Development of Segment Bolt Tightening Robot

摘要

Development of Segment Bolt Tightening Robot Keizo Kazama, Hisateru Uyeda, Akihiro Higashide, Susumu Nunomura, Toshiaki Morii, Hirotoshi Shimoda Pages 527-534 (1993 Proceedings of the 10th ISARC, Houston, USA, ISBN 9780444815231, ISSN 2413-5844) Abstract: We have developed a manipulator for handling large, heavy objects for construction work, and applied it to bolt tightening work form shielded tunnel segments. The manipulator is vertical multi-articulated type, with 6axis of freedom, and handling capacity of 500kgf by a 2.5m long arm. The robot equipped two set of manipulator with bolt tightener. 120 bolts (ø30mm) of one segment ring which is 11.3m in diameter will be tighten by this robot in one hour. The manipulator performs positioning automatically by recognizing the position of each bolts with an image sensor mounted at the top of its arm. Keywords: No keywords DOI: https://doi.org/10.22260/ISARC1993/0068 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley