Abstract - International Association for …（抽象u2014u2014国际协会u2026）.PDF

G.1-I. Watson, R.L. Tucker and J .K. Walters (Editors) 527 1993 Elsevier Science Publishers B.V. All rights reserved. Development of Segment Bolt Tightening Robot Keizo Kazama, Hisateru Uyeda, Akihiro Iligashide OI3AYASI II CORPORATION Susumu Nunomura, Toshiaki Morii, Hirotoshi Shimoda II 1TACI I I ZOSEN CORPORATION Abstract (1) We have developed a manipulator for handling large, heavy objects for construction work, and applied it to bolt tightening work for shielded tunnel segments. (2) The manipulator is vertical multi-articulated type, with 6 axis of freedom, and a handling capacity of 500kgf by a 2.5m long arm. (3) The robot equipped two set of manipulator with bolt tightener. 120 bolts (030mm) of one segment ring which is 11.3m in diameter will be tighten by this robot in one hour. (4) po T sit on of each bolts with an image sensor mounted at the top of its ar Yi the P 1. Introduction In Japan, there is very active utilization of underground space, so the shielded tunneling method is indispensable to the development of social infrastructure. In recent years, construction projects have become increasingly large scale, and demand for automation and greater sophistication has increased due to the need to ensure safety, improve quality and achieve labor-savings etc. For these reasons, automation has become a fixture of tunneling work, and active attempts are currently being made to automate tunneling direction control, and provide automation for tunnel lining work including the segment assembly. Other than this, however, no attempts are being made to automate incidental work. We have developed a large-scale, heavy object manipulator to automatic these incidental tasks, and have appli