is translated left-right. In particular, when the hand 4 is rotated relative to the arm 6 that holds the hand 4, the length in the left-right direction of the space through which the hand 4 and the arm 6 pass can be effectively shortened compared to the case where the hand 4 and the arm 6 are translated left-right. When there is another member outside the hand 4, restrictions on the shape and size of the member can be relaxed.

[0135] In this embodiment, the pair of hands 4 are rotated around a horizontal rotation axis extending forward and backward by the posture changing actuator 41p. This changes the posture of the pair of hands 4 between a horizontal posture and an inclined posture. If the slab SL before being supported by the multiple hands 4 is inclined to the left or right, the support surface 4s of the hands 4 can be made parallel to the lower surface of the slab SL by changing the posture of the pair of hands 4. The up-down actuator 41u moves the hands 4 in a direction perpendicular to the support surface 4s regardless of the posture of the hands 4. Therefore, by moving the hands 4 by the up-down actuator 41u, the slab SL can be moved in a direction perpendicular to the lower surface of the slab SL.

[0136] In this embodiment, the distance from the laser sensor LA, which is an example of a distance sensor, to the upper surface of the slab SL is measured. The two distance sensors are arranged at two positions in a vertical plane extending left and right. Therefore, by measuring the distance from the two distance sensors to the upper surface of the slab SL, the left and right inclination angles of the upper surface of the slab SL can be measured. The posture changing actuators 41p of the start-side unit 2F and the end-side unit 2B change the posture of the pair of hands 4 based on the detection values ​​of the two distance sensors. Therefore, the inclination of the pair of hands 4 with respect to the lower surface of the slab SL can be made smaller than when the posture is changed visually.

[0137] Next, another embodiment will be described.

[0138] The rotation actuator 41r that rotates the hand 4 between the use position and the initial position may be omitted. In other words, the hand 4 may be fixed to the arm 6 when placed at the use position.

[0139] Instead of arranging the attitude-changing actuators 41p on both the left and right sides of the starting point unit 2F, the attitude-changing actuators 41p may be arranged only on the right or left side of the starting point unit 2F. The same applies to the ending point unit 2B.

[0140] The pair of arms 6 may be supported by the portal frame 21 without the inclined beams 9. In this case, the posture-changing actuator 41p may be omitted. When the height difference between the pair of hands 4 is increased or decreased in accordance with the cant of the slab SL, one or both of the pair of hands 4 may be moved up and down by the up-down actuator 41u.

[0141] The camera CA for photographing the portion where the hand 4 is inserted in the gap between the slab SL and the roadbed concrete RB may be omitted. In this case, the worker may visually check that portion.

[0142] The distance sensor for measuring the distance to the upper surface of the slab SL may be omitted. In this case, the position changing actuator 41p may change the position of the inclined beam 9 until the worker visually checks that the inclined beam 9 is parallel to the upper surface of the slab SL.

[0143] Instead of moving the slab adjustment device 1 to the slab SL temporarily placed on the roadbed concrete RB, the slab adjustment device 1 may be moved to the laying position of the slab SL while supporting the slab SL.

[0144] The traveling rollers 25 that roll on the rails RA and move along the rails RA may be omitted. In this case, the slab adjustment device 1 may be placed on a cart that travels on a pair of rails RA arranged on both the left and right sides of the slab SL or on the slab SL. The slab adjustment device 1 may be placed directly on the roadbed concrete RB.

[0145] The order of the up-down position adjustment, the left-right position adjustment, the front-rear position adjustment, and the cant adjustment is not limited to the above example.

[0146] Two or more of all the above configurations may be combined.

[0147] Although the embodiments of the present invention have been described in detail, these are merely examples used to clarify the technical contents of the present invention, and the present invention should not be construed as being limited to these examples. The spirit and scope of the present invention are limited only by the appended claims. [Explanation of symbols]

[0148] 1: slab adjustment device, 2B: end unit, 2F: start unit, 3: joint unit, 3f: joint frame, 3j: ball joint, 4: hand, 4s: support surface, 5: hand holder, 6: arm, 7: front-rear slide table, 8: left-right slide table, 9: inclined beam, 9b: inclined bar, 10: support shaft, 11: U-shaped bracket, 11L: left stopper, 11u: upper stopper, 11r: right stopper, 21: gate frame, 22: upper frame, 22b: upper bar, 23: side frame, 23b: side bar, 23p: side post, 24: base frame, 25: running roller, 31: operation terminal, 31b: operation box, 31c: control device, 31d: display device, 31i: input device, 31m: communication module le, 32: support arm, 41: actuator group, 41f: front and rear actuator, 41L: left and right actuator, 41p: posture change actuator, 41r: rotation actuator, 41u: up and down actuator, 42n: ball nut, 42s: ball screw, 43c: chain case, 43p: column, 44c: electric cylinder, 44r: rod, 44t: cylinder tube, 45g: reduction gear, 45n: ball nut, 45s: ball screw, 45t: transmission shaft, 51: square timber, 52: bracket, 53: retaining rod, CA: camera, CON: protruding concrete, NO: notch, LA: laser sensor, LG: linear guide, Li: limit switch, RA: rail, RB: roadbed concrete, SL: slab, WO: center of slab adjustment device

Claims

1. A slab adjustment device that adjusts the position and posture of a slab relative to a roadbed concrete, A plurality of first hands including a first right hand that contacts the underside of the slab to the right of the center of the slab in the left-right direction and a first left hand that contacts the underside of the slab to the left of the center of the slab in the left-right direction; A second right hand is disposed forward or rearward of the first right hand and contacts the underside of the slab to the right of the center of the slab in the left-right direction, and a second left hand is disposed forward or rearward of the first left hand and contacts the underside of the slab to the left of the center of the slab in the left-right direction; and A frame that holds the plurality of first hands and the plurality of second hands and is placed on the roadbed concrete; a first vertical actuator that moves at least one of the first hands vertically relative to the frame, a first front-rear actuator that moves at least one of the first hands forward and backward relative to the frame, and a first left-right actuator that moves at least one of the first hands left and right relative to the frame; a second actuator including a second up-down actuator that moves at least one of the second hands up and down relative to the frame, a second front-rear actuator that moves at least one of the second hands back and forth relative to the frame, and a second left-right actuator that moves at least one of the second hands left and right relative to the frame; a first operation terminal that is operated when at least one of the first hands is moved relative to the frame by at least one of the first actuators; and a second operation terminal that is operated when at least one of the second hands is moved relative to the frame by at least one of the second actuators.

2. The slab adjustment device of claim 1, wherein the first operation terminal is switchable between an individual mode in which at least one of the plurality of first hands can be moved relative to the frame by at least one of the plurality of first actuators, and a linked mode in which at least one of the plurality of first hands can be moved relative to the frame by at least one of the plurality of first actuators and at least one of the plurality of second hands can be moved relative to the frame by at least one of the plurality of second actuators.

3. 3. The slab adjustment device of claim 1 or 2, wherein the plurality of first actuators further includes a first rotation actuator that increases or decreases a distance in the left-right direction from the center of the frame to the first hand by rotating the first hand.

4. The plurality of first actuators further includes a first position-changing actuator that rotates the first right hand and the first left hand relative to the frame around a horizontal rotation axis extending forward and backward between a horizontal position in which a first support surface of the first hand in contact with the lower surface of the slab is horizontal and an inclined position in which the first support surface of the first hand is inclined, The plurality of second actuators further include a second position-changing actuator that rotates the second right hand and the second left hand relative to the frame around a horizontal rotation axis extending forward and backward between a horizontal position in which a second support surface of the second hand in contact with the lower surface of the slab is horizontal and an inclined position in which the second support surface of the second hand is inclined, the first up-down actuator moves at least one of the plurality of first hands in a direction perpendicular to the first support surface of the first hand relative to the frame when the first right hand and the first left hand are in either the horizontal posture or the inclined posture, The slab adjustment device according to claim 1 or 2, wherein the second up-down actuator moves at least one of the plurality of second hands in a direction perpendicular to the second support surface of the second hand relative to the frame, regardless of whether the second right hand and the second left hand are in the horizontal position or the inclined position.

5. The slab adjustment device further includes two distance sensors that measure distances from two positions in a vertical plane extending left and right to an upper surface of the slab before the first right hand and the first left hand and the second right hand and the second left hand are brought into contact with the lower surface of the slab; The slab adjustment device according to claim 4 , wherein the first attitude-changing actuator and the second attitude-changing actuator rotate the first right hand and the first left hand and the second right hand and the second left hand based on detection values ​​of the two distance sensors.

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