Tool mounting device

Abstract

We provide a tool mounting device that enables highly precise construction. [Solution] The tool mounting device according to the present invention is a tool mounting device 1 that is attached to an actuator, and is characterized by comprising: an attachment part 2 to the actuator; a tool mounting part 3 for attaching a tool (roller 10); and an elastic means 5 (coil spring 5C) that biases the work operation part (roller surface 11) of the tool attached to the tool mounting part 3 toward the work target area (wall surface) to be worked on by the work operation part of the tool.

Description

【Technical Field】 【0001】 The present invention relates to a tool mounting device used in automation technology. 【Background Art】 【0002】 There is known a tunnel repair technique for attaching a reinforcing material such as a fiber base material to the wall surface of the lining concrete of a tunnel (see Patent Document 1). In this tunnel repair technique, after applying a primer to the wall surface of the lining concrete to be repaired, an adhesive is applied, and a reinforcing material such as a fiber base material is attached. As a tool for applying this primer and adhesive, for example, a roller is used. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2001-355343 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 Conventionally, operations such as coating work using tools such as the above-mentioned rollers have been performed manually by workers. However, differences in construction accuracy occur depending on the experience and skill level of the workers, and from the viewpoints of workability, construction cost, etc., the introduction of automation technology is desired. When introducing such automation technology, it is necessary to achieve three-dimensional position control of the tool and construction accuracy above a certain standard. Regarding the three-dimensional position control of the tool, it can be realized by using an actuator with excellent position control accuracy in recent years. In this case, for example, in the tunnel repair technology described above, a device configuration can be considered in which the roller surface, which is the working part of the tool, is pressed against the wall surface of the lining concrete by the pressing force of an actuator such as a cylinder (e.g., an electric cylinder) so that the roller surface is pressed against the wall surface of the lining concrete, which is the part to be worked on, and then the roller surface is rolled on the wall surface of the lining concrete to perform the coating work on the wall surface. In this case, if the pressing force applied by the actuator is too large, the roller surface will not be able to roll. Therefore, the pressing force applied by the actuator must be adjusted to a level that allows the roller surface to roll. However, the concrete lining walls are not flat; they have uneven surfaces and slopes. Therefore, in construction work such as coating by rolling a roller surface on the wall surface of the lining concrete as described above, even if a predetermined pressing force is applied to the roller surface using an actuator to the extent that the roller surface (working operation area) and the wall surface (work target area) are in contact and the roller surface can be rolled, during construction the roller surface receives a reaction force from the wall surface which has unevenness or slope, causing the pressing force of the roller surface against the wall surface to decrease, thus making it difficult to achieve highly accurate construction. In view of the above-mentioned problems, the present invention provides a tool mounting device that enables highly accurate construction. [Means for solving the problem] 【0005】 The tool mounting device according to the present invention is a tool mounting device that is attached to an actuator, and is characterized by comprising: a mounting portion for the actuator; a tool mounting portion for attaching a tool; and an elastic means for biasing the work operation portion of a tool attached to the tool mounting portion toward the work target area to be worked on by the work operation portion of the tool. Furthermore, it is characterized by being equipped with distance detection means for detecting the distance between a tool attached to the tool mounting section and the construction target area to be constructed by the construction operation section of the tool. Furthermore, the tool is a roller, and the elastic means is a spring that biases the roller surface, which is the working part of the roller, into a state of pressing contact with the tunnel wall, which is the area to be worked on. Furthermore, the tool mounting section is characterized by having a swinging mechanism for swingably mounting the support body of the roller, which is the part of the tool to be mounted. Furthermore, the rocking mechanism comprises a rocking base and a rocking mounting section, wherein the rocking mounting section, which has a mounting hole to which the tubular member to be mounted of the roller is attached, is configured to be rockable relative to the rocking base via a rocking component, and the rocking component comprises a rocking center axis mounting hole formed in the rocking base, a rocking center axis connected to the rocking mounting section and rotatably installed within the rocking center axis mounting hole, a rocking guide hole formed in the rocking base, and a rocking guide shaft connected to the rocking mounting section and configured to move along the rocking direction within the rocking guide hole. Furthermore, the rocking mechanism is equipped with a rocking range adjustment means for adjusting the range of motion, and the rocking range adjustment means is composed of a screw member configured to move back and forth from the outer surface of the rocking base into the rocking guide hole, and the screw member is fixed to the rocking base so that the tip of the screw member abuts against the rocking guide shaft, thereby restricting the movement of the rocking guide shaft and allowing the range of motion to be adjusted. Furthermore, it is characterized by having a compression spring on the tip side of the screw member. The tool attachment device according to the present invention makes it possible to achieve highly accurate construction. [Brief explanation of the drawing] 【0006】 [Figure 1] A perspective view showing the tool mounting device (Embodiment 1). [Figure 2] The tool mounting device is shown, with (a) being a plan view and (b) being a side view (Embodiment 1). [Figure 3] An exploded perspective view showing the oscillating mechanism (Embodiment 1). [Figure 4] The oscillating mechanism is shown, with (a) being a plan view, (b) being a cross-sectional view AA of (a), and (c) being a cross-sectional view BB of (a) (Embodiment 1). [Figure 5] The oscillating base is shown, (a) is a plan view, (b) is a cross-sectional view AA of (a), and (c) is a cross-sectional view BB of (a) (Embodiment 1). [Figure 6] The lower mounting plate of the swing mounting section is shown, (a) is a plan view, (b) is a cross-sectional view AA of (a), and (c) is a cross-sectional view BB of (a) (Embodiment 1). [Figure 7] The upper mounting plate of the swing mounting section is shown, (a) is a plan view, (b) is a cross-sectional view AA of (a), and (c) is a cross-sectional view BB of (a) (Embodiment 1). [Figure 8] The tool mounting device is shown, with (a) being a plan view and (b) being a side view (Embodiment 2). [Figure 9] Figures illustrating construction work using a tool attachment device mounted on an actuator (Embodiments 1 and 2). [Figure 10] The image shows a tool mounting device attached to an actuator, with (a) being a plan view and (b) being a front view (Embodiment 1). [Figure 11] A perspective view showing the tool mounting device (Embodiment 3). [Figure 12] An exploded perspective view showing the oscillating mechanism (Embodiment 3). [Figure 13] The oscillating mechanism is shown, with (a) being a plan view, (b) a side view (partially showing the interior), and (c) a rear view (partially showing the interior) (Embodiment 3). [Figure 14] The oscillating base is shown, with (a) being a plan view and (b) being a cross-sectional view (partially showing the internal structure) (Embodiment 3). [Modes for carrying out the invention] 【0007】 Embodiment 1 As shown in Figures 1 and 2, the tool mounting device 1 according to Embodiment 1 is a tool mounting device attached to an actuator A, and comprises a mounting part 2 for the actuator A, a tool mounting part 3 for attaching a tool, a distance detection means 4 for detecting the distance between the tool attached to the tool mounting part 3 and the construction target area to be worked on by the construction operation part of the tool, and an elastic means 5 for biasing the construction operation part of the tool toward the construction target area. In the present specification, up, down, left, right, front, and back are defined and described in accordance with the directions shown in each figure. Also, hatching is omitted in the cross-sectional views of FIGS. 4 to 7. 【0008】 As shown in FIG. 9, in Embodiment 1, the tool is a roller 10 used for the construction of tunnel repair work for attaching a reinforcing sheet such as a carbon fiber sheet to the wall surface W of the lining concrete of the tunnel T. As shown in FIGS. 1 and 2, the roller 10 includes a roller body 10A and a support body 10B. 【0009】 In Embodiment 1, the construction operation part is the roller surface 11 of the roller body 10A that contacts the wall surface W of the lining concrete of the tunnel T and applies a coating material such as a primer or an adhesive to the wall surface W. Also, the construction target part is the above-mentioned wall surface W that the roller surface 11 of the roller body 10A, which is the construction operation part, contacts. 【0010】 The support body 10B is configured such that the roller body 10A is rotatably attached thereto and has a mounting part for the tool mounting part 3. That is, the support body 10B includes, for example, a tubular handle 13 having the rotation center axis 10C of the roller body 10A, and a mounted tubular member 12 that connects the handle 13 and the coating material supply pipe 14 and serves as a mounting part for the tool mounting part 3. The handle 13 includes, for example, a rotation center axis 10C extending in the left-right direction, an intermediate support part extending rearward and leftward from the right end of the rotation center axis 10C, and a handle part extending rearward from the extended end of the intermediate support part, and the handle part is configured to function as a connection part. The roller body 10A is attached to the rotation center axis 10C so as to be rotatable about the rotation center axis 10C. 【0011】 For example, as shown in FIG. 2(b), the support body 10B is configured such that a connection part on the rear end side of the handle 13 and a front end side (one end side) of the mounted tubular member 12 are connected by a connecting member such as an adapter 13a. The rear end (other end) of the mounting tubular member 12 of the support body 10B and the front end (one end) of the coating material supply pipe 14 are connected by a connecting member such as an adapter 14a. Specifically, a coating material such as primer or adhesive is supplied from a coating material supply source (not shown) into the coating material supply pipe 14, the tubular member to be attached 12, and the handle 13, and the coating material is also supplied to the roller surface 11 side of the roller body 10A through a coating material supply hole (not shown) formed in the rotational central axis 10C. 【0012】 As shown in Figures 9 and 10, actuator A is, for example, a robotic cylinder A1 and a two-dimensional traverse device A2. The robot cylinder A1 and the two-dimensional traverse device A2 are connected to and controlled by a control device (not shown in the figure). As shown in Figure 2, the mounting section 2 includes a mounting plate 21 to which the tip (rod tip) of the robot cylinder A1 is attached, and a mounting bracket 22 for connecting the robot cylinder A1 attached to the mounting plate 21 with the two-dimensional traverse device A2. Specifically, the tool mounting device 1 is attached to the robot cylinder A1 via, for example, a mounting plate 21, and to the two-dimensional traverse device A2 via a mounting bracket 22. 【0013】 In other words, the tool mounting device 1 is attached to the robot cylinder A1 and the two-dimensional traverse device A2, and a roller installation automation device X1 (see Figures 9 and 10) is configured that enables three-dimensional position control of the roller 10 attached to the tool mounting section 3 of the tool mounting device 1. In other words, a roller 10 as a tool is attached to the tool attachment part 3 via the tubular member to be attached 12, and when the robot cylinder A1 is driven, the roller 10 can move forward and backward in the front-rear direction, moving toward and away from the wall surface W, and when the two-dimensional traverse device A2 is driven, the roller 10 can move in the up, down, left and right directions of the wall surface W, thus forming an automated roller construction device X1. 【0014】 The distance detection means 4 is, for example, a laser distance sensor for detecting the distance between the roller surface 11 of the roller body 10A, which is the application operation part of the roller 10, and the wall surface W, which is the application target area where the coating work is performed by the roller surface 11. The distance detection means 4 is connected to a control device (not shown) via a signal line 4a. In other words, the control device (not shown) controls the driving of the robot cylinder A1 and the two-dimensional traverse device A2 based on the signal from the distance detection means 4, thereby enabling automatic control of the three-dimensional position of the roller surface 11 relative to the wall surface W. 【0015】 The elastic means 5 is a spring such as a coil spring 5C (compression coil spring) that biases the roller surface 11 of the roller body 10A to be in pressing contact with the wall surface W. By providing the elastic means 5, the roller surface 11, which is the working part of the tool, is always biased toward the wall surface W, which is the part to be worked on, so that a roller work automation device X1 that can achieve highly accurate work can be obtained. In other words, the wall surface W of the tunnel lining concrete is not flat, but has unevenness (unevenness) and slopes, so if the elastic means 5 described above is not provided, even if a predetermined pressing force is applied in the direction of pressing the roller surface 11 against the wall surface W by, for example, the electric cylinder of the robot cylinder A1, to the extent that the roller surface 11 and the wall surface W are in contact and the roller surface 11 can be rolled, during the application work the roller surface 11 receives a reaction force from the wall surface W which has unevenness and slopes, causing the pressing force of the roller surface 11 against the wall surface W to decrease. In other words, the contact force between the roller surface 11 and the wall surface W changes during the application work, making it impossible to achieve highly accurate application. On the other hand, the tool attachment device 1 according to Embodiment 1 is equipped with an elastic means 5. For example, when a predetermined pressing force is applied in the direction of pressing the roller surface 11 against the wall surface W using the electric cylinder of the robot cylinder A1 to perform coating work, even if the roller surface 11 receives a reaction force from the wall surface W which has unevenness or slope during the coating work, the elastic force of the elastic means 5 biases the roller surface 11 toward the wall surface W, and the pressing force from the roller surface 11 toward the wall surface W is maintained. In other words, it becomes possible to suppress changes in the contact force between the roller surface 11 and the wall surface W during construction, thereby enabling highly accurate construction (coating work). In other words, the elastic means 5 is a means for maintaining a predetermined pressing force applied to the wall surface W by, for example, the electric cylinder of the robot cylinder A1, regardless of the condition of the wall surface W. In the tool attachment device 1 according to Embodiment 1, by providing the elastic means 5, the contact force between the roller surface 11 and the wall surface W can be maintained at a nearly constant level during construction, thereby enabling highly accurate construction (coating work). 【0016】 The tool mounting section 3 comprises a mounting base 3A and a swinging mechanism section 3B to which the tubular member 12 to be mounted, which serves as the mounting part of the roller 10, is swingably attached. 【0017】 The mounting base 3A comprises a first flat plate portion 3A1, which is a horizontal plate portion to which the oscillating mechanism portion 3B is attached, and a second flat plate portion 3A2, which is a vertical plate portion to which a shaft member 50 having a shaft portion 51 around which a coil spring 5C is wound is attached. In other words, the mounting base 3A is formed from a plate material with an L-shaped cross-section, configured such that the surface of the first flat plate portion 3A1 and the surface of the second flat plate portion 3A2 are perpendicular to each other. The mounting plate 21 is composed of a vertical plate portion located behind the second flat plate portion 3A2 and facing the second flat plate portion 3A2 in parallel. 【0018】 For example, as shown in Figure 2(b), the front end (one end) of the shaft member 50 is provided with a head 52 that functions as a retaining element, and a male threaded portion 53 is formed on the rear end (other end) of the shaft member 50. Furthermore, a shaft guide tube 54 is provided on the rear surface of the second flat plate portion 3A2, which is composed of vertical plate portions that extend in the vertical, horizontal, and vertical directions. Then, the shaft member 50 is passed from the rear end side through the through hole formed in the second flat plate portion 3A2, the cylindrical hole in the shaft member guide cylinder 54, and the hollow portion of the coil spring 5C, and the male threaded portion 53 formed on the rear end side of the shaft member 50 is fastened to the threaded hole 55 formed on the front side of the mounting plate 21, thereby installing the coil spring 5C in a state where it is wound around the shaft portion 51 between the shaft member guide cylinder 54 and the mounting plate 21. 【0019】 With the above configuration, when a force is applied to the mounting plate 21 by the power of the robot cylinder A1, the shaft member 50 moves forward, and the mounting base 3A is pressed and moved forward by the elastic force of the coil spring 5C. Furthermore, even when the roller surface 11 of the roller 10, which is attached to the mounting base 3A via the oscillating mechanism 3B, is in contact with the wall surface W, the elastic force of the coil spring 5C maintains the roller surface 11 in a pressed contact state with the wall surface W. In other words, the tool attachment device 1 according to Embodiment 1 is equipped with a coil spring 5C which functions as an elastic means 5 that can maintain the roller surface 11 of the roller body 10A, which is the construction operation part of the roller 10, in a state of being pressed against the wall surface W which is the area to be constructed. For example, even if the wall surface W has unevenness (unevenness) or slopes, the roller surface 11 is pressed towards the wall surface W by a constant force due to the elastic force of the coil spring 5C, so that coating materials such as primers and adhesives can be applied well to the wall surface W. 【0020】 In other words, the tool mounting device 1 according to Embodiment 1 is equipped with an elastic mechanism for maintaining the contact force between the roller surface 11 of the roller body 10A and the wall surface W. The elastic mechanism comprises a mounting base 3A to which the rocking mechanism 3B is attached, a mounting plate 21 positioned opposite the rear of the second flat plate portion (vertical plate portion) 3A2 of the mounting base 3A and movable in the front-rear direction by receiving driving force from the robot cylinder A1 (actuator A), a shaft member 50 that penetrates the second flat plate portion 3A2 of the mounting base 3A and whose rear end is fixed to the front side of the mounting plate 21, and a coil spring 5C (spring as elastic means 5) installed in a state where it is wound around the shaft portion 51 of the shaft member 50 between the mounting base 3A and the mounting plate 21. By incorporating this elastic mechanism, in coating operations where the roller surface 11 is rolled over a wall surface W that has uneven surfaces (unevenness) or slopes, the elastic force of the coil spring 5C presses the roller surface 11 against the wall surface W, maintaining the contact force between the roller surface 11 and the wall surface W at a desired level. This enables the provision of a tool mounting device 1 that realizes automated technology for highly accurate coating operations. 【0021】 As shown in Figures 1 to 7, the rocking mechanism 3B is configured to include a rocking base 3C and a rocking mounting part 3D. Specifically, as shown in Figure 1, the swing mounting portion 3D is configured to swing on the swing base portion 3C with the swing central axis 36 as the center of rotation, and the roller 10 attached to the swing mounting portion 3D is configured to swing in the direction along arrow r with the swing central axis 36 as the center of rotation. In other words, the oscillating mechanism 3B is a mechanism that supports the roller 10 so that the rotational axis 10C and the roller surface 11 of the roller body 10A are parallel to the wall surface W. 【0022】 As shown in Figures 3, 4, and 5, the oscillating base portion 3C is constructed using, for example, a flat steel plate having rectangular, opposing plate surfaces 30a and 30b. On one of the longer edges 30c at the center of the oscillating base portion 3C in the left-right direction (longitudinal direction), an oscillating guide hole 30x is formed so as to penetrate the plate surfaces 30a and 30b. On the other long edge 30d side of the pivot base portion 3C, which is on the left-right central side, a pivot center axis mounting hole 30y is formed so as to penetrate the plate surfaces 30a and 30b. 【0023】 As shown in Figures 3, 4, 6, and 7, the swing mounting section 3D is configured to include a lower mounting plate (one-side mounting plate) 31 and an upper mounting plate (the other-side mounting plate) 32 for attaching the tubular member 12 (the part to be attached to the tool mounting section 3) of the roller 10. The lower mounting plate 31 is constructed, for example, of a flat steel plate having two opposing rectangular plate surfaces 31a and 31c, with a semicircular recess 31b formed in one of the plate surfaces 31a, and includes a pivot guide shaft connecting hole 35d and a pivot center shaft connecting hole 36d that penetrate the recess 31b and the other plate surface 31c. The recess 31b is formed as a semicircular recess in cross-section that extends from one long edge to the other long edge on the left-right (longitudinal) side of the center of one of the plate surfaces 31a. That is, the recess 31b is a recess with a lower semicircular cross-section that extends continuously in the front-back direction. The upper mounting plate 32 is made of a flat steel plate, for example, which has two opposing rectangular plate surfaces 32a and 32c, with a semicircular recess 32b formed on one of the plate surfaces 32a. The recess 32b is formed as a semicircular recess in cross-section that extends from one long edge to the other long edge on the left-right central side of one of the plate surfaces 32a. That is, the recess 32b is a recess with a lower semicircular cross-section that extends continuously in the front-back direction. 【0024】 The lower mounting plate 31 and the upper mounting plate 32 are connected by a connecting means such that the recess 32b of the upper mounting plate 32 and the recess 31b of the lower mounting plate 31 are combined so that they face each other vertically, and a hollow portion with a circular cross-section is formed between the recesses 31b and 32b. The connecting means consists, for example, a screw hole 34a formed in the lower mounting plate 31, a bolt insertion hole 34b formed in the upper mounting plate 32, and a bolt 34 that passes through the bolt insertion hole 34b and is fastened to the screw hole 34a. The hollow portion with a circular cross-section formed by the combination of recesses 31b and 32b functions as a mounting hole 312 (see Figure 4(c)) for fixing the tubular member 12 to be mounted, and the tubular member 12 to be mounted of the roller 10 is attached to this mounting hole 312. 【0025】 As shown in Figure 3, the rocking guide hole 30x is a through hole that penetrates the plate surfaces 30a and 30b of the flat steel plate constituting the rocking base portion 3C, and the cross-sectional shape of the through hole is formed as an arc-shaped ellipse that extends along the arc centered on the center line of the rocking central axis installation hole 30y. 【0026】 The oscillating guide shaft 35 comprises a cylindrical oscillating guide shaft portion 35a and a connecting portion, a male threaded portion 35b, which is formed to extend from one end (upper end) of the oscillating guide shaft portion 35a. 【0027】 The pivoting center axis mounting hole 30y is, for example, a stepped circular hole (two-diameter hole) having a small-diameter hole 30e opening in the upper (one) plate surface 30a of the pivoting base portion 3C and a large-diameter hole 30f opening in the lower (other) plate surface 30b. 【0028】 The pivoting central shaft 36 is composed of a pivoting central shaft portion 36a inserted into a small-diameter hole 30e, a male threaded portion 36b as a connecting portion that extends and protrudes from the upper end (one end) of the pivoting central shaft portion 36a, and a flange portion 36c that extends downward and outward from the lower end (other end) of the pivoting central shaft portion 36a. 【0029】 The upper end of the pivot axis 36 is inserted into the pivot axis mounting hole 30y from below the large-diameter hole 30f of the pivot axis mounting hole 30y, and the male threaded portion 36b of the pivot axis 36 is connected to the pivot axis connecting hole 36d of the lower mounting plate 31. Furthermore, the pivoting central axis 36 also functions as a connecting member that connects the pivoting base portion 3C and the pivoting mounting portion 3D. In other words, the male threaded portion 36b of the pivoting central shaft 36 is connected to the pivoting central shaft connecting hole 36d of the lower mounting plate 31 of the pivoting mounting portion 3D, and the flange portion 36c of the pivoting central shaft 36 is locked to the stepped surface between the large diameter hole 30f and the small diameter hole 30e of the pivoting base portion 3C. As a result, the lower mounting plate 31 of the pivoting mounting portion 3D and the pivoting base portion 3C are connected, and the pivoting mounting portion 3D is configured to pivot around the pivoting central shaft 36 as the center of rotation. 【0030】 Furthermore, by inserting the upper end (one end) of the swing guide shaft 35 into the swing guide hole 30x from below, and connecting the male threaded portion 35b of the swing guide shaft 35 to the swing guide shaft connecting hole 35d of the upper mounting plate 31, the swing mounting portion 3D is configured to be rotatable about the swing center axis 36 as the center of rotation, and the swing guide shaft portion 35a of the swing guide shaft 35 is configured to be movable within the swing guide hole 30x along the swing direction r (see Figure 1). In other words, the roller 10 attached to the oscillating mounting part 3D is configured to swing in the oscillating direction r shown in Figure 1, with the oscillating center axis 36 as the center of rotation. The range of motion is determined by the length of the arc of the swing guide hole 30x. 【0031】 Preferably, the oscillating mechanism 3B is configured such that, for example, the diameter of the oscillating central shaft portion 36a is slightly smaller than the diameter of the small-diameter hole 30e of the oscillating central shaft mounting hole 30y, and the diameter of the oscillating guide shaft portion 35a is slightly smaller than the diameter of the oscillating guide hole 30x. For example, it is preferable to have a structure in which there is a clearance of about 0.05 mm to 0.1 mm between the inner circumferential surface of the small-diameter hole 30e of the pivoting center axis mounting hole 30y and the outer circumferential surface of the pivoting center axis portion 36a, and between the inner circumferential surface of the pivoting guide hole 30x and the outer circumferential surface of the pivoting guide axis portion 35a. 【0032】 In other words, the swing mechanism 3B provided in the tool mounting device 1 according to Embodiment 1 comprises a swing base portion 3C and a swing mounting portion 3D, and the swing mounting portion 3D, which has a mounting hole 312 into which the tubular member 12 of the roller 10 to be mounted is attached, is configured to swing relative to the swing base portion 3C via a swing component. The oscillating component comprises an oscillating central axis mounting hole 30y formed in the oscillating base 3C, an oscillating central axis 36 connected to the oscillating mounting 3D and rotatably installed within the oscillating central axis mounting hole 30y, an oscillating guide hole 30x formed in the oscillating base 3C, and an oscillating guide shaft 35 connected to the oscillating mounting 3D and configured to move within the oscillating guide hole 30x along the oscillating direction r (see Figure 1). Since the rocking mechanism 3B described above is provided, automatic construction becomes possible with the roller 10 rocking, and the roller 10 can be supported so that it can rock so that the rotational axis 10C of the roller body 10A is parallel to the wall surface W. For example, even if the wall surface W has an inclined surface along the extension direction of the tunnel T, we can provide a roller construction automation device X1 (see Figures 9 and 10) that can make the roller surface 11 follow the inclined surface. 【0033】 The rocking mechanism 3B is configured such that, for example, first the rocking base 3C and the lower mounting plate 31 of the rocking mounting part 3D are connected, and then the rocking base 3C is connected to the first flat plate 3A1 of the mounting base 3A via a connecting means. Then, after the tubular member to be mounted 12 is placed in the recess 31b of the lower mounting plate 31, the upper mounting plate 32 and the lower mounting plate 31 are connected, thereby attaching the tubular member to be mounted 12 to the mounting hole 312, and configuring the roller 10 to swing. Furthermore, the connecting means for linking the swinging base portion 3C to the first flat plate portion 3A1 of the mounting base 3A consists, for example, a screw hole formed to open into the upper plate surface of the first flat plate portion 3A1, a bolt insertion hole 33a formed in the swinging base portion 3C, and a bolt 33 that passes through the bolt insertion hole 33a and is fastened to the screw hole of the first flat plate portion 3A1 (see Figure 3). 【0034】 In other words, the tool mounting device 1 according to Embodiment 1 is configured such that the mounting plate 21 to which the actuator A is attached and the second flat plate portion 3A2 of the mounting base 3A are connected via a shaft member 50 and a coil spring 5C as an elastic means 5, and the first flat plate portion 3A1 of the mounting base 3A and the oscillating mechanism portion 3B are connected. The roller application automation device X1 is constructed by pivotably attaching the roller 10, which serves as a tool, to the oscillating mechanism 3B, and by attaching the tool attachment device 1 to the actuator A. For example, as shown in Figure 9, the roller construction automation device X1 is attached to a frame C, and the frame C is installed and used in the lower part F of the tunnel T. 【0035】 According to the automated roller construction device configured with the tool attachment device 1 of Embodiment 1, an elastic means 5 is provided to bias the roller surface 11, which is the construction operating part of the roller 10, toward the wall surface W, which is the construction target area. As a result, changes in the contact force between the roller surface 11 and the wall surface W can be suppressed, the contact force between the roller surface 11 and the wall surface W can be maintained, the construction accuracy can be improved, and highly accurate construction can be achieved. In particular, if the roller surface 11 receives a reaction force from the wall surface W which has unevenness or slope during construction, this reaction force is transmitted to the mounting base 3A via the roller 10, the tubular member to be mounted 12, and the oscillating mechanism 3B. As a result, the mounting base 3A attempts to move backward, but the elastic force of the coil spring 5C prevents the mounting base 3A from moving backward. Furthermore, the elastic force of the coil spring 5C is applied to the mounting base 3A, so that the contact force between the roller surface 11 and the wall surface W can be maintained at the desired state, enabling highly accurate construction. Furthermore, the spring constant of the coil spring 5C and the pressing force applied to the tool mounting device 1 by the actuator such as the robot cylinder A1 are set so that the elastic force of the coil spring 5C is greater than the reaction force that the roller surface 11 receives from the wall surface W which has unevenness or slope during construction. Furthermore, since the system is equipped with a swing mechanism 3B and the roller 10 is swingably mounted on the swing mechanism 3B, the rotational axis 10C and roller surface 11 of the roller body 10A are maintained to be parallel to the wall surface W, improving the tracking performance of the roller surface 11 of the roller body 10A with respect to the wall surface W. This further improves construction accuracy and enables highly precise construction. 【0036】 Embodiment 2 In the first embodiment of the tool mounting device 1, an example was shown in which the roller 10 is mounted so as to extend its rotational axis 10C in the left-right direction (horizontal direction). However, as shown in Figure 8, the tool mounting device 1 may also be mounted so as to extend its rotational axis 10C in the up-down direction (vertical direction). In other words, the tool mounting device 1 according to the second embodiment is configured such that the roller 10 is swingable in the vertical direction along the rotational center axis 10C which extends in the vertical direction. In addition, in Figure 8, which is an explanatory diagram of the tool mounting device 1 according to Embodiment 2, the same reference numerals are used for parts that are the same as those in Figure 2, which is an explanatory diagram of the tool mounting device 1 according to Embodiment 1, and their descriptions have been omitted. 【0037】 According to the tool mounting device 1 of Embodiment 2, as shown in Figure 9, the roller surface 11 of the roller 10 is installed to extend in the vertical direction. Therefore, for example, in coating work in which the roller surface 11 can follow the inclined surface along the vertical direction of the wall surface W of the lining concrete of a tunnel T, the roller application automation device X2 can be provided. 【0038】 Furthermore, in tunnel repair work involving the attachment of reinforcing sheets such as carbon fiber sheets to the concrete lining wall W of tunnel T, the attachment work of attaching the reinforcing sheets to the wall W to which the adhesive has been applied is performed after the application work described above. In this installation work, a roller installation automation device X1 or roller installation automation device X2, which are configured to include the tool attachment device 1 described above, may be used. Furthermore, for this installation work, it is sufficient to attach a roller without a coating material supply mechanism to the tool mounting device 1 and perform the work. 【0039】 In other words, it becomes possible to automate the installation process, which involves attaching a reinforcing sheet to a wall surface W to which adhesive has been applied, and then using the roller surface of a roller to smooth the sheet surface of the reinforcing sheet and make it conform to the wall surface W. For example, by using the automated roller installation device X1 to move the roller surface in the vertical direction of the sheet surface of the reinforcing sheet attached to the wall surface W, and further by using the automated roller installation device X2 to move the roller surface in the horizontal direction of the sheet surface of the reinforcing sheet attached to the wall surface W, the reinforcing sheet can be securely attached to the wall surface W in a way that conforms to it. In this case, the area to be worked on is the sheet surface of the reinforcing sheet that is attached to the wall surface W. This allows for maintaining contact force between the roller surface, which is the work area, and the sheet surface, which is the work area, enabling highly accurate work (installation). 【0040】 Embodiment 3 The tool mounting device 1 according to Embodiment 3 has the following modifications compared to the tool mounting device 1 according to Embodiments 1 and 2. The mounting hole for the pivot axis was constructed using a bearing (radial bearing). The lower and upper mounting plates constituting the swing mounting section are configured to be openable and closable via a hinge, and a locking mechanism is provided to lock the upper and lower mounting plates in the closed position. The system is configured to include a restricting mechanism that limits the movement of the tubular member to be attached in the front-rear direction. A mechanism for adjusting the allowable oscillation range of the oscillating guide shaft is provided. 【0041】 As shown in Figures 11 to 14, the swing mechanism 3B of the tool mounting device 1 according to Embodiment 3 comprises a swing base 3CA and a swing mounting part 3DA, and the swing mounting part 3DA, which has a mounting hole 312 to which the tubular member 12A of the roller 10 to be mounted is attached, is configured to swing relative to the swing base 3CA via a swing component. The oscillating component comprises a pivoting central axis mounting hole 30y formed in the oscillating base 3CA, a pivoting central axis 36A connected to the oscillating mounting part 3DA and rotatably installed within the pivoting central axis mounting hole 30y, left and right pivoting guide holes 30XA, 30XA formed in the oscillating base 3CA, and a pivoting guide shaft 35A connected to the oscillating mounting part 3DA and configured to move within the pivoting guide hole 30XA along the extension direction of the arc of the pivoting guide hole 30XA. 【0042】 As shown in Figure 12, the oscillating base 3CA is constructed using, for example, a flat steel plate having opposing rectangular upper and lower plate surfaces. A pivoting center axis mounting hole 30y is provided on the center side of the pivoting base portion 3CA in the left-right direction (longitudinal direction) and the front-back direction (short direction). The pivot center axis mounting hole 30y is composed of a bearing hole for a bearing 30yb, which is installed in a through hole formed to penetrate the upper and lower plate surfaces on the central side in the left-right and front-back directions of the pivot base portion 3CA. 【0043】 Furthermore, the pivoting base portion 3CA is configured with pivoting guide holes 30XA on both the left and right sides of the pivoting center axis mounting hole 30y. The oscillating guide hole 30XA is, for example, a through hole that penetrates the upper and lower plate surfaces of the flat steel plate constituting the oscillating base portion 3CA, and the cross-sectional shape of the through hole constituting the oscillating guide hole 30XA is formed as an arc-shaped ellipse that extends along an arc centered on the center line of the oscillating central axis installation hole 30y. 【0044】 Furthermore, as shown in Figure 12, the swing mounting section 3DA includes a lower mounting plate (one-side mounting plate) 31A and an upper mounting plate (the other-side mounting plate) 32A for attaching the tubular member 12A (the part to be attached to the tool mounting section 3) of the roller 10, and these lower mounting plate 31A and upper mounting plate 32A are configured to be openable and closable via a hinge 34A. Specifically, the lower mounting plate 31A and the upper mounting plate 32A that constitute the swing mounting section 3DA are configured to be hinged and openable via a hinge 34A. 【0045】 Furthermore, the configuration includes a locking mechanism that locks the lower mounting plate 31A and the upper mounting plate 32A into a closed state where they are stacked vertically. The lower mounting plate 31A has a semicircular recess 31b formed on its upper surface, and one of the right or left sides of the recess 31b is provided with bearing portions 34e, 34e of the hinge 34A, and the other of the right or left sides of the recess 31b is provided with a bolt 34m and a fixing wing nut portion 34C, and a hinge 34D that rotatably supports the bolt 34m and the fixing wing nut portion 34C. Furthermore, the lower surface of the lower mounting plate 31A is provided with a pivot guide shaft connecting hole and a pivot center shaft connecting hole (not shown), which are formed in the same configuration as the pivot guide shaft connecting hole 35d and pivot center shaft connecting hole 36d shown in Figure 3. The upper mounting plate 32A has a semicircular recess 32b formed on one of its surfaces, which is vertically opposite to the recess 31b. The right or left side of the recess 32b is provided with a bearing portion 34f for the hinge 34A, and the other side of the recess 32b is provided with a bolt insertion groove 34B into which the aforementioned bolt 34m is inserted. 【0046】 The hinge 34A consists of the aforementioned bearing portions 34e, 34f, 34e, a rotating central shaft 34g that penetrates these bearing portions 34e, 34f, 34e, and a fixing nut 34h fastened to the threaded portion at one end of the rotating central shaft 34g. Furthermore, the hinge 34D consists of bearing portions 34i, 34i provided on the lower mounting plate 31A, a bearing portion 34j provided on one end of the bolt 34m, a rotating central shaft 34k provided so as to pass through these bearing portions 34i, 34j, 34i, and a fixing nut 34n fastened to the threaded portion on one end of the rotating central shaft 34k. The locking mechanism comprises a bolt 34m and fixing wing nut portion 34C, which are configured to be rotatable via a hinge 34D, and a bolt insertion groove 34B. 【0047】 The lower mounting plate 31A and the upper mounting plate 32A are connected via a hinge 34A. The upper mounting plate 32A is rotated via the hinge 34A to set the upper mounting plate 32A and the lower mounting plate 31A in a closed position. Then, the bolt 34m and the fixing wing nut portion 34C are rotated via the hinge 34D to insert the bolt 34m into the bolt insertion groove 34B, and then the fixing wing nut portion 34C is fastened. As a result, the recess 32b of the upper mounting plate 32A and the recess 31b of the lower mounting plate 31A are combined so that they face each other vertically, and a hollow portion with a circular cross-section is formed between the recess 31b and the recess 32b. The hollow portion with a circular cross-section formed by the combination of recesses 31b and 32b functions as a mounting hole 312 (see Figure 13(c)) for fixing the tubular member 12A to be mounted, and the tubular member 12A of the roller 10 is attached to this mounting hole 312. As described above, the lower mounting plate 31A and the upper mounting plate 32A are configured to open and close via a hinge 34A, and a locking mechanism is provided to fix the upper mounting plate 32A and the lower mounting plate 31A in a closed state, making it easy to attach and detach the tubular member 12A to the mounting hole 312. 【0048】 In other words, the tool mounting device 1 is configured such that, for example, the coating material is supplied from a coating material supply source (not shown) to the roller surface 11 side of the roller body 10A via the coating material supply pipe 14, the tubular member to be mounted 12A, and the handle 13. Therefore, it is necessary to periodically clean the inside of the coating material supply pipe 14, the tubular member to be attached 12A, the handle 13, and the roller body 10A, and it is necessary to frequently attach and detach the tubular member to be attached to the mounting hole 312, so it is preferable that this attachment and detachment operation be made easy. In the tool mounting device 1 according to Embodiment 3, the lower mounting plate 31A and the upper mounting plate 32A are configured to open and close via a hinge 34A, and a locking mechanism is provided to fix the upper mounting plate 32A and the lower mounting plate 31A in a closed state. This makes it easier to attach and detach the tubular member 12A to be mounted to the mounting hole 312, thereby improving workability. 【0049】 Furthermore, an annular engaging projection 12a is formed around the tubular member 12A to which the roller 10 is attached, and semi-annular recesses 31s and 32s are formed in the recess 31b of the lower mounting plate 31A and the recess 32b of the upper mounting plate 32A, with which the engaging projection 12a engages. The semicircular annular recess 31s is a groove with a concave cross-section formed to extend along the circumferential direction of the recess 31b, and the semicircular annular recess 32s is a groove with a concave cross-section formed to extend along the circumferential direction of the recess 32b. Specifically, after engaging the engaging projection 12a of the tubular member to be mounted 12A with the semicircular recess 31s formed in the recess 31b of the lower mounting plate 31A, the upper mounting plate 32A is rotated via the hinge 34A, causing the semicircular recess 32s formed in the recess 32b of the upper mounting plate 32A to engage with the engaging projection 12a of the tubular member to be mounted 12A. Subsequently, the upper mounting plate 32A and the lower mounting plate 31A are fixed in a closed state by the locking mechanism, so that the tubular member 12A of the roller 10 is mounted on the swing mounting portion 3DA with its movement in the front-rear direction relative to the mounting hole 312 restricted. In other words, the configuration includes an engaging projection 12a formed on the tubular member 12A to be mounted, and an engaging groove 321 formed in the mounting hole 312 of the swing mounting portion 3DA so as to engage with the engaging projection 12a, thereby restricting the movement of the tubular member 12A in the front-rear direction during construction. In other words, by providing a regulating mechanism through the interlocking of the engaging projection 12a formed on the tubular member 12A to be attached and the engaging groove 321, it is possible to prevent the roller 10 from shifting in the front-rear direction during construction, thereby enabling highly accurate construction. 【0050】 As shown in Figure 12, the oscillating guide shaft 35A comprises a cylindrical oscillating guide shaft portion 35a and a connecting portion, a male threaded portion 35b, which extends from one end (upper end) of the oscillating guide shaft portion 35a. The upper end of the rocking guide shaft 35A is inserted into the rocking guide hole 30XA from below, and the male threaded portion 35b of the rocking guide shaft 35A is connected to a rocking guide shaft connecting hole (not shown) formed on the lower surface of the lower mounting plate 31A. Furthermore, the pivoting central shaft 36A is configured to include a pivoting central shaft portion 36a inserted into the pivoting central shaft mounting hole 30y, a male threaded portion 36b as a connecting portion provided to extend and protrude from the upper end (one end) of the pivoting central shaft portion 36a, and a flange portion 36c provided to protrude downward and outward from the lower end (other end) of the pivoting central shaft portion 36a. The upper end of the pivot center shaft 36A is inserted into the pivot center shaft mounting hole 30y from below, and the male threaded portion 36b of the pivot center shaft 36A is connected to a pivot center shaft connecting hole (not shown) formed on the lower surface of the lower mounting plate 31A. The pivoting central axis 36A also functions as a connecting member that connects the pivoting base portion 3CA and the pivoting mounting portion 3DA. 【0051】 Then, similar to Embodiment 1 shown in Figure 3, the male threaded portion 36b of the pivoting central shaft 36A is connected to the pivoting central shaft connecting hole (not shown) of the lower mounting plate 31A of the pivoting mounting portion 3DA, and the flange portion 36c of the pivoting central shaft 36A is locked to the stepped surface between the large-diameter hole and the small-diameter hole of the pivoting central shaft installation hole 30y. As a result, the lower mounting plate 31A of the pivoting mounting portion 3DA and the pivoting base portion 3CA are connected, and the pivoting mounting portion 3DA is configured to pivot with the pivoting central shaft 36A as the center of rotation. Furthermore, the oscillating mounting portion 3DA is configured to be rotatable about the oscillating central axis 36A as the center of rotation, and the oscillating guide shaft portion 35a of the oscillating guide shaft 35A is configured to be movable within the oscillating guide hole 30XA along the direction of extension of the arc. As configured as described above, the roller 10 attached to the swing mounting part 3DA is configured to swing in the swing direction r shown in Figure 11 with the swing center axis 36A as the center of rotation. 【0052】 Furthermore, in Embodiment 3, a swing range adjustment mechanism 37 is provided for adjusting the swing range of the swing guide shaft 35A, and the swingable range is configured to be adjustable by the swing range adjustment mechanism 37. The swingable range adjustment means 37 includes a screw member 37b configured to move back and forth within the swing guide hole 30XA from the outer surface of the swing base portion 3CA. The screw member 37b is fixed to the swing base portion 3CA such that its tip contacts the swing guide shaft 35A, thereby restricting the movement of the swing guide shaft 35A. Specifically, as shown in Figure 12, the oscillation range adjustment mechanism 37 comprises a screw member through hole 37a formed so as to reach the oscillation guide hole 30XA from the front wall surface of the oscillation base portion 3CA, a screw member 37b provided so as to penetrate the screw member through hole 37a, and a fixing member 37c such as a fastening nut for fixing the screw member 37b. 【0053】 In other words, the tool mounting device 1 according to Embodiment 3 is equipped with a swing tolerance range adjustment mechanism 37 for adjusting the swing tolerance range of the swing guide shaft 35A. The swing tolerance range can be maximized by positioning the tip of the screw member 37b inside the screw member through hole 37a, and the swing tolerance range can be adjusted by adjusting the position of the tip of the screw member 37b that contacts the swing guide shaft 35A by moving the tip of the screw member 37b inside the swing guide hole 30XA. 【0054】 According to the tool mounting device 1 of Embodiment 3, by configuring the pivoting central axis mounting hole 30y with a bearing hole for the bearing 30ya, the rotational movement of the pivoting central axis 36A within the bearing hole becomes smoother, enabling smooth pivoting motion. Furthermore, the lower mounting plate 31A and the upper mounting plate 32A constituting the swing mounting section 3DA are configured to be openable and closable via a hinge 34A, and a locking mechanism is provided to lock the upper mounting plate 32A and the lower mounting plate 31A in the closed position. As a result, the attachment and detachment of the tubular member 12A to be mounted to the mounting hole 312 can be easily performed. Furthermore, since a restricting mechanism is provided by the engagement of the interlocking protrusion 12a formed on the tubular member 12A to be mounted and the engagement groove 321, the tubular member 12A to be mounted of the roller 10 can be mounted in a predetermined position in the mounting hole 312 of the swing mounting portion 3DA in a state in which movement in the front-rear direction is restricted. Furthermore, since it is equipped with a swing tolerance range adjustment mechanism 37, the swing tolerance range of the swing direction r of the roller 10 with the swing center axis 36A as the rotation center can be easily adjusted. Therefore, the tool attachment device 1 according to Embodiment 3 improves workability and enables construction with higher precision. 【0055】 Embodiment 4 As the screw member for adjusting the oscillation tolerance range, a screw member with a compression spring (spring plunger) at its tip is used. Thus, when a screw member with a compression spring at its tip is used as the screw member for the oscillation tolerance range adjustment mechanism, the oscillation guide shaft 35A is elastically supported by the compression spring, which further improves the tracking performance of the roller surface 11 relative to the wall surface W during oscillation. In other words, it is now possible to achieve a oscillating motion of the roller surface 11 that is highly responsive to the unevenness and slope of the wall surface W, thereby enabling construction with higher precision. 【0056】 Although a roller was used as an example of a tool above, other tools such as scrapers and brushes may also be applicable to the present invention. In other words, any tool applicable to the present invention is a tool equipped with a construction action part that is pressed against the area to be worked on and operated. 【0057】 Furthermore, while the above example shows the use of a spring as the elastic means, an air cylinder using air as a medium may also be used as the elastic means. For example, an air cylinder may be used to bias the work operation part (e.g., roller surface) of a tool (e.g., a roller) attached to the tool mounting part toward the work area to be worked on by the work operation part of the tool. By adjusting the air pressure from the air cylinder, the work operation part may be pushed and biased toward the work area with a constant air pressure. Thus, even when an air cylinder is used as the elastic means, changes in the contact force between the construction operating part (e.g., roller surface 11) and the construction target area (e.g., wall surface W) can be suppressed, the contact force between the construction operating part and the construction target area can be maintained, improving construction accuracy and enabling highly accurate construction. [Explanation of symbols] 【0058】 1. Tool mounting device, 2. Mounting part to actuator, 3. Tool mounting part, 3B Oscillating mechanism, 4 Distance detection means, 5 Elastic means, 5C Coil spring (elastic means (spring)), 12 Tubular member to be attached (part to be attached to the tool), 10 Roller (tool), 10B Roller support, 11 Roller surface (working part), 3C, 3CA Swivel base part, 3D, 3DA Swivel mounting part, 30x, 30XA oscillating guide hole, 30y oscillating center axis mounting hole, 35,35A Swivel guide axis, 36,36A Swivel center axis, 37 means for adjusting the range of motion, 37b screw member, W wall surface (area to be constructed).

Claims

[Claim 1] A tool mounting device that is attached to an actuator, Mounting part to the actuator, A tool attachment section for attaching tools, An elastic means that biases the work operation part of a tool attached to a tool mounting part toward the work target area to be worked on by the work operation part of the tool, A tool mounting device characterized by being equipped with the following features. [Claim 2] The tool mounting device according to claim 1, further comprising distance detection means for detecting the distance between a tool attached to a tool mounting section and a work target area to be worked on by the work operation section of the tool. [Claim 3] The tool is a roller, The tool mounting device according to claim 1 or 2, characterized in that the elastic means is a spring that biases the roller surface, which is the construction operating part of the roller, into a state of pressing contact with the tunnel wall surface, which is the construction target area. [Claim 4] The tool mounting device according to claim 3, characterized in that the tool mounting section includes a swinging mechanism for swingably mounting the support body of the roller, which is the part of the tool to be mounted. [Claim 5] The rocking mechanism comprises a rocking base and a rocking mounting part, and the rocking mounting part, which has a mounting hole to which the tubular member to be mounted of the roller is attached, is configured to be rockable relative to the rocking base via a rocking component. The tool mounting device according to claim 4, characterized in that the oscillating component comprises an oscillating center shaft mounting hole formed in the oscillating base, an oscillating center shaft connected to the oscillating mounting portion and rotatably installed within the oscillating center shaft mounting hole, an oscillating guide hole formed in the oscillating base, and an oscillating guide shaft connected to the oscillating mounting portion and configured to move along the direction of oscillating within the oscillating guide hole. [Claim 6] The rocking mechanism is equipped with a means for adjusting the range of motion, The tool mounting device according to claim 5, characterized in that the means for adjusting the swingable range is composed of a screw member configured to move back and forth from the outer surface of the swing base portion into the swing guide hole, and the screw member is fixed to the swing base portion such that the tip of the screw member contacts the swing guide shaft, thereby restricting the movement of the swing guide shaft and allowing adjustment of the swingable range. [Claim 7] The tool mounting device according to claim 6, characterized in that a compression spring is provided on the tip side of the screw member.

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