Rail arranging device and rail arranging method

Abstract

The present invention provides a rail placement device and rail placement method that allows for the proper placement of multiple rails by arranging them around the outer circumference of a steel pipe and easily adjusting the positions of the multiple rails. [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 for holding rails 50A to 50H positioned 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 they face each other, and moving mechanisms 140, 150 that allow the mounting jig 120 to move relative to the mounting base 110 along at least one of the X and Y directions.

Description

Technical Field

[0005]

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

Background Art

[0002] In recent years, steel pipe columns formed by connecting steel pipes by welding are used in large buildings such as high-rise buildings. When connecting steel pipes, rails are arranged so as to go around the outer periphery of the steel pipe, and the connecting portion of the steel pipe is welded while a 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 periphery 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 periphery of a steel frame column, fixed using magnets, and then an annular traveling rail is placed on the rail mounting jig. Next, after adjusting and fixing the distance between the traveling rail and the outer periphery of the steel frame column with an adjustment screw, the rail mounting jig is removed to complete the mounting work.

Prior Art Documents

Patent Documents

[0008] Therefore, the present invention aims to provide a rail placement device and rail placement method that allows for the placement of multiple rails on the outer circumference of a steel pipe, while easily adjusting the positions of the multiple rails and ensuring proper placement of the rails. [Means for solving the problem]

[0009] 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 connected so as to face the mounting base and the mounting jig; and a moving mechanism that allows the mounting jig to be moved relative to the mounting base along at least one of the X direction in which the rails extend and the Y direction which is perpendicular to the X direction and the direction from the mounting jig toward the mounting base.

[0010] 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 so as to face it. The moving mechanism is configured to move the mounting jig relative to the mounting base along at least one of the X and Y directions, so that multiple rails can be arranged on the outer circumference of the steel pipe, and the positions of the multiple rails can be easily adjusted to properly position the rails.

[0011] In the above embodiment, the moving mechanism may include a pressing member that can move the mounting fixture holding the rail along the X and / or Y directions, and the mounting fixture may be moved relative to the mounting base by pressing the mounting fixture with the pressing member.

[0012] According to this embodiment, the pressing member can move the mounting jig relative to the mounting base by pressing the mounting jig, thus allowing for easy adjustment of the position of the rail held by the mounting jig.

[0013] In the above-described configuration, the pressing member may include a screw.

[0014] According to this embodiment, the mounting jig can be moved relative to the mounting base by turning a screw, making it easier to adjust the positions of multiple rails.

[0015] In the above embodiment, the moving mechanism may include an elastic member that provides a reaction force in the direction in which the pressing member presses the mounting jig.

[0016] According to this embodiment, the elastic member can function as a reaction force against the direction in which the mounting jig is pressed by the pressing member, so that the position of the rail held by the mounting jig can be easily adjusted in the opposite direction to the direction in which it is pressed by the pressing member.

[0017] In the above embodiment, the moving mechanism may include a sliding member that can slide the mounting jig in a direction perpendicular to the direction in which the mounting jig is pressed by the pressing member.

[0018] According to this embodiment, even when the mounting jig moves in the direction in which the pressing member presses, the sliding member can slide the mounting jig in a direction perpendicular to the direction in which the pressing member presses the mounting jig, so that the position of the rail held by the mounting jig can be appropriately adjusted.

[0019] In the above embodiment, the moving mechanism is movable along the X direction and / or the Y direction and includes a guide member that interlocks the mounting jig, and the movement of the guide member may move the mounting jig relative to the mounting base.

[0020] According to this embodiment, the mounting jig can be moved relative to the mounting base by the guide member, so that the position of the rail held by the mounting jig can be stably adjusted.

[0021] In the above aspect, a positioning mechanism for aligning the positions at the connection portions between adjacent rails among the plurality of rails may be further provided.

[0022] According to this aspect, the positions of the plurality of rails can be adjusted while aligning the positions at the connection portions between adjacent rails according to the positioning mechanism.

[0023] In the above aspect, at least the distance between the mounting base and the mounting jig may be variable.

[0024] According to this aspect, since the distance between the mounting base and the mounting jig is variable, the position of the rail held by the mounting jig can be easily adjusted in the direction from the mounting jig to the mounting base.

[0025] In the above aspect, the connecting member may include an elastic member.

[0026] According to this aspect, since the connecting member includes an elastic member, the distance between the mounting base and the mounting jig can be varied, and the arrangement position of the rail can be easily adjusted.

[0027] In the above aspect, the connecting member may include a guide member that interlocks the mounting jig along the Z direction from the mounting jig to the mounting base, and the mounting jig may be moved with respect to the mounting base as the guide member moves.

[0028] According to this aspect, since the mounting jig can be moved with respect to the mounting base by the guide member, the position of the rail held by the mounting jig can be stably adjusted.

[0029] In the above aspect, a fixing mechanism for fixing the mounting jig to the mounting base may be further provided.

[0030] According to this aspect, since the fixing mechanism fixes the mounting jig to the mounting base, the rail can be appropriately arranged and fixed so as to go around the outer periphery of the steel pipe.

[0031] 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 connecting the mounting base and the mounting jig so that they face each other, and a moving mechanism capable of moving the mounting jig relative to the mounting base along at least one of the X direction in which the rail extends and the Y direction which is perpendicular to the X direction and the direction from the mounting jig toward the mounting base, the mounting base is placed on the outer surface of the steel pipe, the rails arranged along the outer circumference of the steel pipe are held by the mounting jig which is connected to the mounting base via the connecting member, and the plurality of rails are arranged while adjusting the position of the mounting jig relative to the mounting base by operating the moving mechanism.

[0032] According to this embodiment, a mounting base is placed on the outer surface of the steel pipe, and a mounting jig, which is connected to the mounting base via a connecting member so as to face it, holds rails arranged along the outer circumference of the steel pipe. By operating the moving mechanism, the position of the mounting jig relative to the mounting base is adjusted while arranging multiple rails, thus allowing for easy adjustment of the positions of the multiple rails and proper arrangement of the rails. [Effects of the Invention]

[0033] According to the present invention, it is possible to provide a rail placement device and rail placement method that allows for the placement of multiple rails on the outer circumference of a steel pipe, while easily adjusting the positions of the multiple rails and ensuring proper placement of the rails. [Brief explanation of the drawing]

[0034] [Figure 1] This is a schematic diagram showing the system configuration of a welding robot system 1 according to one embodiment of the present invention. [Figure 2] This diagram illustrates the arrangement of rails 50 that are attached to the outer circumference of steel pipe 40A. [Figure 3]This figure 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 positions of the rails 50A to 50H. [Figure 4] This is a front view illustrating the specific configurations of the first moving mechanism 140 and the second moving mechanism 150. [Figure 5] This diagram shows the connection between adjacent rails 50A and 50B when rails 50A to 50H are arranged around the outer circumference of a steel pipe 40A using a rail arrangement device 100 according to one embodiment of the present invention. [Figure 6] This is a cross-sectional view showing how a rail 50A, which is positioned on the outer circumference of a steel pipe 40A, is fixed by a rail placement device 100 according to one embodiment of the present invention. [Figure 7] This flowchart shows the procedure for a 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. [Figure 8] This figure shows an example of using a ball screw as a mechanism to adjust the position of the mounting jig 120 in the X and Y directions. [Figure 9] This figure shows how rails 50A to 50H are positioned around the outer circumference of a steel pipe 40A using a rail positioning device 200 that has a ball screw mechanism, while adjusting the positions of the rails 50A to 50H. [Figure 10] This figure shows an example of a rail placement device 201 having a fixing mechanism for fixing the position of the mounting jig 120 in the X and Y directions. [Modes for carrying out the invention]

[0035] The embodiments of the present invention will be described below in detail with reference to the drawings. The embodiments described below are merely examples of how to implement the present invention and are not intended to limit the scope of the invention. Furthermore, to facilitate understanding of the explanation, the same reference numerals are used for identical components in each drawing whenever possible, and redundant explanations may be omitted.

[0036] <One Embodiment> [Overview of the welding robot system] Figure 1 is a schematic diagram showing the system configuration of a welding robot system 1 according to one embodiment of the present invention. As shown in Figure 1, the welding robot system 1 comprises a welding robot 10, a robot control device 20, a welding wire feeding device 30, and a welding power source (not shown). The welding robot system 1 connects steel pipes 40A and 40B by welding their outer circumferences (connecting portions 41) to form steel pipe columns (steel columns) used, for example, in large buildings such as high-rise buildings.

[0037] The steel pipes 40A and 40B form, for example, steel pipe columns such as column columns and four-sided box columns. The steel pipes 40A and 40B are connected by so-called groove welding at the connecting portion 41 of the steel pipes 40A and 40B while they are temporarily fixed by the erection piece 60.

[0038] The welding robot 10 is connected to a robot control device 20 via a cable and performs arc welding based on operation commands from the robot control device 20. For example, the welding robot 10 may perform welding while traveling along a rail 50 that is arranged to circle the steel pipe 40A along its outer circumference. A welding wire is fed from a welding torch provided at the tip of the welding robot 10, and arc welding is performed by moving the tip of the welding torch along the connecting portion 41 of the steel pipes 40A and 40B and generating an arc between the steel pipes 40A and 40B.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] [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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] [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 positions of the rails 50A to 50H. As shown in Figure 3, the rail positioning device 100 comprises a mounting base 110, a mounting jig 120, a connecting member 130, a first moving mechanism 140, and a second moving mechanism 150.

[0052] Here, we will primarily use the adjustment of rail 50A as an example to explain the process. Rail 50A is fixed to the mounting jig 120 by, for example, a screw 121, and the position of rail 50A is adjusted by adjusting the position of the mounting jig 120 relative to the mounting base 110.

[0053] 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.

[0054] The mounting base 110 is not limited to a magnetic base; for example, it may be mounted on 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.

[0055] The mounting jig 120 holds each rail 50A to 50H that is positioned along the outer circumference of the steel pipe 40A. In Figure 3, the mounting jig 120 holds rail 50A, which is secured, for example, by a screw 121.

[0056] The connecting member 130 connects the mounting base 110 and the mounting jig 120 so that they face each other. For example, the connecting member 130 is configured such that the distance between the mounting base 110 and the mounting jig 120 can be varied, and may be an elastic member such as a spring, and the distance between the mounting jig 120, on which the rail 50A is held, and the mounting base 110 corresponding to the mounting jig 120 can be varied. In other words, by having a configuration in which the distance between the mounting base 110 and the mounting jig 120 can be varied, the distance between the rail 50A and the steel pipe 40A can be adjusted.

[0057] In this embodiment, the connecting member 130 is described using an elastic member such as a spring as an example, but it is not limited to this. For example, the connecting member 130 may use a mechanical mechanism that can adjust the position of the mounting jig 120 in the direction toward the mounting base 110 (Z direction). Furthermore, the connecting member 130 may be configured to adjust the position of the mounting jig 120 relative to the mounting base 110 using a floating mechanism that can be adjusted in the horizontal and vertical directions.

[0058] The first moving mechanism 140 is configured to move the mounting jig 120 relative to the mounting base 110 along the X direction (typically the horizontal direction) in which the rail 50A extends. For example, the first moving mechanism 140 may be a screw or the like that is positioned to penetrate from the outside to the inside of the mounting base 110. The first moving mechanism 140 adjusts the position of the mounting jig 120 in the X direction relative to the mounting base 110 by pressing the mounting jig 120 from the outside of the mounting base 110 against the mounting jig 120 which is positioned inside the mounting base 110.

[0059] The second moving mechanism 150 is configured to move the mounting jig 120 relative to the mounting base 110 along the Y direction (typically the vertical direction), which is perpendicular to the X direction in which the rail 50A extends and the direction from the mounting jig 120 toward the mounting base 110. For example, the second moving mechanism 150 may be a screw or the like that is positioned to penetrate from the outside toward the inside of the mounting base 110. The second moving mechanism 150 adjusts the position of the mounting jig 120 in the Y direction relative to the mounting base 110 by pressing the mounting jig 120 from the outside of the mounting base 110 relative to the mounting jig 120 which is positioned inside the mounting base 110.

[0060] The rail placement device 100 may include at least one of the first moving mechanism 140 and the second moving mechanism 150, and may adjust the position of the mounting jig 120 relative to the mounting base 110 along the X direction and / or the Y direction.

[0061] Figure 4 is a front view illustrating the specific configurations of the first moving mechanism 140 and the second moving mechanism 150. As shown in Figure 4, the first moving mechanism 140 is capable of moving the mounting jig 120 along the X direction, and the second moving mechanism 150 is capable of moving the mounting jig 120 along the Y direction.

[0062] The first moving mechanism 140 may include a pressing member 141, an elastic member 142, and a sliding member 143. For example, the pressing member 141 is a screw that penetrates the mounting base 110 from the outside to the inside along the X direction (horizontal direction), and by turning the screw, it presses the mounting jig 120 which is located inside the mounting base 110.

[0063] By rotating the pressing member 141 (screw) in a predetermined direction from outside the mounting base 110, the mounting jig 120, which is located inside the mounting base 110 on the tip side of the screw, is pressed. In this way, the position of the mounting jig 120 in the X direction relative to the mounting base 110 is moved (X direction "-" side).

[0064] For example, the elastic member 142 may be a spring positioned on the opposite side of the pressing member 141 (screw), and may function as a reaction force against the direction in which the pressing member 141 presses the mounting jig 120. That is, by rotating the pressing member 141 (screw) from outside the mounting base 110 in the opposite direction to the predetermined direction, the reaction force of the elastic member 142 (spring) moves the position of the mounting jig 120 in the X direction relative to the mounting base 110 (X direction "+" side).

[0065] The sliding member 143 may be positioned between the mounting jig 120 and the tip of the pressing member 141 (screw), and between the mounting jig 120 and the elastic member 142, so as to abut the mounting jig 120. For example, as will be described later, even when the mounting jig 120 is moved in the Y direction by the second moving mechanism 150, the mounting jig 120 is configured to slide appropriately along the Y direction by the sliding member 143 at the abutment portion with the sliding member 143.

[0066] The second moving mechanism 150 may include a pressing member 151, an elastic member 152, and a sliding member 153. For example, the pressing member 151 is a screw that penetrates the mounting base 110 from the outside to the inside along the Y direction (vertical direction), and by turning the screw, it presses the mounting jig 120 which is located inside the mounting base 110.

[0067] By rotating the pressing member 151 (screw) in a predetermined direction from outside the mounting base 110, the mounting jig 120, which is located inside the mounting base 110 on the tip side of the screw, is pressed. In this way, the position of the mounting jig 120 in the Y direction relative to the mounting base 110 is moved (Y direction "-" side).

[0068] For example, the elastic member 152 may be a spring positioned on the opposite side of the pressing member 151 (screw), and may function as a reaction force against the direction in which the pressing member 151 presses the mounting jig 120. That is, by rotating the pressing member 151 (screw) from outside the mounting base 110 in the opposite direction to the predetermined direction, the reaction force of the elastic member 152 (spring) moves the position of the mounting jig 120 in the Y direction relative to the mounting base 110 (Y direction "+" side).

[0069] In the Y direction, gravity acts vertically downwards, so even without an elastic member 152 (spring), the position of the mounting jig 120 relative to the mounting base 110 in the Y direction can be moved by gravity by rotating the pressing member 151 (screw) from outside the mounting base 110 in the opposite direction to the predetermined direction (Y direction "+" side).

[0070] The sliding member 153 may be positioned between the mounting jig 120 and the tip of the pressing member 151 (screw), and between the mounting jig 120 and the elastic member 152, so as to abut the mounting jig 120. For example, as described above, even when the mounting jig 120 is moved in the X direction by the first moving mechanism 140, the mounting jig 120 is configured to slide appropriately along the X direction by the sliding member 153 at the abutment portion with the sliding member 153.

[0071] In this example, the first moving mechanism 140 was located on the right side of the mounting base 110, but it is not limited to this location. It may also be located on the left side of the mounting base 110, or even on both the left and right sides. Similarly, the second moving mechanism 150 was located on the underside of the mounting base 110, but it is not limited to this location. It may also be located on the upper side of the mounting base 110, or even on both the upper and lower sides.

[0072] Figure 5 shows the connection between adjacent rails 50A and rail 50B when rails 50A to 50H are arranged on the outer circumference of a steel pipe 40A by a rail placement device 100 according to one embodiment of the present invention. As shown in Figure 5, the rail placement device 100 may be equipped with a positioning mechanism 160 at the connection between adjacent rails 50A and rail 50B.

[0073] The positioning mechanism 160 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 161 formed in the direction of rail 50B, and rail 50B may have a recess 162 corresponding to the protrusion 161.

[0074] Then, while adjusting the positions of rail 50A and rail 50B in the X and Y directions using the first moving mechanism 140 and the second moving mechanism 150 described above, the protrusion 161 of rail 50A is fitted into the recess 162 of rail 50B. As a result, the ends of rail 50A and rail 50B are aligned and come into contact at the connecting portion.

[0075] Figure 6 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 placement device 100 according to one embodiment of the present invention. As shown in Figure 6, the rail placement device 100 may also include a fixing mechanism 170 for fixing a mounting jig 120 to a mounting base 110.

[0076] The mounting jig 120 and the mounting base 110 may be connected by a connecting member 130 that includes an elastic member such as a spring, so that the distance (in the Z direction) between the mounting jig 120 and the mounting base 110 can be varied.

[0077] The fixing mechanism 170 includes, for example, a screw, and by adjusting the screw, the mounting jig 120 is pressed against the upper part of the mounting base 110, thereby fixing the mounting jig 120 to the mounting base 110.

[0078] 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 170.

[0079] In this example, the fixing mechanism 170 fixes the mounting jig 120 to the mounting base 110 by pressing the 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.

[0080] As described above, by adjusting the position of the mounting jig 120 relative to the mounting base 110 in the X, Y, and Z directions, the rails 50A to 50H can be appropriately positioned to circle the outer circumference of the steel pipe 40A by aligning their positions at the connection points with adjacent rails.

[0081] [Rail layout method] Figure 7 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 7, rail placement method M100 includes steps S110 to S140.

[0082] 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.

[0083] 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.

[0084] In step S130, the position of the mounting jig 120 relative to the mounting base 110 is adjusted. Specifically, in step S120, with the rails 50A to 50H held in place, the position of the mounting jig 120 is adjusted by moving the mounting jig 120 along the X direction using the first moving mechanism 140 and moving the mounting jig 120 along the Y direction using the second moving mechanism 150, as shown in Figure 4.

[0085] Then, as shown in Figure 5, the rails 50A to 50H are appropriately arranged to circle the outer circumference of the steel pipe 40A, while ensuring that their positions at the connection points with adjacent rails are aligned.

[0086] In step S140, the mounting jig 120 is fixed to the mounting base 110. Specifically, in step S130, the rails 50A to 50H are positioned appropriately 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 6, the mounting jig 120 is fixed to the mounting base 110 by the fixing mechanism 170.

[0087] 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 it. The first moving mechanism 140 moves the mounting jig 120 relative to the mounting base 110 along the X direction, and the second moving mechanism 150 moves the mounting jig 120 relative to the mounting base 110 along the Y direction, thereby adjusting the position of the mounting jig 120. As a result, multiple rails 50A to 50H can be placed on the outer circumference of the steel pipe 40A, and the positions of the multiple rails 50A to 50H can be easily adjusted while appropriately arranging the rails 50 to circle the outer circumference of the steel pipe 40A.

[0088] In this embodiment, the position of the mounting jig 120 in the X and Y directions was adjusted using the first moving mechanism 140 and the second moving mechanism 150. However, the mechanism for adjusting the position of the mounting jig 120 is not limited to these, and may be a mechanism using, for example, a ball screw.

[0089] Figure 8 shows an example of a mechanism using a ball screw to adjust the position of the mounting jig 120 in the X and Y directions. As shown in Figure 8, a ball screw is used as the first moving mechanism 240 for moving the mounting jig 120 in the X direction relative to the mounting base 110, and as the second moving mechanism 250 for moving the mounting jig 120 in the Y direction relative to the mounting base 110.

[0090] The first moving mechanism 240 is a ball screw, and includes a screw shaft 241 and a ball screw nut (guide member) 242. The screw shaft 241 is positioned to penetrate the mounting base 110 from the outside to the inside, and by rotating the screw shaft 241 from the outside of the mounting base 110, the ball screw nut (guide member) 242 positioned on the mounting jig 120 moves. The movement of the ball screw nut (guide member) 242 along the X direction works in conjunction to adjust the position of the mounting jig 120 in the X direction relative to the mounting base 110.

[0091] Furthermore, an elastic member 243 (for example, a spring) is positioned in the Y direction on the ball screw nut (guide member) 242. This allows the ball screw nut (guide member) 242 to move appropriately in the Y direction within the space where the elastic member 243 is positioned, even when the mounting jig 120 is moved in the Y direction by the second moving mechanism 250 described below.

[0092] Similarly, the second moving mechanism 250 is a ball screw and includes a screw shaft 251 and a ball screw nut (guide member) 252. The screw shaft 251 is positioned to penetrate the mounting base 110 from the outside to the inside, and by rotating the screw shaft 241 from the outside of the mounting base 110, the ball screw nut (guide member) 252 positioned on the mounting jig 120 moves. The movement of the ball screw nut (guide member) 252 along the Y direction works in conjunction to adjust the position of the mounting jig 120 in the Y direction relative to the mounting base 110.

[0093] Furthermore, an elastic member 253 (for example, a spring) is positioned in the X direction on the ball screw nut (guide member) 252. This allows the ball screw nut (guide member) 252 to move appropriately in the X direction within the space where the elastic member 253 is positioned, even when the mounting jig 120 is moved in the X direction by the first moving mechanism 240.

[0094] Thus, by using a ball screw as a mechanism for adjusting the position of the mounting jig 120 in the X and Y directions, the position of the mounting jig 120 can be stably adjusted. Even when using a ball screw, an elastic member and / or a sliding member may be used, as explained with reference to Figure 4, taking into consideration operability and stability.

[0095] Furthermore, a ball screw or the like may be used as a mechanism to adjust the position of the mounting jig 120 in the Z direction. Figure 9 shows how the rails 50A to 50H are positioned on the outer circumference of the steel pipe 40A using a rail positioning device 200 having a mechanism with a ball screw, while adjusting the positions of the rails 50A to 50H. As shown in Figure 9, the rail positioning device 200 uses a ball screw as a connecting member 230 that connects the mounting base 110 and the mounting jig 120.

[0096] The connecting member 230 is a ball screw, including a screw shaft 231 and a ball screw nut (guide member) 232, and connects at least the mounting base 110 and the mounting jig 120. In this case, the rail 50A is attached to the mounting member 120 via the connecting member 230, but the rail 50A and the mounting jig 120 may also be attached by a screw 121, as shown in Figure 6.

[0097] The screw shaft 231 is positioned to penetrate from the surface side of the mounting jig 120 that holds the rail 50A toward the mounting base 110. By rotating the screw shaft 231 from the surface side of the mounting jig 120, the ball screw nut (guide member) 232 positioned inside the rail 50A moves. As the ball screw nut (guide member) 232 moves along the Z direction, it works in conjunction to adjust the position of the mounting jig 120 in the Z direction relative to the mounting base 110.

[0098] In this way, by using a ball screw as a mechanism for adjusting the position of the mounting jig 120 in the Z direction, the position of the mounting jig 120 can be stably adjusted. Even when using a ball screw here, an elastic member may be used, as explained with reference to Figure 6, considering operability and stability.

[0099] Furthermore, an elastic member 233 (for example, a spring) is positioned on the ball screw nut (guide member) 232 in the vertical direction (Y direction). This allows the ball screw nut (guide member) 232 to move appropriately in the Y direction within the space where the elastic member 233 is positioned, even when the mounting jig 120 is moved in the Y direction by the second moving mechanism 250.

[0100] In this example, the elastic member 233 (for example, a spring) is shown to be arranged in the vertical direction (Y direction), but it may also be arranged in the X direction. This allows the ball screw nut (guide member) 232 to be appropriately moved in the X direction within the space where the elastic member 233 is located, even when the mounting jig 120 is moved in the X direction by the first moving mechanism 240.

[0101] As explained with reference to Figure 9, when a connecting member (ball screw) 230 is used as a mechanism to adjust the position of the mounting jig 120 in the Z direction, a fixing mechanism may also be used to fix the position of the mounting jig 120 in the X and Y directions.

[0102] Figure 10 shows an example of a rail placement device 201 having a fixing mechanism for fixing the position of the mounting jig 120 in the X and Y directions. As shown in Figure 10, the rail placement device 201 includes a screw 260 and a fixing member 270 as a fixing mechanism for fixing the position of the mounting jig 120 in the X and Y directions.

[0103] The screw 260 is positioned to penetrate the mounting base 110 from the outside to the inside, and by turning the screw, the fixing member 270, which is positioned inside the mounting base 110, is moved along the screw shaft 231 of the connecting member (ball screw) 230.

[0104] Specifically, a mechanism including a bevel gear may be used between the screw 260 and the fixing member 270 to move the fixing member 270 by rotating the screw 260.

[0105] The fixing member 270 is movable along the screw shaft 231 of the connecting member (ball screw) 230 and, by contacting the mounting jig 120, fixes the mounting jig 120 so that it does not move in the X and Y directions due to friction at the contact surface between the fixing member 270 and the mounting jig 120.

[0106] 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]

[0107] 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, 200, 201...Rail placement device, 110, 210...Mounting base, 120, 220...Mounting jig, 121, 260...Screw, 130, 230...Connecting member, 140, 150, 240, 250...Mobile Structure, 141,151...Pressing members, 142,152...Elastic members, 143,153...Sliding members, 160...Positioning mechanism, 161...Convex part, 162...Concave part, 170...Fixing mechanism, 231,241,251...Screw shaft, 232,242,252...Ball screw nut (guide member), 233,243,253...Elastic member, 270...Fixing member, M100...Rail arrangement method, S110~S140...Each step of rail arrangement method M100

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, A connecting member is provided to connect the mounting base and the mounting jig so that they face each other. The system includes a moving mechanism that allows the mounting jig to be moved relative to the mounting base along at least one of the X-direction in which the rail extends, and the Y-direction which is perpendicular to the X-direction and the direction from the mounting jig toward the mounting base, Rail placement device.

2. The aforementioned moving mechanism is The mounting jig holding the rail is movable along the X direction and / or the Y direction, including a pressing member The mounting jig is moved relative to the mounting base by pressing the mounting jig with the pressing member. The rail arrangement device according to claim 1.

3. The pressing member includes a screw, The rail arrangement device according to claim 2.

4. The moving mechanism includes an elastic member that provides a reaction force in the direction in which the pressing member presses the mounting jig. The rail arrangement device according to claim 2.

5. The moving mechanism includes a sliding member that can slide the mounting jig in a direction perpendicular to the direction in which the mounting jig is pressed by the pressing member. The rail arrangement device according to claim 2.

6. The aforementioned moving mechanism is A guide member that is movable along the X direction and / or the Y direction and interlocks the mounting jig, The movement of the guide member causes the mounting jig to move relative to the mounting base. The rail arrangement device according to claim 1.

7. The system further includes a positioning mechanism for aligning the positions of adjacent rails among the aforementioned plurality of rails at their connection points. The rail arrangement device according to claim 1.

8. At least the distance between the mounting base and the mounting jig is variable. The rail arrangement device according to claim 1.

9. The connecting member includes an elastic member, The rail arrangement device according to claim 8.

10. The aforementioned connecting member is Includes a guide member that interlocks the mounting jig along the Z-direction from the mounting jig toward the mounting base, The movement of the guide member causes the mounting jig to move relative to the mounting base. The rail arrangement device according to claim 8.

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

12. 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 connects the mounting base and the mounting jig so that they face each other, and a moving mechanism that allows the mounting jig to be moved relative to the mounting base along at least one of the X direction in which the rail extends, and the Y direction which is perpendicular to the X direction and the direction from the mounting jig toward the mounting base. 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 multiple rails are positioned while adjusting the position of the mounting jig relative to the mounting base by operating the aforementioned moving mechanism. Rail layout method.

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