KR-20260065917-A - Guide rail for processing or inspection device, guide rail system, processing or inspection system, method of installing guide rail

KR20260065917AKR 20260065917 AKR20260065917 AKR 20260065917AKR-20260065917-A

Abstract

The device comprises an elastically deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting and fixing the rail body to a workpiece. The bending mechanism comprises a single or multiple plate members formed along the longitudinal direction of the rail body, a buffering member that moves in at least one direction according to the amount of bending of the rail body, and an adjustment member that adjusts the amount of bending of the rail body. The buffering member is positioned at both ends of the plate member, and the adjustment member is positioned at the center of the longitudinal direction of the plate member, and adjusts the adjustment distance between the plate member and the rail body.

Inventors

무카이 나오키
이시자키 게이토
요코야마 다카시

Assignees

가부시키가이샤 고베 세이코쇼

Dates

Publication Date: 20260511
Application Date: 20240827
Priority Date: 20231013

Claims (16)

As a guide rail for a processing or inspection device that guides the movement of a processing or inspection device having a moving mechanism, The apparatus comprises an elastically deformable rail body, a bending mechanism for bending the rail body, and a mounting mechanism for mounting and fixing the rail body to a workpiece. The above bending mechanism is, A single or multiple plate members formed along the longitudinal direction of the above rail body, and A buffer part that moves in at least one direction depending on the bending amount of the above rail body, and It has an adjustment part that adjusts the amount of bending of the above rail body, and The above buffer members are disposed at both ends of the plate member, and The above adjustment unit is positioned at the central part of the long side of the plate member and adjusts the adjustment distance between the plate member and the rail body. Guide rail for processing or inspection devices.
In Article 1, The long direction of the rail body is the X-axis, the width direction of the rail body is the Y-axis, and the thickness direction of the rail body is the Z-axis, and The plate member is provided on the surface of the rail body facing the workpiece, and The above plate member has a gap formed between it and the rail body so as to be able to switch to a reference state in which the rail body is not bent by the adjustment unit, a separated state in which the adjustment distance is longer than the reference state by the adjustment unit, and a close state in which the adjustment distance is shorter than the reference state by the adjustment unit. The above mounting mechanism has a plurality of rail mounting parts arranged parallel to each other along the longitudinal direction of the rail body. Guide rail for processing or inspection devices.
In Article 2, Characterized by satisfying the following equation when the length in the X-axis direction of the above plate member is L p and the adjustment distance is H. Guide rail for processing or inspection devices.
In Article 2, The above rail body is, The rail body is designed so that the value of the twist angle θX , the value of the tip position misalignment δZ of the processing or inspection device, the value of the limit deflection δM , and the value of the limit bending radius R are within a predetermined range, The values of the twist angle θX of the above rail body and the tip position misalignment δZ of the processing or inspection device are, At least determined by adjusting the moment M acting on the rail body, the second polar moment I p around the longitudinal direction of the rail body, the spacing D of the rail mounting part, and material constants according to the rail material of the rail body, and The values of the above limit deflection δ M and limit bending radius R are, Determined by adjusting at least the second moment of area IY in the width direction of the rail body, material constants related to the rail material, and the length Lp of the plate member. Guide rail for processing or inspection devices.
In Article 4, The moment M acting on the above rail body is 29,400 N·mm or less, The above polar moment of second inertia Ip is 3149 to 176682 mm 4 , The spacing D of the above rail mounting part is 350 to 2050 mm, The above second moment of area IY is 779 to 40143 mm 4 , The length L p of the above plate member is set to 300 to 2000 mm, and The material constants regarding the above rail material are, It includes at least the tensile strength, longitudinal modulus, and transverse modulus of the above rail material, and The above tensile strength σ max is 215 MPa or more, The above Young's modulus E is 197 GPa or less, The above transverse modulus G is 26 GPa or higher. Guide rail for processing or inspection devices.
In Article 1, The above adjustment unit has a linear motion mechanism for adjusting the adjustment distance. Guide rail for processing or inspection devices.
In Article 6, The above linear motion mechanism has at least a screw member and a nut member that is rotatably supported by the screw member and fixed to the plate member, wherein the rotational motion of the screw member is converted into linear motion. Guide rail for processing or inspection devices.
In Article 1, At both ends of the long side of the above rail body, a connecting part is provided to connect with the end of the long side of the adjacent rail body. The above connecting member has at least one connecting mechanism selected from a connecting plate, a magnet, adhesive, and welding. Guide rail for processing or inspection devices.
In Article 1, A rack gear extending along the longitudinal direction of the rail body is provided at the widthwise end of the rail body, and The length of the longitudinal direction of the above rail body is 500 mm or more, and at the same time, is an integer multiple of the pitch of the teeth formed on the above rack gear, and The rack gears at both ends of the long side of the above rail body are formed to both be tooth ends. Guide rail for processing or inspection devices.
In Article 1, The above-mentioned mounting mechanism comprises at least one of a uniaxial joint or a ball joint. Guide rail for processing or inspection devices.
A guide rail for a processing or inspection device having a moving mechanism, and a guide rail system having a control device, A rail body capable of bending deformation, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to a workpiece with an adsorption force greater than a predetermined amount, The above bending mechanism is, A single or multiple plate members formed along the longitudinal direction of the above rail body, and A buffer part that moves in at least one direction depending on the bending amount of the above rail body, and It has an adjustment part that adjusts the amount of bending of the above rail body, and The above buffer is located at least at both ends of the plate member, and The above adjustment member is positioned at the central part of the long side of the plate member and is configured to be adjustable in the adjustment distance between the plate member and the rail body. The control device controls at least one of the suction force of the work by the mounting mechanism or the adjustment distance adjusted by the adjustment unit. Guide rail system.
A processing or inspection system having a moving mechanism, a guide rail for guiding the processing or inspection device, and a control device, The above guide rail comprises a rail body capable of bending deformation, a bending mechanism for bending the rail body, and a mounting mechanism for mounting the rail body to a workpiece with an adsorption force greater than a predetermined amount. The above bending mechanism is, A single or multiple plate members formed along the longitudinal direction of the above rail body, and A buffer part that moves in at least one direction depending on the bending amount of the above rail body, and It has an adjustment part that adjusts the amount of bending of the above rail body, and The above buffer is located at least at both ends of the plate member, and The above adjustment member is positioned at the central part of the long side of the plate member and is configured to be adjustable in the adjustment distance between the plate member and the rail body. The above control device controls the operation of the processing device or the operation of the inspection device. Processing or inspection system.
In Article 12, The above-mentioned moving mechanism is equipped with a rotary encoder, and The above control device controls the processing conditions and processing position by the processing device, or the inspection conditions and inspection position by the inspection device. Processing or inspection system.
In Article 12, The above-mentioned moving mechanism has a linear encoder, and A scale for a linear encoder is provided on the above rail body, and The above control device controls the processing conditions and processing position by the processing device, or the inspection conditions and inspection position by the inspection device. Processing or inspection system.
A method for installing a guide rail for a processing or inspection device having a moving mechanism, The system comprises a rail body capable of bending deformation, a bending mechanism for bending the rail body, and a mounting mechanism for mounting and fixing the rail body to a workpiece. The above bending mechanism is, A single or multiple plate members formed along the longitudinal direction of the above rail body, and A buffer part that moves in at least one direction depending on the bending amount of the above rail body, and It has an adjustment part that adjusts the amount of bending of the above rail body, and The above buffer is located at least at both ends of the plate member, and The above adjustment member is positioned at the central part of the long side of the plate member and is configured to be adjustable in the adjustment distance between the plate member and the rail body. A calculation process for calculating the adjustment distance based on information regarding the above work, and An adjustment process for adjusting the bending amount of the rail body so as to be the adjustment distance calculated in the above calculation process, and An installation process having to mount and fix the rail body to the workpiece by the above mounting mechanism Installation method for guide rails.
In Article 15, The above mounting mechanism has a first mounting mechanism using at least one of a magnet and a suction cup, and a second mounting mechanism using at least one of welding, mechanical fastening, and catching. In the above installation process, after temporarily fixing the rail body to the workpiece by the first mounting mechanism, the rail body is mounted and fixed to the workpiece by the second mounting mechanism. Installation method for guide rails.

Description

Guide rail for processing or inspection device, guide rail system, processing or inspection system, method of installing guide rail The present invention relates to a guide rail for a processing or inspection device, a guide rail system, a processing or inspection system, and a method for installing a guide rail. In the construction of ships or circular and spherical tanks, when machining or inspection of curved surfaces is performed using automated equipment, guide rails are required to operate the automated equipment along the lines of the machining or inspection targets. Conventionally, a configuration is known in which guide rails are manufactured by bending them into a specific shape, and the machining or inspection equipment is driven along these guide rails to automatically perform machining or inspection operations. However, in this case, since guide rails must be remanufactured for each object, the variety of guide rails increases, and labor and costs are incurred in manufacturing and storage. Therefore, there is a demand for highly versatile guide rails that can flexibly deform their rail components. Patent Document 1 discloses a guide rail that can be flexibly deformed in two dimensions and three dimensions by arranging a number of lightweight rail members, such as aluminum, side by side. Likewise, Patent Document 2 describes a guide rail in which a rail member is formed from a flexible material such as rubber or synthetic resin, and a reinforcing material such as a thin steel plate is integrally placed in the flexible material to support a welding device or the like so as to be freely movable, and the rail member is detachably fixed to a predetermined fixed material. FIG. 1 is an overall perspective view illustrating the usage mode of a welding system in which a guide device according to an embodiment is used. FIG. 2 is a block diagram illustrating a schematic of a welding system in which a guide rail according to an embodiment is used. FIG. 3 is a perspective view illustrating a guide device. Figure 4 is a plan view illustrating a guide device. Figure 5 is a plan view illustrating a bending mechanism. Figure 6 is a front view illustrating a bending mechanism. Figure 7 is a cross-sectional view illustrating AA of Figure 5. Figure 8 is a cross-sectional view illustrating BB of Figure 5. Fig. 9a is a cross-sectional view illustrating CC of Fig. 6. FIG. 9b is a cross-sectional view illustrating the CC of the guide device in a spaced-out state. FIG. 9c is a cross-sectional view illustrating CC of the guide device in a close-up state. Figure 10 is a drawing illustrating a rack gear. FIG. 11 is a drawing illustrating a spacing state in which a guide device follows a convex curved surface. FIG. 12 is a drawing illustrating the proximity state of the guide device following a concave curved surface. FIG. 13 is a cross-sectional view illustrating the rail body. Hereinafter, the configuration of a guide rail to which the present invention is applied will be described with reference to the attached drawings. The guide rail is hereinafter referred to as a guide device (10). In addition, each drawing is prepared for the purpose of explaining the present invention, and the embodiments of the present invention are not limited to the contents illustrated. First, in order to understand the overall picture of the guide device (10) to which the present invention is applied, a welding system, which is one of the processing system or inspection system including the guide device (10), is described based on FIG. 1. FIG. 1 is an overall perspective view illustrating the usage mode of the welding system in which the guide device (10) is used. FIG. 2 is a block diagram showing a schematic of the welding system in which the guide device (10) is used. In addition, the processing system or inspection system is exemplified as a system that performs operations such as line drawing, hole drilling, slag removal, plasma gouging, grinder grinding, shape measurement, or ultrasonic testing, in addition to the welding system. (Welding system) The welding system (100) is equipped with a welding robot (110), a control device (120), a welding power source (130), and a guide device (10). This configuration may be illustrated in FIG. 1 and FIG. 2. The guide device (10) is detachably mounted to follow a smoothly curved work (200), such as a concave or convex surface of a hull or tank, thereby guiding the welding robot (110) to move along the work (200). The welding robot (110) is equipped with a welding torch (111) that performs welding work on an improvement (210) formed on a workpiece (200), and a moving device (112) that is mounted on the welding torch (111) and moves along a guide device (10). A welding torch (111) has a contact tip, which is a power supply mechanism that supplies power to a welding wire (W). The welding wire (W) generates an arc from its tip through the power supply from the contact tip, and welds the groove (210) on