Guide rail for machining or inspection device, guide rail system, machining or inspection system, and guide rail installation method

Abstract

The present invention is provided with an elastically deformable rail main body, a bending mechanism for bending the rail main body, and an attachment mechanism for attaching and fixing the rail main body to a workpiece, the bending mechanism comprising: a single or a plurality of plate members formed along the longitudinal direction of the rail main body; a buffer part which can move in at least one arbitrary direction according to the bending amount of the rail main body; and an adjusting part for adjusting the bending amount of the rail main body, the buffer parts are arranged at the two end parts of the plate member, and the adjusting part is arranged at the central part of the plate member in the longitudinal direction and adjusts the adjusting distance between the plate member and the rail main body.

Description

Technical Field

[0001] This invention relates to guide rails, guide rail systems, processing or inspection systems, and methods for setting guide rails for processing or inspection devices. Background Technology

[0002] In the construction of ships, circular and spherical tanks, where curved surfaces are processed and inspected using automated equipment, guide rails are needed to guide the automated equipment along the lines of the processed or inspected objects. Previously, structures were known that automatically perform processing and inspection operations by manufacturing guide rails bent into a predetermined shape and allowing the processing and inspection equipment to travel along these guide rails. However, in such cases, the guide rails need to be remanufactured according to the object being processed, resulting in a greater variety of guide rails and increased time and cost in manufacturing and storage. Therefore, there is a need for more versatile guide rails that allow for flexible deformation of the track components.

[0003] Patent document 1 discloses a guide rail that can be flexibly deformed in two or three dimensions by arranging multiple lightweight track components such as aluminum materials together.

[0004] Similarly, Patent Document 2 describes a guide rail that uses flexible materials such as rubber or synthetic resin to form the track component, and integrates a thin steel plate or other reinforcing member with the flexible member in a manner that allows the welding device or the like to be supported for free movement, and the track component is detachably fixed to a specified fastener.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 60-92097

[0008] Patent Document 2: Japanese Patent Publication No. 61-138492 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] The purpose of the guide rail described in Patent Documents 1 and 2 is to improve versatility by deforming the rail components according to various types of workpieces with curved surfaces.

[0011] In Patent Document 1, the track components connected at their ends are supported by a rod-shaped connecting core material. In Patent Document 2, the track components are supported by fixing them with silicone rubber and resin. Therefore, no guide rail can achieve sufficient torsional rigidity, and there are problems such as the possibility of offset of the processing or inspection position when the weight of the processing or inspection device is too large, or the deterioration of the operation accuracy due to vibration of the device.

[0012] The present invention was made in view of the above-mentioned situation, and its object is to provide a guide rail, guide rail system, machining or inspection system, and guide rail setting method for a machining or inspection device having sufficient torsional rigidity and high flexibility and versatility.

[0013] Solution for solving the problem

[0014] The above-mentioned objective of the present invention is achieved by the following structure.

[0015] (1) A guide rail for a processing or inspection apparatus, which guides the movement of the processing or inspection apparatus having a moving mechanism, wherein,

[0016] The guide rail for the processing or inspection device includes a rail body capable of elastic deformation, a bending mechanism for bending the rail body, and a mounting mechanism for mounting and fixing the rail body to the workpiece.

[0017] The bending mechanism has:

[0018] One or more plate components are formed along the long side of the track body;

[0019] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0020] The adjustment section adjusts the curvature of the track body.

[0021] The buffer portion is disposed at both ends of the plate member.

[0022] The adjustment part is located at the center of the long side of the plate member and adjusts the adjustment distance between the plate member and the track body.

[0023] (2) A guide rail system having a guide rail for a processing or inspection device and a control device, wherein the processing or inspection device has a moving mechanism, wherein,

[0024] The guide rail system includes a bendable and deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to the workpiece with a specified or higher suction force.

[0025] The bending mechanism has:

[0026] One or more plate components are formed along the long side of the track body;

[0027] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0028] The adjustment section adjusts the curvature of the track body.

[0029] The buffer portion is located at least at both ends of the plate member.

[0030] The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body.

[0031] The control device controls at least one of the adsorption force of the mounting mechanism on the workpiece and the adjustment distance adjusted by the adjustment part.

[0032] (3) A processing or inspection system comprising: a processing or inspection device having a moving mechanism; a guide rail for guiding the processing or inspection device; and a control device, wherein,

[0033] The guide rail includes a bendable and deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to the workpiece with a specified or higher suction force.

[0034] The bending mechanism has:

[0035] One or more plate components are formed along the long side of the track body;

[0036] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0037] The adjustment section adjusts the curvature of the track body.

[0038] The buffer portion is located at least at both ends of the plate member.

[0039] The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body.

[0040] The control device controls the operation of the processing device or the inspection device.

[0041] (4) A method for setting a guide rail, which is a method for setting a guide rail for a processing or inspection device having a moving mechanism, wherein,

[0042] The guide rail includes a bendable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for fixing the rail body to the workpiece.

[0043] The bending mechanism has:

[0044] One or more plate components are formed along the long side of the track body;

[0045] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0046] The adjustment section adjusts the curvature of the track body.

[0047] The buffer portion is located at least at both ends of the plate member.

[0048] The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body.

[0049] The method for setting the guide rail has the following characteristics:

[0050] The process is calculated, and the adjustment distance is calculated based on information related to the workpiece;

[0051] The adjustment process adjusts the curvature of the track body in a manner consistent with the adjustment distance calculated by the calculation process; and

[0052] In the setup process, the installation mechanism is used to install and fix the track body to the workpiece.

[0053] Invention Effects

[0054] According to the present invention, by utilizing a simple and straightforward bending mechanism to support the elastically deformable track body, the versatility of the guide rail is improved while maintaining sufficiently high torsional rigidity. Consequently, the operational accuracy of processing or inspection devices moving along the guide rail is also improved. Furthermore, the guide rail can be reused, resulting in excellent economic efficiency. Attached Figure Description

[0055] Figure 1 This is an overall perspective view showing the usage scheme of the welding system using the guide device according to the embodiment.

[0056] Figure 2 This is a block diagram illustrating an overview of a welding system using a guide rail according to an embodiment.

[0057] Figure 3 This is a three-dimensional diagram of the guiding device.

[0058] Figure 4 This is a top view of the guiding device.

[0059] Figure 5 This is a top view showing the bending mechanism.

[0060] Figure 6 This is a front view showing the bending mechanism.

[0061] Figure 7 yes Figure 5AA sectional view.

[0062] Figure 8 yes Figure 5 BB cross-sectional view.

[0063] Figure 9A yes Figure 6 CC section view.

[0064] Figure 9B This is a CC cross-sectional view of the guide device in its separated state.

[0065] Figure 9C This is a CC cross-sectional view of the guide device in the approach state.

[0066] Figure 10 This is a diagram showing a rack.

[0067] Figure 11 This is a diagram showing the separation state of the guide device along the convex surface.

[0068] Figure 12 This is a diagram showing the approach state of the guide device along the concave surface.

[0069] Figure 13 This is a cross-sectional view of the main body of the track. Detailed Implementation

[0070] The structure of the guide rail to which the present invention is applied will now be described with reference to the accompanying drawings. The guide rail is hereinafter referred to as the guide device 10. It should be noted that the drawings are for illustrative purposes only, and the embodiments of the present invention are not limited to the contents shown in the drawings.

[0071] First, in order to understand the overall situation of the guide device 10 of the present invention, based on Figure 1 The welding system, which includes the guide device 10, is described as one of the processing or inspection systems. Figure 1 This is an overall perspective view showing the usage scheme of the welding system using the guide device 10. Figure 2 This is a block diagram showing an overview of the welding system using the guide device 10. It should be noted that, in addition to welding systems, processing or inspection systems may also include systems that perform operations such as scribing, drilling, slag removal, plasma planing, grinding, shape measurement, or ultrasonic testing.

[0072] (Welding system)

[0073] The welding system 100 includes a welding robot 110, a control device 120, a welding power source 130, and a guiding device 10. This structure can be referenced... Figure 1 as well as Figure 2 .

[0074] The guide device 10 is installed in a way that allows the welding robot 110 to move along the workpiece 200, which is smoothly curved along the concave or convex surface of a ship hull or tank.

[0075] The welding robot 110 includes a welding torch 111 for performing welding operations on a bevel 210 formed on a workpiece 200, and a moving device 112 that carries the welding torch 111 and moves along the guide device 10.

[0076] The welding torch 111 has an energizing mechanism, namely a conductive tip, for energizing the welding wire W. The welding wire W generates an electric arc from its tip by energizing the conductive tip, and uses its heat to weld the bevel 210 on the workpiece 200, which is to be welded.

[0077] The moving device 112 is a device that moves along a track-shaped guide device 10 mounted on the workpiece 200, and has a drive motor (not shown) and a rotary encoder that detects the position of the moving device 112 on the guide device 10 by detecting the rotation of the drive motor. The moving device 112 may also be configured to use a linear encoder instead of a rotary encoder and to have a scale for the linear encoder provided on the guide device 10.

[0078] The control device 120 mainly controls the welding robot 110, the moving device 112, and the guiding device 10.

[0079] The control device 120 has control information pre-input via an input device, including the welding robot 110's operating mode, welding start position, welding end position, welding conditions, oscillation motion, and position of the welding robot 110 on the guide device 10. Therefore, the control device 120 can automatically control the welding robot 110, the moving device 112, and the welding power source 130 based on the input control information related to the welding robot 110.

[0080] Furthermore, the control device 120 has control information pre-input via an input device, including the size, curvature, shape, material of the workpiece 200 to be welded, the bevel 210, and the setting conditions of the guide device 10. Therefore, the control device 120 can control the operation of the adjustment section 33 and the mounting section 60 of the guide device 10, as detailed later, based on the input control information related to the guide device 10. The control content of the guide device 10 performed by the control device 120 will be described later.

[0081] It should be noted that the control device 120 is more preferably a control device for controlling the welding robot 110 and a control device for controlling the guide device 10 that are separate.

[0082] The welding power source 130 is connected to the welding robot 110 via a positive power cable (not shown) in a manner that allows it to supply power to the welding wire, which serves as a consumable electrode, and is also connected to the workpiece 200 via a power cable (not shown). The workpiece 200 is also referred to as the base material. The welding power source 130 may also be integrated into the structure of the control device 120.

[0083] It should be noted that the welding system 100 described above can also be configured as a machining system by replacing the welding robot 110 with a machining device (not shown) for machining the workpiece 200. Similarly, the welding system 100 can also be configured as an inspection system by replacing the welding robot 110 with an inspection device (not shown) for inspecting the workpiece 200.

[0084] (Guiding device 10)

[0085] Next, based on Figures 3-10 The specific structure of the guide device 10 in this embodiment will be described. Figure 3 This is a three-dimensional diagram of the guiding device. Figure 4 This is a top view of the guiding device. Figure 5 This is a top view showing the bending mechanism. Figure 6 This is a front view showing the bending mechanism. Figure 7 yes Figure 5 AA sectional view. Figure 8 yes Figure 5 BB cross-sectional view. Figure 9A yes Figure 6 CC section view. Figure 9B This is a CC cross-sectional view of the guide device in its separated state. Figure 9C This is a CC cross-sectional view of the guide device in the approach state. Figure 10 This is a diagram showing a rack.

[0086] The guiding device 10 includes a track body 20, a bending mechanism 30, and an installation mechanism 60.

[0087] The track body 20 is a long plate-shaped member that is bent along the workpiece 200 by the bending mechanism 30 and is mounted on the workpiece 200 by the mounting mechanism 60.

[0088] It should be noted that, in the following description, the long side direction of the track body 20 before elastic deformation is defined as the X-axis direction, the short side direction of the track body 20 is defined as the Y-axis direction, and the thickness direction of the track body 20 is defined as the Z-axis direction. It should also be noted that, regarding the X-axis direction, after elastic deformation, the tangent direction of the long side of the track body 20 as viewed from the reference point in this description is also referred to as the X-axis direction. The surface of the track body 20 facing the direction in which the workpiece 200, bending mechanism 30, and mounting mechanism 60 are arranged in the Z-axis direction is called the mounting surface 20A, and the surface on the side opposite to the mounting surface 20A where the welding robot 110 is arranged is called the guide surface 20B.

[0089] Details regarding the design of the track body 20 will be described later, but it has a long side length of 300mm or more and is arranged in multiple sections along the bevel 210, which serves as the welding area of ​​the workpiece 200. This structure can be referenced... Figure 1 .

[0090] The track body 20 is formed from a component that can elastically deform in a manner that allows it to bend along the workpiece 200. The material, as described later, can be selected based on the material constant; for example, aluminum-based, titanium-based, iron-based, copper-based, or magnesium-based alloy components can be used. It should be noted that, from the viewpoint of specific strength, aluminum-based, titanium-based, iron-based, or magnesium-based alloys are more preferred. Thus, the track body 20 elastically deforms in an arc shape by pushing and pulling the central portion along the Z-axis direction, which is the thickness direction, using the bending mechanism 30.

[0091] The specific description is as follows: the elastic deformation of the track body 20 is as follows: the reference state in which the track body 20 extends straight; the separation state in which the central part of the long side of the track body 20 separates from the workpiece 200 and bends into an arc shape; and the approach state in which the central part of the long side of the track body 20 approaches the workpiece 200 and bends into an arc shape.

[0092] The track body 20 has a connecting hole 21, a mounting hole 22, a fixing hole 23, an adjustment hole 24, and a rack 25. This structure can be referenced. Figure 3 wait.

[0093] Connecting holes 21 are located at both ends of the long side of the track body 20, and are through holes extending along the thickness direction of the track body 20. Connecting plates 27 are mounted using fixing bolts. The connecting plates 27 connect the long side ends of adjacent track bodies 20 to each other. This structure can be referenced from [reference needed]. Figure 1 as well as Figure 3 Furthermore, the connection between the ends of the track body 20 is not limited to mechanical connection using connecting plates 27 and fixing bolts, but can also be bonding using magnets, adhesives, etc., or joining using welding, etc.

[0094] Mounting holes 22 are located at both ends of the track body 20 along its short side, and are through holes extending along the thickness direction of the track body 20. Multiple holes are arranged along the long side. Mounting mechanisms 60 are installed and fixed onto the mounting surface of the track body 20 using the mounting holes 22. This structure can be referenced from [reference needed]. Figure 3 .

[0095] The fixing hole 23 and the adjusting hole 24 are located approximately at the center of the short side of the track body 20, and are holes that penetrate along the thickness direction of the track body 20. The buffer portions 32 at both ends of the bending mechanism 30 are fixed in the fixing hole 23, and the adjusting portion 33 at the center of the long side of the bending mechanism 30 is fixed in the adjusting hole 24. This structure can be referenced from... Figure 5 wait.

[0096] The rack 25 is installed by engaging with a recess 20a formed at one end of the track body 20 in the width direction, and is provided throughout the entire length direction of the track body 20. This structure can be referenced... Figure 7 as well as Figure 8 .

[0097] By engaging a drive gear (not shown) on the moving device 112 with the rack 25, the welding robot 110 can move along the rack 25. Furthermore, by using a rotary encoder to detect the rotational speed and position of the drive gear, the position of the welding robot 110 on the rack 25 can be detected.

[0098] The rack 25 is formed such that tooth roots are formed at both ends of the long side of the track body 20. At this time, the width of the tooth roots at both ends of the long side of the track body 20 is typically half of its width. Thus, tooth roots are formed at the ends of the rack 25 at both ends of the long side of the track body 20. Simultaneously, the long side of the track body 20 is formed to be an integer multiple of the pitch of the teeth formed on the rack 25. This structure can be referenced... Figure 10 wait.

[0099] According to this structure, the welding robot 110 can move smoothly even at the end of the rack 25, and can effectively prevent the end of the rack 25 from being damaged due to contact with foreign objects.

[0100] The bending mechanism 30 includes a support member 31, a buffer part 32, and an adjustment part 33. The adjustment part 33 adjusts the adjustment distance H between the support member 31 and the track body 20, thereby causing the track body 20 to elastically deform. This structure can be referred to... Figure 5 as well as Figure 6 .

[0101] The support member 31 extends along the long side of the track body 20 and is disposed on the mounting surface 20A side of the track body 20. Buffer portions 32 are provided at both ends of the support member 31 along its long side and are connected to the track body 20 side via fixing holes 23. Adjustment portions 33 are disposed at the center of the support member 31 along its long side and are connected to the track body 20 side via adjustment holes 24.

[0102] The support member 31 includes two plate members 31A and 31B that are formed in an arc shape along the long side direction, and a spacer 35 that is arranged between the overlapping plate members 31A and 31B.

[0103] The specific description is as follows: the surface and back of a pair of plate members 31A and 31B face the Y-axis direction. In the space between the pair of plate members 31A and 31B that overlap along the Y-axis direction, a buffer part 32 is provided at the end of the long side direction, and an adjustment part 33 is provided at the center of the long side direction.

[0104] Thus, a predetermined adjustment distance H is formed along the Z-axis between the center of the long side of the inner arc of the pair of plate members 31A and 31B and the track body 20. This structure can be referred to Figures 4-6 wait.

[0105] The spacer 35 is a cylindrical collar that maintains a predetermined distance between a pair of plate members 31A and 31B, and through which the fixing bolts 36 that fix the pair of plate members 31A and 31B to each other pass. Multiple spacers 35 are arranged along the long side of the plate members 31A and 31B. In this embodiment, four spacers 35 are arranged between each other at the buffer portions 32, 32 located at both ends of the support member 31.

[0106] Furthermore, the lengths of plate members 31A and 31B in the X-axis direction are set as chord length L. p In the case of H, the following formula is satisfied between H and H.

[0107] a×L p 2 +b×L p +c≤H≤150mm

[0108] a = 6.052 × 10 -5

[0109] b = -4.730 × 10 -3

[0110] c = 6.404 × 10 -1

[0111] According to this structure, the guide device 10 can be applied to large structures such as large tanks with curved surfaces having a radius R of 3500 mm or more, more preferably a radius R of 2500 mm or more. In this case, considering the inner surface processing, the actual size of the mounting components and the radius R of the track body 20 become smaller. Therefore, when this situation is taken into account, if the track body 20 is designed to be able to bend to a radius R of 2250 mm, it can also comfortably accommodate large tanks with a radius R of 2500 mm.

[0112] With the radius R of the track body 20 being 2250mm, and assuming the chord length L... p When the size is within a portable and practical range of 300 to 2000 mm, the stroke of the adjustment part 33 required to approximate the bending of the track body 20 within an error of 1.5 mm can be approximated using the above formula. The value calculated by the above formula becomes the lower limit of the adjustment distance H.

[0113] On the other hand, the upper limit of the adjustment distance H can be strictly designed based on the relationship between the maximum bending stress and the yield point, the maximum force of the direct-acting mechanism, etc. However, when considering the viewpoint of easily performing bending operations and the yield strength of the direct-acting mechanism itself, the adjustment distance H is preferably 160 mm or less, and more preferably 70 mm or less. In this embodiment, the adjustment distance H is set to 48 mm.

[0114] The curve formed by the bending of the three points of the guide device 10, namely the buffer part 32 and the adjustment part 33, is a parabola according to its principle, and therefore, strictly speaking, it does not conform to the arc surface of the workpiece 200. However, in the case of a portable and practical size with a chord length of 2000 mm or less, assuming the radius R of the can is 2250 mm, when calculating the offset of the two ends that makes the arc of the can coincide with the vertex of the corresponding parabola, the error is less than 1.5 mm, which will not be a problem in the practical processing of large structures.

[0115] It should be noted that the support member 31 is any structure capable of ensuring the aforementioned adjustment distance H between the adjustment part 33 located at the center of the long side and the track body 20, and is not limited to plate members 31A and 31B bent into an arc shape. For example, it may also be a support member formed by bending plate members in a V-shape, or by connecting plate members arranged along the long side in a V-shape. In addition, the support member 31 is not limited to a structure formed by overlapping two plate members 31A and 31B, and may be composed of a single plate member, or may be composed of overlapping three or more plate members.

[0116] The buffer section 32 has bearings 40 axially supported at the ends of the plate members 31A and 31B, and a clamping plate 41 that clamps the bearings 40 with the mounting surface 20A of the track body 20. The buffer section 32 can adjust the contact position between the two ends of the plate members 31A and 31B and the mounting surface 20A of the track body 20, thus maintaining the contact state while allowing the track body 20 to bend. Hereinafter, based on... Figures 8-9C Please provide a detailed explanation.

[0117] The bearing 40 is axially supported at the ends of the plate members 31A and 31B by a shaft bolt 42 arranged in such a way that it passes through a pair of plate members 31A and 31B. In this embodiment, two bearings 40 are arranged overlappingly in the extending direction of the shaft bolt 42. This structure can be referred to Figure 8 .

[0118] The clamping plate 41 is mounted on the side of the track body 20 via a mounting bolt 43 passing through a fixing hole 23 in the Z-axis direction of the track body 20, a mounting nut 44 screwed into the mounting bolt 43, and a cylindrical mounting collar 45 for insertion into the mounting bolt 43.

[0119] The clamping plate 41 is secured by the mounting nut 44 while being passed through by the mounting bolt 43 along with the mounting collar 45, and is fixed at a predetermined distance from the track body 20. Thus, the bearing 40 is clamped by the mounting surface 20A of the clamping plate 41 and the track body 20, allowing for free rotation of the shaft.

[0120] It should be noted that a clearance h in the X-axis direction is provided between the mounting collar 45 and the outer ring of the bearing 40 to allow the bearing 40 to roll between the mounting surface 20A of the track body 20 and the clamping plate 41 when the track body 20 is bent by the adjustment part 33. This structure can be referred to... Figure 9A .

[0121] According to this structure, such as Figure 9B as well as Figure 9C As shown, by providing a buffer portion 32 between the support member 31 and the mounting surface 20A of the track body 20, even if the track body 20 is bent, it is possible to maintain the state in which the track body 20 is in contact with both ends of the support member 31 via the bearing 40. Therefore, the track body 20 can be smoothly switched from the reference state to the separated state and the approach state.

[0122] At this point, the gap h between the bearing 40 and the mounting collar 45 is at its maximum when the track body 20 is in the reference state. As the track body 20 is bent in the separation direction or approach direction by the adjustment part 33, the gap h decreases. That is, when the gap h is non-existent, the bending amount of the track body 20 is at its maximum.

[0123] The adjusting part 33 has an adjusting bolt 51, an adjusting nut 52, a nut fixing bolt 53, and an adjusting bolt fixing part 54.

[0124] The adjusting bolt 51 is a feed screw that is fastened to the adjusting nut 52, which is fixed at the center of the long side of the support member 31. The adjusting bolt 51 is fixed to the track body 20 via the adjusting bolt fixing part 54. Furthermore, a limiting nut 57 is provided at the end of the adjusting bolt 51 to prevent it from dislodging from the adjusting nut. This structure can be referenced from... Figure 7 .

[0125] The adjusting nut 52 is fixed in the Y-axis direction by being clamped by a pair of plate members 31A and 31B, and the adjusting nut 52 is fixed in the X-axis direction and the Z-axis direction by being surrounded by a plurality of nut fixing bolts 53 that pass through the pair of plate members 31A and 31B.

[0126] In this embodiment, six nut fixing bolts 53 are provided around the adjusting nut 52, and each nut fixing bolt 53 is inserted into a cylindrical spacer 55 that directly abuts against the adjusting nut 52.

[0127] Therefore, the adjusting nut 52 is installed and fixed between a pair of plate members 31A and 31B at the center of the long side of the support member 31. This structure can be referred to Figures 5-7 .

[0128] The adjusting bolt 51 is a component that extends along the Z-axis direction by passing through the adjusting nut 52 and the adjusting hole 24 of the track body 20, and its head is fixed to the center of the long side of the track body 20 by the adjusting bolt fixing part 54.

[0129] The adjusting bolt fixing part 54 has a receiving part 54a that accommodates the head of the adjusting bolt 51, and the head of the adjusting bolt 51 is supported on the guide surface 20B side of the track body 20 by a fixing bolt 56 so that it can rotate axially. This structure can be referred to Figure 7 .

[0130] According to this structure, the adjustment unit 33 has a direct-acting mechanism that uses the adjustment bolt 51 and the adjustment nut 52 to convert the rotation of the shaft of the adjustment bolt 51 into the movement of the adjustment bolt 51 along the extension direction. Thus, the adjustment unit 33 can continuously change / adjust the adjustment distance H by rotating the shaft of the adjustment bolt 51.

[0131] In other words, the adjustment part 33 can adjust the adjustment bolt 51 at the fastening connection position of the adjustment nut 52 to push and pull the central part of the long side direction of the track body 20 along the Z-axis direction, thereby deforming the track body 20 into a reference state of being straight without bending, a separation state with an adjustment distance H longer than the reference state, and an approach state with an adjustment distance H shorter than the reference state.

[0132] In addition, the adjustment unit 33 may also be equipped with an adjustment motor that rotates the shaft of the adjustment bolt 51, and the drive of the adjustment motor may be controlled by the control device 120.

[0133] The mounting mechanism 60 is constructed by arranging multiple mounting portions 60A and 60B along the extension direction of the track body 20 to mount the guide device 10 to the workpiece 200. The mounting mechanism 60 has a first mounting portion 60A that is temporarily fixed to the workpiece 200 by means of a suction cup 61, and a second mounting portion 60B that is securely mounted to the workpiece 200 by welding. This structure can be referred to... Figure 1 .

[0134] The first mounting part 60A includes a suction cup 61, a connecting hose 62, a connecting body 63, and a mounting body 64.

[0135] The suction cups 61, which are easily attached to and detached from the workpiece 200, are positioned to clamp the support member 31. A pair of suction cups 61 are connected by a connector 63 and mounted on the track body 20 by a mounting body 64 provided on the connector 63. Additionally, connecting hoses 62 are connected to each suction cup 61. This structure can be referenced from... Figure 3 as well as Figure 4 .

[0136] A pump (not shown) is connected to the connecting hose 62. By drawing air out of the suction cup 61 that abuts against the workpiece 200, the suction cup 61 can be easily attached to the workpiece 200. A coupler for attaching and detaching from the hose connected to the pump is provided at the end of the connecting hose 62.

[0137] The connecting hose 62 has a first connecting hose 62A that connects a pair of suction cups 61, 61 that clamp the track body 20 along the Y-axis direction, and a second connecting hose 62B that connects the suction cups 61 of the first mounting part 60A that are arranged adjacent to each other along the long side of the track body 20.

[0138] It should be noted that a pressure sensor (not shown) for detecting vacuum pressure can also be provided at the end of the second connecting hose 62B located at the end of the track body 20 in the extending direction. This allows confirmation of the attractive force generated by the suction cup 61. It should also be noted that the connecting hose 62 is made of a flexible, deformable, flame-retardant resin component.

[0139] Mounting body 64 is a rod-shaped member extending along the Z-axis in a manner that connects the connecting body 63 to the track body 20. One side of mounting body 64 is connected to the connecting body 63, and the other side of mounting body 64 is mechanically connected via mounting hole 22 in track body 20.

[0140] The mounting body 64 is longer in the Z-axis direction compared to the support member 31, which is bent along the Z-axis in order to form an adjustment distance H. Furthermore, in this embodiment, two mounting bodies 64 are arranged along the Y-axis direction of the track body 20. This structure can be referred to... Figure 3 wait.

[0141] It should be noted that the mounting body 64 can also be configured with a single-axis joint or ball joint at the end. With this configuration, the position and angle of the track body 20 relative to the workpiece 200 on which the suction cup 61 is mounted can be adjusted, so that the guide device 10 can be installed smoothly even if the workpiece 200 is bent in three dimensions.

[0142] The second mounting section 60B has a pair of bases 66 that are securely fixed to the workpiece 200 on which the guide device 10 is mounted by welding, a connecting body 67 that connects the pair of bases 66, and a rod-shaped mounting body 68 that connects the connecting body 67 to the track body 20. This structure can be referred to... Figure 1 .

[0143] One side of the mounting body 68 is securely mounted to the connector 67 by welding or the like, while the other side of the mounting body 68 is mechanically connected via a mounting hole 22 provided in the track body 20.

[0144] According to this structure, the mounting mechanism 60 first temporarily fixes the first mounting part 60A to the workpiece 200 via the suction cup 61, and then the second mounting part 60B is welded to the side of the workpiece 200, thereby firmly installing and fixing the guide device 10 to the side of the workpiece 200. Thus, the guide device 10 can be smoothly and reliably installed on the side of the workpiece 200.

[0145] It should be noted that the mounting portions 60A and 60B constituting the mounting mechanism 60 are not limited to the first mounting portion 60A and the second mounting portion 60B described above. For example, the first mounting portion 60A may also be a mounting portion that uses a magnet, adhesive, or the like (not shown) instead of the suction cup 61. In addition, the second mounting portion 60B may be a mounting portion that is welded to the workpiece 200 side, or it may be a mounting portion that utilizes a mechanical fastening connection or a clamping mechanism.

[0146] Next, the design of the track body 20 will be explained. The design of the track body 20 is carried out by adjusting the various design items described later in order to ensure the suppression of torsion and the surface following which is related to the versatility of the guide rail.

[0147] Torsional suppression at least adjusts the torque M acting on the track body 20 and the polar moment of inertia I of the track body 20 about its long side. p The design items include the spacing D between the first mounting portions 60A of the track mounting portions arranged along the long side of the track body 20, and the material constants related to the track material. Specifically, these design items are adjusted so that the torsion angle θ of the track body 20 fixed at both ends, calculated using the method described later, is... X And the offset δ of the front end of the processing / inspection device caused by the torsion of the track body 20 fixed at both ends. Y The guide rail is designed within a pre-defined range. It should be noted that the material constants related to the rail material include at least the tensile strength, longitudinal modulus of elasticity, and transverse modulus of elasticity of the rail material. Here, it is preferable to ensure that the torsion angle θ of the rail body 20 fixed at both ends is within a predetermined range. X The offset δ of the front end of the processing / inspection device is less than 0.05 radians and is caused by the torsion of the track body 20 fixed at both ends. Y Adjust the design project to fit within the range of 12mm or less.

[0148] Here, in the design projects related to torsional suppression, it is preferable that the torque M acting on the track body 20 is set to be less than 29400 N·mm, and the polar moment of inertia I of the cross section is... p Set to 3149~176682mm 4 The spacing D of the first mounting section 60A is set to 350~2050mm. When designing the guide rail within these ranges, the torsion angle θ of the track body 20 fixed at both ends can be reduced. X And the offset δ of the front end of the processing / inspection device caused by the torsion of the track body 20 fixed at both ends. Y Smaller size further reduces torsion. It should be noted that the spacing D of the first mounting portion 60A is set to 350~1050mm, which is more preferable as it further reduces the effects caused by torsion.

[0149] Next, the moment of inertia I of the track body 20 about the width direction is adjusted at least to ensure the surface follows the curve. Y Material constants related to the track material and the lengths L of plate components 31A and 31B p The design projects. Specifically, these design projects are adjusted to ensure that the limit deflection δ calculated using the method described later. M The guide rail is designed such that the value of the limit bending radius R is within a pre-defined range. It should be noted that the material constants related to the rail material include at least the tensile strength, longitudinal modulus of elasticity, and transverse modulus of elasticity of the rail material.

[0150] Here, in design projects related to the following of curved surfaces, it is preferable that the moment of inertia I of the cross section... Y Set to 779~40143mm 4 The length L of the plate members 31A and 31B p Set to 300~2000mm. When designing guide rails within these ranges, the limit deflection δ can be minimized. M A larger value results in a smaller value for the boundary bending radius R, i.e., the radius of the corresponding curved surface, thus improving the surface following ability. It should be noted that the length L of the plate members 31A and 31B... p From the viewpoint of ease of guide rail installation, a value of 300-1000 mm is more preferable. Here, it is preferable to set the limit deflection δ to... M The design is adjusted in such a way that the value is greater than 5 mm, more preferably greater than 10 mm. The design is preferably adjusted in such a way that the value of the limiting bending radius R is less than 6.0 m, more preferably less than 5.0 m, and even more preferably less than 4.1 m.

[0151] Furthermore, in terms of both torsional suppression and surface conformity, it is preferable to use a material constant related to the track material as the tensile strength σ. max Materials with a strength of 215 MPa or higher, a longitudinal elastic modulus E of 197 GPa or lower, and a transverse elastic modulus G of 26 GPa or higher.

[0152] Next, based on Figure 13 And Tables 1 to 5, regarding the design of the main track body, (1) the track's twist angle θ X (2) Offset of the front end position of the processing or inspection device δ Y The value of (3) the limit deflection δ M The following describes the calculation method for the value of (4) the limit bending radius R.

[0153] Figure 13 This is a cross-sectional view of the track body 20. Table 1 shows the materials used in the track body 20 and their material constants, and Table 2 shows the types of cross-sectional shapes of the track body 20. Furthermore, the corners of the track body 20's cross-section are all chamfered under all conditions, and each end of the track body 20 in the width direction has a rack 25 of the same shape under all conditions; the rack 25 is designed to not cause mechanical impact. Here, the materials used in this embodiment are hard aluminum A2017, stainless steel SUS304, copper C1020, and brass C3604; the tensile strength σ of each material is shown in Table 1. maxThe longitudinal elastic modulus E, transverse elastic modulus G, and allowable stress are shown in Table 2. In addition to the maximum track width d and track slab thickness t, the section moment of inertia I of the track body 20 about the Y-axis is also shown. Y The section modulus Z of the main track body 20 about the Y-axis Y The moment of inertia I of the track body 20 about the Y-axis Y and the section modulus Z of the track body 20 about the Y-axis Y There is no particular limitation on the calculation method, but in this embodiment, it is the value calculated by parsing using "SOLIDWORKS" (a registered trademark of Dassault Systemes SolidWorks Corp.), a 3D CAD design software.

[0154] [Table 1]

[0155]

[0156] [Table 2]

[0157]

[0158] Table 3 shows the track materials of M1 to M4 in Table 1 and the cross-sectional shapes of S1 to S8 in Table 2. It also shows the combination of the envisioned load W, the Z-direction distance A from the center of the track body 20 to the point of application of the load, the spacing D of the mounting parts, and the Y-direction distance S from the front end of the processing or inspection device to the center of the track body 20, as implementation parameters for the track conditions. In this embodiment, an example is shown of a track design with respect to the lateral orientation in which the load applied to the track body 20 acts most strongly along the torsional direction of the track body 20 (in other words, the orientation in which the XY plane of the track body 20 faces the vertical wall).

[0159] [Table 3]

[0160]

[0161] Next, in this embodiment, we will take the materials shown in Table 1 (M1~M4 in Table 1), the maximum track width d shown in Table 2, the types of cross-sectional shapes under various changes to the track plate thickness t (S1~S8 in Table 2), and the condition symbols J1~J18 which are combinations of implementation parameters in Table 3 as examples. Regarding the design of the track body 20, (1) the track torsion angle θ X (2) Offset of the front end position of the processing or inspection device δ Z The value of (3) the limit deflection δ MThe calculation methods for the values ​​of (1) and (2) and the limit bending radius R are explained below in the order of (a) to (d), and in the order of (e) to (f) for (3) and (4).

[0162] <(1) The twist angle θ of the track X (2) Offset of the front end position of the processing or inspection device δ Z The calculation >

[0163] (a): Based on W and A, calculate the torque M [N·mm] acting on the track about the X-axis.

[0164] (b): Imagine a cantilever beam with a track length of 500mm fixed at one end. Calculate the torsional angle θ when a moment M is applied to the front end of the beam. There is no particular limitation on the method for calculating the torsional angle θ, but in this embodiment, the aforementioned "SOLIDWORKS" is used to calculate the deformation δ at the end, and θ is then calculated based on the deformation. Wherein, θ≈tanθ=δ / (d / 2).

[0165] (c): via I p Calculate the polar moment of inertia I about the X-axis using ML / θG. p Here, I p The value is determined by the cross-sectional shape, but in this embodiment, the analytical result is used, so the value fluctuates even in the same shape.

[0166] (d): Using the calculated I p Find the track twist angle θ when a load is present at the center of the track mounting section D. X The offset δ of the front end of the device from the target position is calculated based on the relationship between the distance S in the Y direction from the front end of the processing or inspection device and the center of the track. Z Here, θ X and δ Z The derived expressions are respectively θ X [rad] = MD / 4I p G, δ Z =Stanθ X It should be noted that δ Z It is the offset in the Z-axis direction only, but in this embodiment, the evaluation is performed in the direction of the largest offset under the assumed posture.

[0167] θ of J1~J18 calculated in the order of (a) to (d) X and δ Z The values ​​of θ are shown in Table 4. This is to make θ calculated in this way... X and δ ZThe value converges to a pre-defined range in a way that adjusts and determines various conditions including at least the aforementioned design items, thereby enabling the design of a track body 20 with excellent torsional rigidity.

[0168] [Table 4]

[0169]

[0170] <(3) Limiting deflection δ M The value of (4) the value of the limit bending radius R is calculated >

[0171] (e): Imagine the length L of the plate member in the bending mechanism section. p Given a three-point bending condition supported at both ends, calculate 0.7 times (σ) the tensile strength of the material, which is set as the allowable stress. k The limit deflection δ that becomes the maximum stress M According to L p and δ M Determine the limit bending radius R.

[0172] Here, δ M The derived formula is δ M =PL p 3 / 48EI Y =σ k ZYL p 2 / 12EI Y .

[0173] Among them, σ becomes k =M M / Z Y =PL p / 4Z Y M M : Maximum bending moment, P: Load.

[0174] (f): Regarding the calculation of R, let the arc length of the circle be L. a Set the chord length to L p Let δ be the distance from the center of the chord to the center of the arc. M Let the central angle of the arc be θ. c According to L a =Rθ c L p =2Rsin(θ / 2)δ M The relationship between R(1-cos(θ / 2)) and the relationship between the two can be numerically determined using the Newton-Raphson method.

[0175] The δ values ​​of J1~J18 calculated in the order of (e) to (f) MThe values ​​of R are shown in Table 5. This allows for the calculation of δ... M And by adjusting and determining various conditions including the aforementioned design items in the way that the value of R converges to a pre-defined range, it is possible to design a track body 20 with excellent surface following ability.

[0176] [Table 5]

[0177]

[0178] (Function and effect)

[0179] Next, based on Figure 5 , Figure 11 as well as Figure 12 The deformation of the guide device 10 will be explained. Figure 11 This is a diagram showing the separation state of the guide device along the convex surface. Figure 12 This is a diagram showing the approach state of the guide device along the concave surface.

[0180] With the workpiece 200 on which the guide device 10 is installed being a plane, the guide device 10 is installed on the workpiece 200 after the adjustment distance H is adjusted using the adjustment bolt 51, with the track body 20 positioned as a straight line along the workpiece 200 as a reference. This structure can be referred to... Figure 5 .

[0181] When the workpiece 200 on which the guide device 10 is installed has a convex curved surface such as a can, after adjusting the adjustment distance H by using the adjusting bolt 51 to be longer than the reference state, thereby setting the track body 20 to a separated state where it bends along the workpiece 200, the guide device 10 is installed on the workpiece 200. This structure can be referred to Figure 11 .

[0182] When the workpiece 200 on which the guide device 10 is installed has a concave curved surface such as a can, after adjusting the adjustment distance H by using the adjusting bolt 51 to be shorter than the reference state, thereby setting the track body 20 to an approach state where it bends along the workpiece 200, the guide device 10 is installed on the workpiece 200. This structure can be referred to Figure 12 .

[0183] That is, the guide device 10 can pre-bend and deform the track body 20 along the curved workpiece 200 before it is installed on the workpiece 200. Therefore, the guide device 10 can be applied to various workpieces 200, thus improving its versatility. Furthermore, it can be reused by changing its shape, resulting in excellent economic efficiency.

[0184] Furthermore, for the track body 20, the mounting surface 20A on the side is supported at three points on the support member 31 via the buffer part 32 and the adjustment part 33. With simple structural deformation, the torsional rigidity of the track body 20 can be maintained at a high level.

[0185] (Control device 120)

[0186] Next, based on Figure 2 The control content of the guide device 10 by the control device 120 will be explained.

[0187] The control device 120 is configured to control the drive of an adjustment motor separately provided in the adjustment section 33 based on control information related to the workpiece 200 and the bevel 210 of the mounting guide device 10, thereby enabling track deformation control to bend and deform the track body 20 in a manner that forms a curved surface suitable for the shape of the workpiece 200.

[0188] The control device 120 is configured to control the drive of the pump connected to the connecting hose 62 based on control information related to the workpiece 200, bevel 210, and the weight of the welding robot 110 mounted on the track body 20 of the installation guide device 10, thereby enabling the installation control to perform the installation of the suction cup 61 of the first installation part 60A to adhere to the workpiece 200 with a suction force of more than a predetermined amount.

[0189] (Method for setting up the guide device 10)

[0190] Next, based on Figure 1 as well as Figure 3 The method of setting the guide device 10 toward the workpiece 200 is explained.

[0191] The method for setting up the guide device 10 includes a calculation process, an adjustment process, and a setting process.

[0192] In the calculation process, based on information related to the shape of the workpiece 200, the adjustment distance H required to make the track body 20 follow the bevel 210 is calculated.

[0193] In the adjustment process, the adjustment distance H is adjusted by rotating the shaft of the adjustment bolt 51 of the adjustment part 33 so that it becomes the value calculated by the calculation process, thereby causing the track body 20 to bend along the bevel 210.

[0194] In the setup process, the mounting mechanism 60 is used to mount the track body 20, which is curved along the bevel 210, onto the workpiece 200.

[0195] In the setup process, the guide device 10 is temporarily and easily fixed to the workpiece 200 using the first mounting part 60A, which utilizes a suction cup 61, a magnet, etc. Then, the guide device 10 is more firmly fixed to the workpiece 200 using the second mounting part 60B, which is used for welding of the workpiece 200, etc.

[0196] It should be noted that when adjacent track bodies 20 are provided on workpiece 200, connecting plates 27 are used at the ends of track bodies 20 to connect the ends of track bodies 20 to each other.

[0197] By repeatedly performing the above calculation, adjustment, and setting processes, multiple guide devices 10 are arranged along the bevel 210, thereby extending the track body 20 along the bevel 210.

[0198] At this time, the ends of the connecting hoses 62 provided at the ends of adjacent guide devices 10 are connected to each other via couplers. This structure can be referred to... Figure 1 .

[0199] In addition, after the guide device 10 is set along the bevel 210, a welding robot 110 is set on the track body 20 to perform automatic welding by the welding system 100.

[0200] It should be noted that when removing the guide device 10 from the workpiece 200 after welding, the connecting plate 27 provided at the end of the track body 20 is removed first. Next, the suction cup 61 of the first mounting part 60A is released by opening the valve at the end of the connecting hose 62, and the connection between the connecting hoses 62 and the connecting hose 62 of the adjacent guide device 10 is also released. Next, the guide device 10 is removed from the workpiece 200 by disconnecting the connection between the second mounting part 60B and the track body 20.

[0201] It should be noted that the present invention is not limited to the above-described embodiments. Combining the various structures of the embodiments with each other, making changes based on the description in the specification and well-known technologies by those skilled in the art, and applying them are also intended by the present invention and are included within the scope of the claimed protection.

[0202] As stated above, the following matters are disclosed in this specification.

[0203] (1) A guide rail for a processing or inspection apparatus, which guides the movement of the processing or inspection apparatus having a moving mechanism, wherein,

[0204] The guide rail for the processing or inspection device includes a rail body capable of elastic deformation, a bending mechanism for bending the rail body, and a mounting mechanism for mounting and fixing the rail body to the workpiece.

[0205] The bending mechanism has:

[0206] One or more plate components are formed along the long side of the track body;

[0207] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0208] The adjustment section adjusts the curvature of the track body.

[0209] The buffer portion is disposed at both ends of the plate member.

[0210] The adjustment part is located at the center of the long side of the plate member and adjusts the adjustment distance between the plate member and the track body.

[0211] According to this structure, the main body of the track can be easily supported at three points while bending and deforming, thus the main body of the track has high versatility and high torsional rigidity.

[0212] (2) The guide rail for the processing or inspection device according to (1), wherein,

[0213] The long side of the track body is designated as the X-axis, the width direction of the track body is designated as the Y-axis, and the thickness direction of the track body is designated as the Z-axis.

[0214] The plate component is provided on the surface of the track body opposite to the workpiece.

[0215] The plate member has a gap with the track body, allowing it to switch between a reference state where the track body is not bent by the adjustment part, a separation state where the adjustment distance is longer than the reference state using the adjustment part, and an approach state where the adjustment distance is shorter than the reference state using the adjustment part.

[0216] The mounting mechanism has a plurality of track mounting parts arranged along the long side of the track body.

[0217] According to this structure, the track body can be set on both the convex and concave curved surfaces of workpieces with curved surfaces, thus improving its versatility.

[0218] (3) The guide rail for the processing or inspection device according to (2), characterized in that,

[0219] Let the length of the plate member in the X-axis direction be L. p When the adjustment distance is set to H, the following formula is satisfied.

[0220] a×L p 2 +b×L p +c≤H

[0221] a = 6.052 × 10 -5

[0222] b = -4.730 × 10 -3

[0223] c = 6.404 × 10 -1

[0224] According to this structure, the guiding device can be applied to large structures such as large tanks with curved surfaces having a radius R of 2500 mm or more.

[0225] (4) The guide rail for the processing or inspection device according to (2), wherein,

[0226] The track body causes a twist angle θ of the track body. X The value, the offset δ of the front end position of the processing or inspection device Z Value, limit deflection δ M The values ​​of the bending radius and the limit radius R are designed to be within a predefined range.

[0227] The torsion angle θ of the main track body X and the offset δ of the front end position of the processing or inspection device Z The value is determined by adjusting at least the torque M acting on the track body and the polar moment of inertia I of the track body about its long side. p The spacing D of the track mounting parts and the material constant of the track body related to the track material are determined by these factors.

[0228] The limit deflection δ M And the value of the limit bending radius R is adjusted by at least the cross-sectional moment of inertia I in the width direction of the track body. Y Material constants related to the track material and the length L of the plate component p And the decision.

[0229] According to this structure, a suitable track body can be designed and manufactured smoothly and reliably based on the shape of the object to which the processing or inspection device is used.

[0230] (5) The guide rail for the processing or inspection device according to (4), wherein,

[0231] The torque M acting on the track body is set to be below 29400 N·mm.

[0232] The polar moment of inertia I of the cross section p Set to 3149~176682mm 4 ,

[0233] The interval D of the track mounting section is set to 350~2050mm.

[0234] The moment of inertia I of the cross section YSet to 779~40143mm 4 ,

[0235] The length L of the plate member p Set to 300~2000mm,

[0236] The material constants related to the track material include at least the tensile strength, longitudinal modulus of elasticity, and transverse modulus of elasticity of the track material.

[0237] The tensile strength σ max Set to 215MPa or higher.

[0238] The longitudinal elastic modulus E is set to be below 197 GPa.

[0239] The transverse elastic modulus G is set to be 26 GPa or higher.

[0240] According to this structure, the track body can bend flexibly in the Z-axis direction. On the other hand, even when the bending moment is at its maximum, there will be no positional displacement caused by torsional deformation that would affect the machining accuracy.

[0241] (6) A guide rail for a processing or inspection apparatus according to any one of (1) to (5), wherein,

[0242] The adjustment unit has a linear mechanism for adjusting the adjustment distance.

[0243] According to this structure, the main body of the track can be bent and deformed with a simple structure and with minimal operating force.

[0244] (7) The guide rail for the processing or inspection device according to (6), wherein,

[0245] The linear motion mechanism has at least a threaded member and a nut member that supports the threaded member so that it can rotate and is fixed to the plate member, wherein the rotational motion of the threaded member is converted into linear motion.

[0246] Based on this structure, the distance can be adjusted continuously using simple operations.

[0247] (8) A guide rail for a processing or inspection apparatus according to any one of (1) to (7), wherein,

[0248] The long side of the track body is provided with connecting portions at both ends for connecting to the long side ends of adjacent track bodies.

[0249] The connecting part has at least one connecting mechanism selected from connecting plate, magnet, adhesive, and welding.

[0250] According to this structure, multiple track bodies can be connected, so there is no need for the track bodies to be longer than necessary.

[0251] (9) A guide rail for a processing or inspection apparatus according to any one of (1) to (8), wherein,

[0252] A rack extending along the long side of the track body is provided at the end of the track body in the width direction.

[0253] The length of the long side of the track body is 500 mm or more and is set to be an integer multiple of the pitch of the teeth formed on the rack.

[0254] The racks at both ends of the long side of the track body are formed in such a way that they both become tooth roots.

[0255] According to this structure, the processing or inspection device can move smoothly on the track body whose ends are connected to each other. In addition, the ends of adjacent track bodies are unlikely to break even if they come into contact with each other.

[0256] (10) A guide rail for a processing or inspection apparatus according to any one of (1) to (9), wherein,

[0257] The mounting mechanism has at least one of a single-axis joint and a ball-and-socket joint.

[0258] According to this structure, the mounting mechanism can be tilted relative to the track body, so the track body can also be mounted on workpieces that are three-dimensionally curved.

[0259] (11) A guide rail system having a guide rail for a machining or inspection device and a control device, wherein the machining or inspection device has a moving mechanism, wherein,

[0260] The guide rail system includes a bendable and deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to the workpiece with a specified or higher suction force.

[0261] The bending mechanism has:

[0262] One or more plate components are formed along the long side of the track body;

[0263] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0264] The adjustment section adjusts the curvature of the track body.

[0265] The buffer portion is located at least at both ends of the plate member.

[0266] The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body.

[0267] The control device controls at least one of the adsorption force of the mounting mechanism on the workpiece and the adjustment distance adjusted by the adjustment part.

[0268] According to this structure, the control device can control at least one of the suction force of the mounting mechanism on the workpiece and the bending deformation of the track body that matches the workpiece, thus making the installation of the guide rail easier.

[0269] (12) A processing or inspection system comprising: a processing or inspection device having a moving mechanism; a guide rail for guiding the processing or inspection device; and a control device, wherein,

[0270] The guide rail includes a bendable and deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to the workpiece with a specified or higher suction force.

[0271] The bending mechanism has:

[0272] One or more plate components are formed along the long side of the track body;

[0273] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0274] The adjustment section adjusts the curvature of the track body.

[0275] The buffer portion is located at least at both ends of the plate member.

[0276] The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body.

[0277] The control device controls the operation of the processing device or the inspection device.

[0278] According to this structure, the control device can control the movement of the machining or inspection device on the guide rail, as well as the operation of the machining or inspection device, while moving on the guide rail, thus improving workability.

[0279] (13) The processing or inspection system according to (12), wherein,

[0280] The moving mechanism is equipped with a rotary encoder.

[0281] The control device controls the processing conditions and processing position based on the processing device, or the inspection conditions and inspection position based on the inspection device.

[0282] According to this structure, the drive state of the drive motor that moves the mobile device can be detected using only a rotary encoder. Therefore, the number of parts can be reduced while making the mobile device more compact and lightweight. As a result, the processing or inspection device is lighter and the operating accuracy is improved.

[0283] (14) The processing or inspection system according to (12), wherein,

[0284] The moving mechanism has a linear encoder.

[0285] A scale for a linear encoder is installed on the main body of the track.

[0286] The control device controls the processing conditions and processing position based on the processing device, or the inspection conditions and inspection position based on the inspection device.

[0287] According to this structure, the position of the moving mechanism can be detected using simpler and cheaper sensors.

[0288] (15) A method for setting a guide rail, which is a method for setting a guide rail for a processing or inspection device having a moving mechanism, wherein,

[0289] The guide rail includes a bendable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for fixing the rail body to the workpiece.

[0290] The bending mechanism has:

[0291] One or more plate components are formed along the long side of the track body;

[0292] A buffer section, movable in at least one direction according to the curvature of the track body; and

[0293] The adjustment section adjusts the curvature of the track body.

[0294] The buffer portion is located at least at both ends of the plate member.

[0295] The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body.

[0296] The method for setting the guide rail has the following characteristics:

[0297] The process is calculated, and the adjustment distance is calculated based on information related to the workpiece;

[0298] The adjustment process adjusts the curvature of the track body in a manner consistent with the adjustment distance calculated by the calculation process; and

[0299] In the setup process, the installation mechanism is used to install and fix the track body to the workpiece.

[0300] According to this structure, the guide rail is pre-bent on the workpiece to match the rail body, thus improving the accuracy of the guide rail setting operation.

[0301] (16) According to the guide rail setting method described in (15), wherein,

[0302] The mounting mechanism has a first mounting mechanism utilizing at least one of a magnet and a suction cup, and a second mounting mechanism utilizing at least one of welding, mechanical fastening, and clamping.

[0303] In the setting process, after the track body is temporarily fixed to the workpiece using the first mounting mechanism, the track body is then installed and fixed to the workpiece using the second mounting mechanism.

[0304] According to this structure, after the guide rail is installed on the workpiece by the first mounting mechanism, it is also installed on the workpiece by the second mounting mechanism, which is welded to the workpiece, thus improving safety.

[0305] Various embodiments have been described above with reference to the accompanying drawings, but the present invention is not limited to these examples. Those skilled in the art will readily conceive of various modifications or alterations within the scope of the patented technical solutions, and these are also understood to fall within the technical scope of the present invention. Furthermore, the constituent elements of the above embodiments can be arbitrarily combined without departing from the spirit of the invention.

[0306] It should be noted that this application is based on Japanese patent application filed on October 13, 2023 (Japanese Patent Application No. 2023-177471), the contents of which are incorporated herein by reference.

[0307] Explanation of reference numerals in the attached figures

[0308] 10. Guiding device (guide rail)

[0309] 20. Main track structure

[0310] 20A Mounting Surface

[0311] 20B Guide Surface

[0312] 20a recess

[0313] 21 Connecting Holes

[0314] 22 mounting holes

[0315] 23 Fixing holes

[0316] 24 Adjustment holes

[0317] 25 rack

[0318] 27 Connecting plate (connecting part, connecting mechanism)

[0319] 30 Bending Mechanism

[0320] 31 Supporting components

[0321] 31A and 31B slab components

[0322] 32 Buffer Section

[0323] 33 Adjustment Department

[0324] 35 spacers

[0325] 36 Fixing bolts

[0326] 40 bearing

[0327] 41 Clamping Plate

[0328] 42 shaft bolts

[0329] 43 Mounting Bolts

[0330] 44 Install nuts

[0331] 45. Mounting collar

[0332] 50 The installation mechanism

[0333] 51 Adjusting Bolt

[0334] 52 Adjusting nut

[0335] 53 Nut fixing bolt

[0336] 54 Adjusting bolt fixing part

[0337] 54a Containment Department

[0338] 55 Spacer

[0339] 56 Fixing bolts

[0340] 60 Installation mechanism

[0341] 60A First Installation Section (Rail Installation Section)

[0342] 60B Second Installation Section

[0343] 61 Suction Cups

[0344] 62 Connecting hose

[0345] 62A First Connecting Hose

[0346] 62B Second Connecting Hose

[0347] 63 Connectors

[0348] 64 Installation Body

[0349] 66 Base

[0350] 67 Connector

[0351] 68 Installation Body

[0352] 100 Welding System

[0353] 110 Welding Robot

[0354] 111 Welding torch

[0355] 112 Mobile devices

[0356] 113 Drive Motor

[0357] 120 control device

[0358] 130 welding power supply

[0359] 200 workpieces

[0360] 210 slope.

Claims

1. A guide rail for a processing or inspection apparatus, which guides the movement of the processing or inspection apparatus having a moving mechanism, wherein, The guide rail for the processing or inspection device includes a rail body capable of elastic deformation, a bending mechanism for bending the rail body, and a mounting mechanism for mounting and fixing the rail body to the workpiece. The bending mechanism has: One or more plate components are formed along the long side of the track body; The buffer section is movable in at least one direction depending on the amount of curvature of the track body; as well as The adjustment section adjusts the curvature of the track body. The buffer portion is disposed at both ends of the plate member. The adjustment part is located at the center of the long side of the plate member and adjusts the adjustment distance between the plate member and the track body.

2. The guide rail for the processing or inspection device according to claim 1, wherein, The long side of the track body is designated as the X-axis, the width direction of the track body is designated as the Y-axis, and the thickness direction of the track body is designated as the Z-axis. The plate component is provided on the surface of the track body opposite to the workpiece. The plate member has a gap with the track body, allowing it to switch between a reference state where the track body is not bent by the adjustment part, a separation state where the adjustment distance is longer than the reference state using the adjustment part, and an approach state where the adjustment distance is shorter than the reference state using the adjustment part. The mounting mechanism has a plurality of track mounting parts arranged along the long side of the track body.

3. The guide rail for the processing or inspection device according to claim 2, characterized in that, Let the length of the plate member in the X-axis direction be L. p And when the adjustment distance is set to H, the following formula is satisfied: a×L p 2 +b×L p +c≤H a=6.052×10 -5 b=-4.730×10 -3 c=6.404×10 -1 。 4. The guide rail for the processing or inspection device according to claim 2, wherein, The track body causes a twist angle θ of the track body. X The value, the offset δ of the front end position of the processing or inspection device Z Value, limit deflection δ M The values ​​of the bending radius and the limit radius R are designed to be within a predefined range. The torsion angle θ of the main track body X and the offset δ of the front end position of the processing or inspection device Z The value is determined by adjusting at least the torque M acting on the track body and the polar moment of inertia I of the track body about its long side. p The spacing D of the track mounting parts and the material constant of the track body related to the track material are determined by these factors. The limit deflection δ M And the value of the limit bending radius R is adjusted by at least the cross-sectional moment of inertia I in the width direction of the track body. Y Material constants related to the track material and the length L of the plate component p And the decision.

5. The guide rail for the processing or inspection device according to claim 4, wherein, The torque M acting on the track body is set to be below 29400 N·mm. The polar moment of inertia I of the cross section p Set to 3149~176682mm 4 , The interval D of the track mounting section is set to 350~2050mm. The moment of inertia I of the cross section Y Set to 779~40143mm 4 , The length L of the plate member p Set to 300~2000mm, The material constants related to the track material include at least the tensile strength, longitudinal modulus of elasticity, and transverse modulus of elasticity of the track material. The tensile strength σ max Set to 215MPa or higher. The longitudinal elastic modulus E is set to be below 197 GPa. The transverse elastic modulus G is set to be 26 GPa or higher.

6. The guide rail for the processing or inspection device according to claim 1, wherein, The adjustment unit has a linear mechanism for adjusting the adjustment distance.

7. The guide rail for the processing or inspection device according to claim 6, wherein, The linear motion mechanism has at least a threaded member and a nut member that supports the threaded member so that it can rotate and is fixed to the plate member, wherein the rotational motion of the threaded member is converted into linear motion.

8. The guide rail for the processing or inspection device according to claim 1, wherein, The long side of the track body is provided with connecting portions at both ends for connecting to the long side ends of adjacent track bodies. The connecting part has at least one connecting mechanism selected from connecting plate, magnet, adhesive, and welding.

9. The guide rail for the processing or inspection device according to claim 1, wherein, A rack extending along the long side of the track body is provided at the end of the track body in the width direction. The length of the long side of the track body is 500 mm or more and is set to be an integer multiple of the pitch of the teeth formed on the rack. The racks at both ends of the long side of the track body are formed in such a way that they both become tooth roots.

10. The guide rail for the processing or inspection device according to claim 1, wherein, The mounting mechanism has at least one of a single-axis joint and a ball-and-socket joint.

11. A guide rail system comprising a guide rail for a machining or inspection device and a control device, wherein the machining or inspection device has a moving mechanism, wherein, The guide rail system includes a bendable and deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to the workpiece with a specified or higher suction force. The bending mechanism has: One or more plate components are formed along the long side of the track body; The buffer section is movable in at least one direction depending on the amount of curvature of the track body; as well as The adjustment section adjusts the curvature of the track body. The buffer portion is located at least at both ends of the plate member. The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body. The control device controls at least one of the adsorption force of the mounting mechanism on the workpiece and the adjustment distance adjusted by the adjustment part.

12. A processing or inspection system comprising: a processing or inspection device having a moving mechanism; a guide rail for guiding the processing or inspection device; and a control device, wherein, The guide rail includes a bendable and deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to the workpiece with a specified or higher suction force. The bending mechanism has: One or more plate components are formed along the long side of the track body; The buffer section is movable in at least one direction depending on the amount of curvature of the track body; as well as The adjustment section adjusts the curvature of the track body. The buffer portion is located at least at both ends of the plate member. The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body. The control device controls the operation of the processing device or the inspection device.

13. The processing or inspection system according to claim 12, wherein, The moving mechanism is equipped with a rotary encoder. The control device controls the processing conditions and processing position based on the processing device, or the inspection conditions and inspection position based on the inspection device.

14. The processing or inspection system according to claim 12, wherein, The moving mechanism has a linear encoder. A scale for a linear encoder is installed on the main body of the track. The control device controls the processing conditions and processing position based on the processing device, or the inspection conditions and inspection position based on the inspection device.

15. A method for setting a guide rail, which is a method for setting a guide rail for a machining or inspection device having a moving mechanism, wherein, The guide rail includes a bendable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for fixing the rail body to the workpiece. The bending mechanism has: One or more plate components are formed along the long side of the track body; The buffer section is movable in at least one direction depending on the amount of curvature of the track body; as well as The adjustment section adjusts the curvature of the track body. The buffer portion is located at least at both ends of the plate member. The adjustment part is located at the center of the long side of the plate member and is configured to adjust the adjustment distance between the plate member and the track body. The method for setting the guide rail has the following characteristics: The process is calculated, and the adjustment distance is calculated based on information related to the workpiece; The adjustment process adjusts the curvature of the track body in a manner consistent with the adjustment distance calculated by the calculation process; and In the setup process, the installation mechanism is used to install and fix the track body to the workpiece.

16. The method for setting the guide rail according to claim 15, wherein, The mounting mechanism has a first mounting mechanism utilizing at least one of a magnet and a suction cup, and a second mounting mechanism utilizing at least one of welding, mechanical fastening, and clamping. In the setting process, after the track body is temporarily fixed to the workpiece using the first mounting mechanism, the track body is then installed and fixed to the workpiece using the second mounting mechanism.

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