Rail arranging device and rail arranging method

Abstract

This invention provides a rail placement device and rail placement method that allows for the simple, efficient, and appropriate placement of multiple rails around the outer circumference of a steel pipe. [Solution] The rail placement device 100 includes a mounting base 110 positioned on the outer surface of a steel pipe 40A, a mounting jig 120 that holds rails 50A to 50H arranged along the outer circumference of the steel pipe 40A, a connecting member 130 that connects the mounting base 110 and the mounting jig 120 so that the distance between them can be varied and the mounting base 110 and the mounting jig 120 face each other, and a positioning mechanism 140 that aligns the positions of adjacent rails among the multiple rails 50A to 50H at the connection points.

Description

Technical Field

[0001] The present invention relates to a rail arrangement device and a rail arrangement method.

Background Art

[0002] In recent years, in large buildings such as high-rise buildings, steel pipe columns formed by connecting steel pipes by welding are used. When connecting steel pipes, rails are arranged so as to go around the outer circumference of the steel pipe, and the connecting portion of the steel pipes is welded while the welding robot travels along the rails.

[0003] Here, it is necessary to appropriately arrange the rails so that the welding robot can appropriately go around the outer circumference of the steel pipe along the connecting portion of the steel pipe.

[0004] For example, in Patent Document 1, a plurality of rail mounting jigs are arranged on the outer circumference of the steel column, fixed using magnets, and then an annular running rail is placed on the rail mounting jig. Next, after adjusting and fixing the distance between the running rail and the outer circumference of the steel column with an adjustment screw, the rail mounting jig is removed to complete the mounting work.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the mounting work of the running rail disclosed in Patent Document 1, one annular running rail has to be mounted, and it is difficult to work alone. Further, since it is necessary to adjust the distance between the running rail and the outer circumference of the steel column one by one using an adjustment screw, it is laborious.

[0007] Therefore, the present invention aims to provide a rail placement device and rail placement method that allows for the simple, efficient, and appropriate placement of multiple rails around the outer circumference of a steel pipe. [Means for solving the problem]

[0008] A rail arrangement device according to one aspect of the present invention is a rail arrangement device for arranging a plurality of rails along the outer circumference of a steel pipe, comprising: a mounting base arranged on the outer surface of the steel pipe; a mounting jig for holding the rails arranged along the outer circumference of the steel pipe; a connecting member whose distance from at least the mounting base and the mounting jig is variable and which connects the mounting base and the mounting jig so that they face each other; and a positioning mechanism for aligning the positions of adjacent rails among the plurality of rails at the connection portion.

[0009] In this embodiment, the mounting base is positioned on the outer surface of the steel pipe, and the mounting jig is connected to the mounting base via a connecting member, with a distance from the mounting base that can be varied, and is positioned opposite the mounting base. The positioning mechanism aligns the positions of adjacent rails among the multiple rails at their connection points. This makes it possible to easily and efficiently arrange multiple rails to properly circle the outer circumference of the steel pipe.

[0010] In the above embodiment, a tightening mechanism may be further provided that pulls the mounting jig holding the rail toward the mounting base and tightens the rail so that it is connected to the adjacent rail.

[0011] According to this embodiment, the tightening mechanism pulls the mounting jig holding the rail towards the mounting base and tightens the rail so that it is connected to the adjacent rail, thus making it possible to arrange the rails appropriately around the outer circumference of the steel pipe more easily and efficiently.

[0012] In the above embodiment, the tightening mechanism may wind up a wire attached to a mounting jig or rail.

[0013] According to this embodiment, by winding up the wire, the rail is pulled towards the steel pipe and tightened so that the rail and the rail adjacent to it are connected, so that the rail can be arranged more easily and efficiently to properly circle the outer circumference of the steel pipe.

[0014] In the above embodiment, the connecting member may include an elastic member.

[0015] According to this embodiment, since the connecting member includes an elastic member, the distance between the mounting base and the mounting jig can be varied, making it easy to adjust the position of the rail.

[0016] In the above embodiment, a fixing mechanism for fixing the mounting jig to the mounting base may be further provided.

[0017] According to this embodiment, the fixing mechanism can fix the mounting jig to the mounting base by appropriately arranging rails so as to circle the outer circumference of the steel pipe.

[0018] A rail arrangement method according to one aspect of the present invention is a rail arrangement method for arranging a plurality of rails along the outer circumference of a steel pipe using a rail arrangement device, the rail arrangement device comprising a mounting base, a mounting jig, a connecting member whose distance from at least the mounting base and the mounting jig is variable and which connects the mounting base and the mounting jig so that they face each other, and a positioning mechanism for aligning the positions of adjacent rails among the plurality of rails at their connecting portions, wherein the mounting base is placed on the outer surface of the steel pipe, the mounting jig connected to the mounting base via the connecting member holds the rails arranged along the outer circumference of the steel pipe, and the plurality of rails are arranged while aligning the positions of adjacent rails at their connecting portions according to the positioning mechanism.

[0019] According to this aspect, a mounting base is arranged on the outer peripheral surface of the steel pipe, and a rail arranged along the outer periphery of the steel pipe is held by a mounting jig connected to the mounting base via a connecting member. While aligning the positions at the connecting portions with adjacent rails according to the positioning mechanism, a plurality of rails can be arranged so that the plurality of rails can be appropriately arranged simply and efficiently to circle around the outer periphery of the steel pipe.

Advantages of the Invention

[0020] According to the present invention, it is possible to provide a rail arrangement device and a rail arrangement method capable of simply, efficiently, and appropriately arranging a plurality of rails on the outer periphery of a steel pipe.

Brief Description of the Drawings

[0021] [Figure 1] It is a schematic diagram showing the system configuration of a welding robot system 1 according to an embodiment of the present invention. [Figure 2] It is a diagram for explaining the state of the rail 50 attached so as to circle around the outer periphery of the steel pipe 40A. [Figure 3] It is a diagram showing a state in which the rails 50A to 50H are arranged on the outer periphery of the steel pipe 40A by a rail arrangement device 100 according to an embodiment of the present invention while adapting the positions at the connecting portions with adjacent rails. [Figure 4] It is a cross-sectional view showing a state in which the rail 50A arranged on the outer periphery of the steel pipe 40A by a rail arrangement device 100 according to an embodiment of the present invention is fixed. [Figure 5] It is a diagram showing a state in which the rails 50A to 50H are arranged on the outer periphery of the steel pipe 40A by a rail arrangement device 100 according to an embodiment of the present invention while adapting the positions at the connecting portions with adjacent rails using the wire W. [Figure 6] It is a flowchart showing the procedure of a rail arrangement method M100 for arranging the rails 50A to 50H along the outer periphery of the steel pipe 40A using a rail arrangement device 100 according to an embodiment of the present invention.

Best Mode for Carrying Out the Invention

[0022] Hereinafter, embodiments of the present invention will be specifically described while referring to the drawings. Note that the embodiments described below are merely specific examples for carrying out the present invention and do not limit the present invention restrictively. Also, for ease of understanding of the description, the same reference numerals are given to the same components in each drawing as much as possible, and duplicate explanations may be omitted.

[0023] <One Embodiment> [Overview of Welding Robot System] FIG. 1 is a schematic diagram showing the system configuration of a welding robot system 1 according to an embodiment of the present invention. As shown in FIG. 1, the welding robot system 1 includes a welding robot 10, a robot controller 20, a welding wire feeder 30, and a welding power source (not shown). The welding robot system 1 welds the outer circumferences (connection portions 41) of steel pipes 40A and 40B to connect them, for example, to form a steel pipe column (steel frame column) used in a large building such as a high-rise building.

[0024] The steel pipes 40A and 40B form steel pipe columns such as column columns and four-sided box columns, for example. The steel pipes 40A and 40B are connected by performing so-called groove welding on the connection portion 41 of the steel pipes 40A and 40B in a state temporarily fixed by an erection piece 60.

[0025] The welding robot 10 is connected to the robot controller 20 via a cable and performs arc welding based on an operation command from the robot controller 20. For example, the welding robot 10 may perform welding while traveling along a rail 50 arranged so as to go around the steel pipe 40A along the outer circumference of the steel pipe 40A. A welding wire is fed from a welding torch provided at the tip of the welding robot 10, and an arc is generated between the steel pipes 40A and 40B while moving the tip of the welding torch along the connection portion 41 of the steel pipes 40A and 40B, thereby performing arc welding.

[0026] The welding torch is connected to a welding power source via a cable, receiving welding voltage and welding current to the welding wire. In arc welding, when the welding wire is momentarily brought into contact with the metal material (in this case, the connecting portion 41 in the steel pipes 40A and 40B) and current is applied, an arc discharge is generated between the welding wire and the connecting portion 41. The heat from the generated arc melts the welding wire and the connecting portion 41, thereby performing welding.

[0027] The robot control device 20 is a device that controls the welding robot 10. The robot control device 20 controls the welding robot 10, the welding wire feeder 30, and the welding power supply, for example, based on a work program. Here, the work program includes teaching data that has been pre-programmed and generated so that the welding robot 10 welds the connecting portion 41 while traveling along the rail 50.

[0028] For example, the work program (teaching data) may include operational information of the welding robot 10, such as its position, posture, and movement speed; information regarding the feeding of the welding wire; and information regarding welding conditions, such as welding voltage, welding current, welding speed, and welding time. Furthermore, this information included in the work program (teaching data) may be set by an operator using an operating device such as a teach pendant, or by actually operating the welding robot 10.

[0029] The welding wire feeding device 30 is controlled by the robot control device 20 and, for example, feeds a predetermined length of welding wire in the forward direction (the direction from the tip of the welding torch toward the connecting portion 41 of the steel pipes 40A and 40B) at a predetermined feeding speed, or feeds it in the reverse direction.

[0030] The welding power supply is connected to the welding robot 10 and the welding wire feeder 30 via a cable, and supplies welding voltage and welding current to the welding torch in the welding robot 10 based on commands from the robot control device 20.

[0031] [The appearance of rails placed on steel pipes] As described above, the welding robot 10 travels along the rail 50 to circle the outer circumference of the steel pipe 40A and welds the connecting portion 41 of the steel pipes 40A and 40B. Therefore, it is important that the rail 50 is properly attached to the steel pipe 40A. The following describes in detail how to attach the rail 50 to the steel pipe 40A.

[0032] Figure 2 illustrates the arrangement of rails 50 that are mounted around the outer circumference of steel pipe 40A. As shown in Figure 2, the rails 50 consist of eight rails 50A to 50H, arranged to circle the outer circumference of steel pipe 40A.

[0033] Rails 50A to 50H are arranged so that their ends are aligned and abut against each other at the connection points with adjacent rails. In other words, rails 50A to 50H form an annular rail 50, and the welding robot 10 can travel along the rail 50 in a circular motion around the outer circumference of the steel pipe 40A.

[0034] On the other hand, if the welding robot 10 can properly weld all of the connecting portions 41 of the steel pipes 40A and 40B while traveling along rails 50A to 50H arranged along the outer circumference of the steel pipe 40A, then it is not necessary for the ends of the connecting portions 41 of each rail 50A to 50H to be positioned to fit and abut against adjacent rails.

[0035] For example, it is not necessary for the positions of the ends of the connecting parts to be aligned and not in contact at just one point, and if multiple welding robots 10 are used in the welding robot system 1 and all of the connecting parts 41 of the steel pipes 40A and 40B can be properly welded by the multiple welding robots 10 (for example, two welding robots each traveling half of the rail 50), then it is not necessary for the positions of all the ends of the connecting parts to be aligned and not in contact at all points.

[0036] In this example, the rail 50 is composed of four straight rails (rails 50B, 50D, 50F, 50H) and four curved rails (rails 50A, 50C, 50E, 50G), but it is not limited to this configuration. For example, depending on the size of the steel pipes 40A and 40B, the rail 50 may be formed around the outer circumference of the steel pipe 40A in a number that is easy for workers to install (e.g., for transport and positioning adjustment), while taking into account the length and weight of each rail.

[0037] Furthermore, while straight rails (rails 50B, 50D, 50F, 50H) were attached along the outer circumference of the steel pipe 40A at one location using a mounting base 110 and mounting jig 120, and curved rails (rails 50A, 50C, 50E, 50G) were attached along the outer circumference of the steel pipe 40A at two locations using mounting bases 110 and mounting jig 120, the installation is not limited to this. For example, depending on the length and weight of each rail, if it is easy for workers to install (transport and position adjustment, etc.) and if the rails are stably positioned along the outer circumference of the steel pipe 40A, they may be attached using mounting bases 110 and mounting jig 120 at one or more locations.

[0038] [Configuration of the rail placement device] Figure 3 shows how rails 50A to 50H are positioned around the outer circumference of a steel pipe 40A using a rail positioning device 100 according to one embodiment of the present invention, while adjusting the position of the rails at the connection points with adjacent rails. As shown in Figure 3, the rail positioning device 100 comprises a mounting base 110, a mounting jig 120, a connecting member 130, a positioning mechanism 140, and a fixing mechanism 150.

[0039] The mounting base 110 is positioned on the outer surface of the steel pipe 40A. For example, the mounting base 110 may be a magnetic base, and the surface facing the outer surface of the steel pipe 40A may include a magnet. This allows the mounting base 110 to be easily positioned at an appropriate angle at any position on the outer surface of the steel pipe 40A.

[0040] The mounting base 110 is not limited to a magnetic base; for example, it may be attached to the steel pipe 40A using screws, or, to provide a more stable and secure mounting, a magnetic base may be used and further secured with screws.

[0041] The mounting jig 120 holds each rail 50A to 50H, which is arranged along the outer circumference of the steel pipe 40A. In Figure 3, the mounting jig 120 holds rails 50A and 50B respectively, mainly showing their connecting portion.

[0042] The connecting member 130 is configured such that the distance between at least the mounting base 110 and the mounting jig 120 can be varied, and the mounting base 110 and the mounting jig 120 are connected so that they face each other. For example, the connecting member 130 is an elastic member such as a spring, and the distance between the mounting jig 120, which holds the rails 50A and rails 50B, and the mounting base 110 corresponding to the mounting jig 120 can be varied. In other words, by configuring the distance between the mounting base 110 and the mounting jig 120 to be variable, the distance between the rails 50A and rails 50B and the steel pipe 40A can be adjusted.

[0043] The positioning mechanism 140 aligns the positions of adjacent rails 50A to 50H at their connection points. For example, at the connection point between adjacent rails 50A and 50B, rail 50A may have a protrusion 141 formed in the direction of rail 50B, and rail 50B may have a recess 142 corresponding to the protrusion 141.

[0044] The protrusion 141 of rail 50A fits into the recess 142 of rail 50B, so that the ends of rail 50A and rail 50B are aligned and in contact at the connecting portion.

[0045] The fixing mechanism 150 secures the mounting jig 120 to the mounting base 110. For example, the fixing mechanism 150 includes a screw, and by adjusting the screw, the mounting jig 120 is pressed against the mounting base 110 from the upper part, thereby securing the mounting jig 120 to the mounting base 110.

[0046] Figure 4 is a cross-sectional view showing how a rail 50A arranged on the outer circumference of a steel pipe 40A is fixed by a rail arrangement device 100 according to one embodiment of the present invention. As shown in Figure 4, the mounting base 110 and the mounting jig 120 are connected by a connecting member 130 which includes an elastic member such as a spring, so that the distance between the mounting jig 120 and the mounting base 110 can be varied.

[0047] The distance between the mounting base 110 and the mounting jig 120 is adjusted so that the rail 50A, held by the mounting jig 120, is positioned appropriately relative to the steel pipe 40A. Then, the mounting jig 120 is fixed to the mounting base 110 by pressing it from the upper part of the mounting base 110 with the fixing mechanism 150.

[0048] Figure 5 shows how rails 50A to 50H are positioned on the outer circumference of a steel pipe 40A using a rail positioning device 100 according to one embodiment of the present invention, while adjusting the position of the rails at the connection points with adjacent rails using a wire W. In Figure 5, the view is shown from the inside of the steel pipe 40A toward the outer circumference, and the mounting base 110 is positioned on the outer circumference of the steel pipe 40A by the surface 110A including the magnet of the mounting base 110 contacting the outer circumference of the steel pipe 40A.

[0049] As shown in Figure 5, the rail placement device 100 further includes a tightening mechanism 160. The tightening mechanism 160 pulls the mounting fixtures 120, each holding rails 50A and 50B, toward the mounting base 110 (steel pipe 40A), and tightens them to connect rails 50A and 50B.

[0050] Specifically, rails 50A and 50B are provided with protrusions on the surfaces facing the steel pipe 40A, and a wire W is attached to these protrusions. The tightening mechanism 160 winds up the wire W, which pulls rails 50A and 50B toward the steel pipe 40A, and at the same time, the distance between rails 50A and 50B also decreases. Then, the protrusion 141 of rail 50A fits into the recess 142 of rail 50B, so that the ends of rails 50A and 50B are aligned and come into contact at the connecting portion.

[0051] As described above, by winding the wire W with the tightening mechanism 160, the rails 50A to 50H are pulled towards the steel pipe 40A, and the rails 50A to 50H can be appropriately positioned to circle the outer circumference of the steel pipe 40A while adjusting their positions at the connection points with adjacent rails.

[0052] [Rail layout method] Figure 6 is a flowchart showing the procedure of rail placement method M100, which involves placing rails 50A to 50H along the outer circumference of a steel pipe 40A using a rail placement device 100 according to one embodiment of the present invention. As shown in Figure 6, rail placement method M100 includes steps S110 to S150.

[0053] In step S110, mounting bases 110 are placed on the outer surface of the steel pipe 40A. Specifically, as shown in Figure 2, one mounting base 110 corresponding to each straight rail (rails 50B, 50D, 50F, 50H) and two mounting bases 110 corresponding to each curved rail (rails 50A, 50C, 50E, 50G) are placed on the outer surface of the steel pipe 40A.

[0054] In step S120, the mounting jig 120 is made to hold the rails 50A to 50H. Specifically, the mounting jig 120, which is connected to the mounting base 110 placed on the outer surface of the steel pipe 40A in step S110 via a connecting member 130, is made to hold the rails 50A to 50H which are arranged along the outer circumference of the steel pipe 40A.

[0055] In step S130, wires W are attached to rails 50A to 50H. Specifically, wires W are attached to rails 50A to 50H, which were held in the mounting jig 120 in step S120, as shown in Figure 5.

[0056] In step S140, the wire W is wound up. Specifically, the tightening mechanism 160 winds up the wire W that was attached to rails 50A to 50H in step S130. By winding up the wire W with the tightening mechanism 160, the rails 50A to 50H are pulled towards the steel pipe 40A, and the rails 50A to 50H are appropriately positioned to circle the outer circumference of the steel pipe 40A while adjusting their positions at the connection points with adjacent rails.

[0057] In step S150, the mounting jig 120 is fixed to the mounting base 110. Specifically, in step S140, the rails 50A to 50H are properly positioned around the outer circumference of the steel pipe 40A, with their positions aligned at the connection points with adjacent rails. Then, as shown in Figure 4, the mounting jig 120 is fixed to the mounting base 110 by the fixing mechanism 150.

[0058] As described above, according to the rail placement device 100 and rail placement method M100 of one embodiment of the present invention, the mounting base 110 is placed on the outer surface of the steel pipe 40A, and the mounting jig 120 is connected to the mounting base 110 via a connecting member 130 so as to face the mounting base 110, with the distance from the mounting base 110 being variable. The mounting jig 120 holds the rails 50A to 50H that are arranged along the outer circumference of the steel pipe 40A, and the positioning mechanism 140 aligns the positions of adjacent rails 50A to 50H at the connection points. As a result, multiple rails 50A to 50H can be placed on the outer circumference of the steel pipe 40A, and the rails 50 can be arranged appropriately to circle the outer circumference of the steel pipe 40A in a simple and efficient manner.

[0059] Furthermore, by winding the wire W with the tightening mechanism 160, the rails 50A to 50H are pulled towards the steel pipe 40A, and the positions of the rails 50A to 50H at the connection points with adjacent rails can be adjusted. As a result, the rails 50 can be positioned more easily and efficiently to properly circle the outer circumference of the steel pipe 40A.

[0060] In this embodiment, the fixing mechanism 150 fixes the mounting jig 120 to the mounting base 110 by pressing the mounting jig 120 from the upper part of the mounting base 110, but it is not limited to this. For example, the mounting jig 120 may be fixed to the mounting base 110 by pressing it from the lower part of the mounting base 110 together with the upper part, or instead of the upper part.

[0061] Furthermore, in this embodiment, the clamping mechanism 160 had the wire W attached to the surface of the rails 50A and 50B facing the steel pipe 40A, but it is not limited to this. For example, the wire W may be arranged to pass from the surface to the interior of each rail 50A to 50H, or the wire W may be attached to the mounting jig 120 instead of each rail 50A to 50H. In these configurations as well, the clamping mechanism 160 can form the rails 50 so as to circle the outer circumference of the steel pipe 40A by winding up the wire W, while pulling each rail 50A to 50H towards the steel pipe 40A and connecting adjacent rails.

[0062] Furthermore, in this embodiment, the connecting member 130 was described using an elastic member such as a spring as an example, but a mechanical mechanism may be used, for example, as long as the distance between the mounting base 110 and the mounting jig 120 is variable, that is, as long as the position of the mounting jig 120 can be adjusted in the direction toward the mounting base 110 (Z direction). Moreover, a floating mechanism that can be adjusted in the horizontal direction (X direction) and the vertical direction (Y direction) may be used to adjust the position of the mounting jig 120 in the X and Y directions relative to the mounting base 110, thereby forming the rail 50 more appropriately.

[0063] The embodiments described above are provided to facilitate understanding of the present invention and are not intended to limit its interpretation. The elements, arrangement, materials, conditions, shapes, and sizes of the embodiments are not limited to those exemplified and can be modified as appropriate. Furthermore, it is possible to partially substitute or combine the configurations shown in different embodiments. [Explanation of Symbols]

[0064] 1...Welding robot system, 10...Welding robot, 20...Robot control device, 30...Welding wire feeding device, 40A, 40B...Steel pipe, 41...Connecting part, 50, 50A~50H...Rail, 60...Erection piece, 100...Rail placement device, 110...Mounting base, 120...Mounting jig, 130...Connecting member, 140...Positioning mechanism, 141...Convex part, 142...Concave part, 150...Fixing mechanism, 160...Tightening mechanism, M100...Rail placement method, S110~S150...Each step of rail placement method M100, W...Wire

Claims

1. A rail arrangement device that arranges multiple rails along the outer circumference of a steel pipe, A mounting base is positioned on the outer surface of the steel pipe, A mounting jig for holding rails arranged along the outer circumference of the steel pipe, At least the distance between the mounting base and the mounting jig is variable, and a connecting member connects the mounting base and the mounting jig so that they face each other, The system includes a positioning mechanism for aligning the positions of adjacent rails among the plurality of rails, Rail placement device.

2. The system further includes a tightening mechanism that pulls the mounting jig, which holds the rail, toward the mounting base, and tightens the rail so that it is connected to the adjacent rail. The rail arrangement device according to claim 1.

3. The tightening mechanism winds up the wire attached to the mounting jig or the rail. The rail arrangement device according to claim 2.

4. The connecting member includes an elastic member, The rail arrangement device according to claim 1.

5. The system further includes a fixing mechanism for fixing the mounting jig to the mounting base. The rail arrangement device according to claim 1.

6. A rail arrangement method for arranging multiple rails along the outer circumference of a steel pipe using a rail arrangement device, The rail arrangement device comprises a mounting base, a mounting jig, a connecting member that allows the distance between at least the mounting base and the mounting jig to be variable and connects the mounting base and the mounting jig so that they face each other, and a positioning mechanism that aligns the positions of adjacent rails among the plurality of rails at their connecting portions. The mounting base is placed on the outer surface of the steel pipe, The mounting jig, which is connected to the mounting base via the connecting member, holds the rail that is arranged along the outer circumference of the steel pipe. The plurality of rails are arranged while aligning their positions at the connection points with adjacent rails according to the positioning mechanism. Rail layout method.

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