JPH0252591B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fillet profile welding device, and more particularly to a device suitable for automatically welding a welding line on the outside of a workpiece where the welding line is bent midway.

Conventionally, fillet profile welding equipment was designed to run a traveling trolley at a constant speed with guide rollers in contact with the horizontal and vertical surfaces of the workpiece, and to align a welding torch supported by the traveling trolley along the welding line. There is. This profile welding device can only automatically weld simple weld lines. Therefore, if the welding line is bent in the middle, for example in a dogleg shape, a U shape, or an opening shape, each time the traveling trolley reaches the bent point, the operator lifts the traveling trolley once and then It is inconvenient as it requires reinstallation for continuous weld lines.

This invention has been made in view of the above-mentioned circumstances. For example, an operator can run the welding line on the outside of a workpiece where the welding line is bent in a dogleg shape, a U shape, or an opening shape. It is an object of the present invention to provide a fillet profile welding device that can automatically weld without the troublesome work of reinstalling the truck at the bending point, and examples thereof will be described in detail below. First, the embodiment shown in FIGS. 1 to 4 will be described in detail.

W ₁ and W ₂ are workpieces, W ₁ is a horizontal plate, and W ₂ is a vertical plate. Assume that they are mutually positioned and tack welded in advance as shown in FIGS. 1 and 2. WL ₁ to _{WL 4} are both plates W ₁ ,
Each is a weld line formed by W ₂ .

Reference numeral 1 denotes a traveling trolley, which is formed into a disk shape. Reference numeral 2 denotes at least three (three in the embodiment) running wheels of the trolley 1, one of which, the wheel 2, is connected to the electric motor _M1 and configured as a driving wheel. Although details are not shown in E ₁ , wheel 2
This is an encoder for detecting travel distance connected to.

3 is a steering mechanism, which is configured to be able to steer all wheels 2 in the same direction at the same time. That is, in this embodiment, a winding wheel 3c (a sprocket in this embodiment) having the same diameter is fixedly attached to a vertical shaft 3b provided upright on a bearing body 3a of each wheel 2, and a winding tool 3d is attached to each sprocket 3c. (Endless chain in the example)
is wrapped around it, and furthermore, the electric motor attached to the trolley 1
Sprocket 3e is fixed on the output shaft of _M2 ,
A chain 3d is also wound around this sprocket 3e, forming a mechanism 3. E ₂ is mechanism 3
This is an encoder for detecting the steering angle.

_A1 is a workpiece vertical surface detector (a known piezoelectric switch in the embodiment) protruding from the outer periphery of the cart 1.

4 is vertically supported 4a at the upper center of the trolley 1,
It is a rotating body (rotating arm in the embodiment) that is rotated by an electric motor _M3 . E ₃ is an encoder for detecting the rotation position of the rotation arm 4.

Reference numeral 5 denotes a rotating member that is vertically supported 5a at the middle upper part of the rotating arm 4. Note that a locking piece 6a is provided protruding from the member 5, and this locking piece 6a is biased to rotate clockwise in FIG. 1 by a compression spring 6b interposed between it and the rotating arm 4. There is. Furthermore, a stopper 6c is provided on the rotating arm 4 in a protruding manner, and the locking piece 6a, which is urged to rotate, is normally configured to come into contact with the stopper 6c. A ₂ is a micro switch attached to the stopper 6c in the embodiment, and the member 5 is in the normal position, that is, the locking piece 6a is in the stopper 6c.
This is a detector that determines whether or not the object is in contact with the object.

7 is a moving body supported by the member 5 and movable in the horizontal direction by an electric motor _M4 . _E4 is an encoder for detecting the position of the moving body 7.

Reference numeral 8 denotes a parallel link mechanism that is vertically supported by the movable body 7 and is composed of two sets of parallelogram links. This mechanism 8 has links 8a and 8b vertically supported by shafts 8c and 8d on the movable body 7, and a lever 8 at the tip of the link 8a.
A pair of parallelogram links are formed by connecting a link 8f with a protruding point 8e, and connecting the tip of the lever 8f' and the tip of the link 8b 8g, and the lever is connected to the tip of the link 8a via a shaft 8e. A link 8a' is provided protrudingly, and a link 8h is attached 8i to the tip of the lever 8a', and a link 8h is attached between both tips of the links 8f and 8h.
It consists of a set of parallelogram links with j articulated 8k and 8l. _M5 is an electric motor that rotates the link 8a.

The terminal link 8j of the mechanism 8 is formed as a holding member for the welding torch T, and the position P of the welding point of the torch T held by this member 8j, the shafts 8c, 8e
and 8k are arranged to be located at each vertex of the parallelogram on the plane. Regardless of the rotation of the link 8a, the torch T moves to the position P of the welding point.
It is configured to be able to rotate around a vertical axis with the torch T at its center and change the attitude of the torch T with respect to the welding line WL. Note that _E5 is an encoder for detecting the attitude of the torch T with respect to the welding line WL.

A ₃ is a detector (operating transformer in the embodiment) for tracing the vertical surface of the workpiece W ₂ and is attached to the tip of an arm 7 a protruding from the movable body 7 . Moreover, the detector _A3 is provided with a guide roller 9 that can move forward and backward.
Moreover, it is biased to protrude by a spring (not shown).
The mounting position of the detector A ₃ is set so that the welding point P of the torch T is on a plane perpendicular to the advancing and retreating direction passing through the axial center of the roller 9. The position of the roller 9 is set so that the welding point P of the torch T is on a plane perpendicular to the projecting direction passing through the axial center of the roller 9.

A ₃ is a protruding position detector of the roller 9 (a differential transformer in the embodiment).

10 is a workpiece horizontal surface guide roller (free roller) supported by the torch T.

C is a device that controls each of the electric motors M ₁ to M ₅ and the welding machine WS, and is mainly composed of a computer including a central processing unit CPU and a memory ME. Each electric motor M ₁ to _{M 5} , a drive circuit (driver) for each of these electric motors MD ₁ to MD ₅ , an encoder E ₁ to _{E 5} ,
Detectors A ₁ , A ₂ , detector A ₃ and welding machine WS are the third
As shown in the figure, it is connected to a control device C via a bus line B. Note that this control device C includes a detector A ₃
A known servo system (not shown) is included that controls the forward and backward positions of the moving body 7 so that the output value of is within a predetermined range. The memory ME also contains a means for turning off the power of the welding machine WS (step S2 in Fig. 4) based on the output of the detector _A3 indicating that the roller 9 has protruded the most, and a means for turning off the power of the welding machine WS (step _S2 in Fig. 4) and for turning off the mechanism 3 and the rotating arm 4. By changing the rotation angle, the carriage 1 can be moved from one welding line (for example, WL ₁ ) to another bent welding line (WL ₂ ) that is continuous with this.
means (fourth) for moving to a predetermined welding position
Steps S ₃ to _{S 4} ) in the figure are included.

Further, the operation of this embodiment will be explained based on the flowchart of FIG.

In addition, the operator places the trolley 1 at the solid line position in Figure 2, and sets the welding point P of the torch T to the welding line.
Keep it consistent with WL ₁ . At this time, all wheels 2 are
It shall be oriented in a direction approximately parallel to weld line WL ₁ .

Then, when the start switch of control device C is turned on, the power of the welding machine WS is turned on (step S ₁ ).
At the same time, the forward rotation output of the driver MD ₁ is also turned ON, and the electric motor M ₁ is driven to rotate in the forward direction. That is, the trolley 1 moves forward at a constant speed upward from the position shown by the solid line in _{FIG .}
While controlling driver MD ₄ , welding line WL ₁ will be welded. Therefore, the entire welding line WL ₁ is welded except for the area where the welding lines WL ₁ and WL ₄ intersect, that is, the vicinity of the bending area.

When the truck 1 reaches the position 1' shown by the two-dot chain line in FIG. 2, the roller 9 begins to come off the vertical plate _W2 , and finally the roller 9 protrudes to the maximum, and the output of the detector _A3 reaches its limit.

Then, the power to the welding machine WS is turned off (step S ₂ ), welding is stopped, and at the same time the encoder is turned off.
_E1 starts counting the distance traveled (step _S3 ). When the count reaches _K1 , that is, when the trolley 1 reaches the 1'' position shown by the two-dot chain line in Fig. 2, the counterclockwise rotation output of the driver _MD2 is turned ON, and the chain 3d is circulated counterclockwise by the motor _M2. and all wheels 2 are steered to the left.At the same time as the driver MD ₂ is turned on, the encoder E _{2 is} turned on.
Counting of the steering angle is started, but when this count amount reaches _K2 , that is, when the steering angle advances by 90 degrees, the driver _MD2 is turned OFF and the mechanism 3 is stopped. When the distance counted by the encoder E ₁ reaches K ₃ , that is, when the trolley 1 reaches the position 1 shown by the two-dot chain line in Fig. 2, the driver
At the same time that MD ₁ is turned OFF and the running of the trolley 1 is stopped, the counterclockwise rotation output of the driver MD ₃ is turned ON, and the rotating arm 4 is rotated counterclockwise by the electric motor M ₃ . Note that at the same time as driver MD ₃ is turned on,
The encoder E ₃ starts counting the rotation angle of the rotation arm 4, but when this count reaches K ₄ , that is, when the rotation arm 4 rotates 90 degrees, the driver MD ₃ turns OFF and the rotation stops. Arm 4 is stopped.
At this time, the torch T is at the position indicated by the two-dot chain line T' in FIG. Also, at the same time as the driver MD ₃ turns OFF, the forward rotation output of driver MD ₁ turns ON, and the driver
The counterclockwise rotation output of MD ₂ is also turned on, and the bogie 1 starts moving forward again, and all wheels 2 are also steered to the left. Note that at the same time as driver MD ₂ turns ON, encoder E ₂ starts counting the steering angle, but when this count reaches K ₅ , that is, when the steering angle advances further by 90 degrees, driver MD ₂
It is turned OFF and the mechanism 3 is stopped. Then, as the trolley 1 moves downward in FIG.
Finally, the roller 9 collides with the vertical plate _W2 forming the weld line _WL2 . That is, the truck 1 reaches the position 1' shown in two-dot chain line in FIG. Then, the roller 9 is retracted and the output of the detector _A3 is released from the limit described above. Then, driver MD ₁ is turned OFF and truck 1 is stopped, and at the same time driver MD 1 is turned OFF.
The clockwise rotation output of MD ₂ is turned on, all wheels 2 are steered to the right, and the encoder E ₂ starts counting the steering angle. And the count amount is
When the steering angle reaches K ₆ and the steering angle is returned to 90 degrees, the driver MD ₂ is turned OFF (step S ₄ ) and the mechanism 3 is stopped. At this time, all the wheels 2 are oriented in a direction substantially parallel to the welding line _WL2 , and the position P of the welding point of the torch T is aligned with the welding line _WL2 .
Then, it is determined whether or not the trolley 1 has passed the bending point of the welding line four times, for example, based on the number of outputs of the limit output of the detector A ₃ (step S ₅ ) _. Returning to the previous step, welding lines WL ₂ , WL ₃ , and WL ₄ are sequentially welded in the same manner as described above, and once the welding lines have passed four times, all functions of the welding device according to this embodiment are stopped, and automatic welding is completed. .

In the end, each of the welding lines WL ₁ to _{WL 4} is automatically welded, leaving a small area near each bending point.

The above description is an example, and for example, welding lines WL ₅ and WL ₆ on the inside of the workpiece as shown in Figs. 5 and 6, welding line WL ₇ as shown in Fig. 8, and welding line WL ₈ as shown in Fig. 10. The above-mentioned profile welding device can also be used when automatically welding.

First of all, workpieces like those shown in Figures 5 and 6 (horizontal plate
The case of welding the welding lines WL ₅ and WL ₆ of W ₃ and the vertical plate W ₄ ) will be explained based on the flowchart of FIG. 7.

First, the operator places the trolley 1 at the solid line position in Figure 5, and sets the welding point P of the torch T to the welding line.
Align it with one end of WL ₅ (lower end in the figure). At this time, it is assumed that all wheels 2 are oriented in a direction substantially parallel to weld line WL ₅ .

Therefore, when the start switch of control device C is turned ON, the power of the welding machine WS is turned on, and the forward rotation output of driver MD ₁ is also turned on, and the electric motor is turned on.
_M1 is driven forward. That is, the trolley 1 is
Travel forward at a constant speed upward from the solid line position in the figure,
In order to keep the amount of protrusion of the roller 9 constant,
Welding line WL ₅ will be welded while controlling MD ₄ .

When the truck 1 reaches _the position ₁ ' shown by the two-dot chain line _in FIG _. At the same time as stops, the clockwise rotation output of the driver MD ₃ turns ON (step S ₁₂ ), and the rotating arm 4 rotates clockwise. Note that the driver
At the same time as MD ₃ is turned ON, encoder E ₃ starts counting the rotation angle of rotation arm 4. When the count reaches K ₁₁ , driver MD ₃ turns OFF.
(Step S ₁₃ ), and the rotating arm 4 stops. At this time, the torch T is at a position T' shown in two-dot chain line in FIG. 5, and is located slightly in front of the position where the mechanism 8 and the like collide with the vertical plate _W4 . Also, the count amount is
When the time reaches K ₁₁ , the power to the welding machine WS is turned off (step S ₁₄ ), welding is stopped, and the reverse rotation output of the driver MD ₁ is turned on (step S ₁₅ ), so that the cart 1 moves backward. Furthermore, the driver MD ₁
At the same time the reverse rotation output of turns ON, the encoder
Counting of the traveling distance of the trolley 1 is started by _E1 .

When the count amount by the encoder E ₁ reaches K ₁₂ , the driver MD ₁ is turned OFF and the cart 1 is stopped, and is located at the two-dot chain line 1'' in FIG. 5. Also, when the count amount reaches K ₁₂ with driver MD ₃
The clockwise rotation output is turned ON, and the rotating arm 4 is rotated clockwise. At the same time as the clockwise rotation output of driver MD ₃ is turned ON, rotary arm 4 is turned on by encoder E ₃ .
The rotation angle starts counting.

Then, when the count amount by encoder E ₃ reaches K ₁₃ , driver MD ₃ turns OFF and rotation arm 4
stops. At this time, the torch T is indicated by the two-dot chain line in Figure 5.
It is at the T'' position.Also, at the same time as the count amount reaches _K13 , the left rotation output of the driver MD ₂ turns ON, and all wheels 2 are steered to the left.
Simultaneously with the turning ON of the left rotation output of MD ₂ , counting of the steering angle of the mechanism 3 by the encoder E ₂ is started. When the count amount by the encoder E ₂ reaches K ₁₄ , that is, when all the wheels 2 are steered 90 degrees counterclockwise, the driver MD ₂ is turned OFF, the mechanism 3 is stopped, and the driver MD ₁ is turned off. The rotation output is turned ON, and the trolley 1 moves to the left in FIG.

When the truck 1 reaches the position indicated by the two-dot chain line 1 in FIG. 5, that is, the position indicated by the solid line in FIG. 6, the detector _A1 collides with the vertical plate _W4 and outputs a signal. Then, driver MD ₁ is turned OFF by that signal, truck 1 is stopped, and the clockwise rotation output of driver MD ₂ is turned OFF.
ON, and all wheels 2 are steered clockwise. Note that at the same time as the clockwise rotation output of the driver MD ₂ turns ON, counting of the steering angle of the mechanism 3 by the encoder E ₂ is started. And that encoder E ₂
When the count amount reaches K ₁₅ , i.e. when all wheels 2 are steered 90 degrees clockwise, the driver
MD ₂ is turned OFF, the mechanism 3 is stopped, and furthermore, the forward rotation output of the driver MD ₁ is turned ON, and the truck 1 travels upward in the figure from the solid line position in FIG.

When the trolley 1 reaches the position 1' shown by _the two-dot chain line in FIG _. Immediately before this, the roller 9 is released from the most protruding position. Then, the limit release signal causes driver MD ₁ to
turns OFF, truck 1 stops, and furthermore, the counterclockwise rotation output of driver MD ₃ turns ON, and rotating arm 4
rotates counterclockwise. Furthermore, the driver
At the same time that the left rotation output of MD ₃ turns ON, the encoder E ₃ starts counting the rotation angle of the rotating arm 4.

And the count amount by encoder E ₃ is
When K ₁₆ is reached, the driver MD ₃ is turned OFF and the rotating arm 4 stops. At this time, the torch T is
It is located at the position indicated by the dotted chain line T', and the position P of the welding point coincides with the welding line WL ₆ . and the rotating arm 4
After stopping, the clockwise rotation output of the driver MD ₂ is turned on, and all wheels 2 are steered clockwise. Note that at the same time that the clockwise rotation output of the driver MD ₂ is turned ON, counting of the steering angle of the mechanism 3 by the encoder E ₂ is started. When the count by the encoder E ₂ reaches K ₁₇ , that is, when all the wheels 2 are steered 90 degrees clockwise, the driver MD ₂
OFF (step S ₁₆ ), and the mechanism 3 is stopped. Furthermore, the power of the welding machine WS is turned on, and the clockwise rotation output of driver MD ₃ is turned on.
Welding line WL ₆ is welded while rotating arm 4 rotates clockwise. Note that at the same time as the clockwise rotation output of the driver MD ₃ turns ON, counting of the rotation angle of the rotation arm 4 is started by the encoder E ₃ . When the counted amount reaches _K18 , that is, the driver MD ₃ is turned off and the rotating arm 4 is stopped.
At this time, the torch T is at the position shown by the two-dot chain line T'' in Fig. 6.Furthermore, the forward rotation output of the driver MD ₁ is turned on, and the trolley 1 welds the welding line WL ₆ while traveling to the right in Fig. 6. At the same time as the forward rotation output of the driver MD ₁ turns ON, the encoder E ₁ starts counting the distance traveled.
When the count amount reaches K ₁₉ , that is, trolley 1
When the welding machine WS reaches the 1" position shown by the two-dot chain line in Figure 6,
The power is turned off and welding is stopped, and the driver MD ₁ is also turned off and the cart 1 is stopped.

Therefore, in this embodiment, both welding lines WL ₅ ,
WL ₆ will be automatically welded leaving a little area near the intersection, that is, the weld line bend.

Next, regarding the case of welding the weld line WL ₇ of the workpiece (horizontal plate W ₅ and vertical plate W ₆ ) as shown in Fig. 8,
This will be explained based on the flowchart shown in FIG.

First, the operator places the trolley 1 at the solid line position in Figure 8, and sets the welding point P of the torch T to the welding line.
Align it with one end of WL ₇ (lower end in the figure). At this time, it is assumed that all wheels 2 are oriented in a direction substantially parallel to welding line WL ₇ .

Then, when the start switch of the control device C is turned on, the power of the welding machine WS is turned on, and the forward rotation output of the driver MD ₁ is also turned on. Therefore, the trolley 1 moves upward at a constant speed from the solid line position in FIG. 8, and welds the welding line WL ₇ while controlling the driver MD ₄ to keep the protrusion amount of the roller 9 constant. .

When the trolley 1 reaches the position 1' shown by the two-dot chain line in FIG _.
The rotation member 5 collides with the protrusion W ₆ ′ of , and the rotation member 5 rotates counterclockwise against the force of the spring 6b. At this time, the detector _A2 detects that the locking piece 6a is remote from the stopper 6c, and outputs a signal. The output signal of this detector _A2 turns off the driver _MD1 (step _S21 ), and at the same time the truck 1 stops, the welding machine
The power to the WS is also turned off (step _S22 ), and welding is stopped. Further, the reverse rotation output of the driver MD ₁ is turned ON (step S ₂₃ ), and the truck 1 moves backward. Note that at the same time as the reverse rotation output of the driver MD ₁ turns ON, the encoder E ₁ starts counting the traveling distance of the truck 1.

When the count amount by encoder E ₁ reaches K ₂₁ , the trolley 1 reaches the position 1″ shown by the two-dot chain line in FIG.
Driver MD ₁ is turned OFF and truck 1 stops.
Further, the left rotation output of the driver MD ₂ is turned on (step S ₂₄ ), and all wheels 2 are steered counterclockwise. Furthermore, the counterclockwise rotation output of the driver MD ₂
Simultaneously with the ON, the encoder E ₂ starts counting the steering angle of the mechanism 3. When the count reaches K ₂₂ , that is, when all wheels 2 are steered 90 degrees counterclockwise, driver MD ₂ is turned OFF.
Therefore, the steering of the mechanism 3 is stopped. Furthermore, the reverse rotation output of driver MD ₁ is turned on, and bogie 1
moves to the right from the 1" position in Fig. 8. At the same time as the reverse rotation output of driver MD ₁ turns on,
Encoder _E1 starts counting the distance traveled. And when the count amount reaches K ₂₃ ,
The trolley 1 reaches the two-dot chain line 1 in Fig. 8, and the driver
MD ₁ is turned OFF and truck 1 is stopped.

By repeating steps S ₂₄ to _{S 25} two more times, the carriage 1 reaches the 1'' position from the 1 position shown by the two-dot chain line in FIG. 8, and further reaches the 1'''' position.

Then, the clockwise rotation output of the driver MD ₂ is turned on, and all wheels 2 are steered clockwise. Note that at the same time that the clockwise rotation output of the driver MD ² is turned on, counting of the steering angle of the mechanism 3 is started by the encoder E ₂ . When the count reaches K ₂₄ , that is, when all the wheels 2 are steered 90 degrees clockwise, the driver MD ₂ is turned OFF (step S ₂₆ ) and the mechanism 3 is stopped.

And at the same time the welding machine WS is turned on,
The reverse rotation output of the driver MD ₁ is turned ON, and the truck 1 automatically welds the welding line WL ₇ while traveling upward from the position 1'''' along the two-dot chain line in FIG. Note that at the same time as the reverse rotation output of the driver MD ₁ is turned on,
Encoder _E1 starts counting the distance traveled. And when the count amount reaches K ₂₅ ,
When the truck 1 reaches the position 1'''''''' shown by the two-dot chain line in Fig. 8, the power to the welding machine WS is turned off and welding is stopped, and the driver MD ₁ is also turned off and the truck 1 is stopped. Ru.

Therefore, in this example, the welding line WL ₇ is
Automatic welding will be performed leaving the area around the protrusion W ₆ ′.

Next, the case of welding the curved welding line WL ₈ of the workpiece (horizontal plate W ₇ to vertical plate W ₈ ) as shown in FIG. 10 will be explained based on the flowchart of FIG. 11.

First, the operator places the trolley 1 at the solid line position in Figure 10, and sets the welding point P of the torch T to the welding line.
Align it with one end of WL ₈ (lower end in the figure). At this time, all wheels 2 are oriented in a direction substantially parallel to the straight portion of weld line WL ₈ . Moreover, the moving body 7 is located at an intermediate moving position.

Then, when the start switch of the control device C is turned on, the power of the welding machine WS is turned on, and the forward rotation output of the driver MD ₁ is also turned on. Therefore, the trolley 1 moves upward at a constant speed from the solid line position in FIG. 10, and welds the welding line WL ₈ while controlling the driver MD ₄ to keep the protrusion amount of the roller 9 constant. . At this time, wheel 2 is at the welding line.
Since it is unlikely that the moving object 7 is directly facing in a direction parallel to the straight line portion of WL ₈ , the moving object 7 naturally moves in and out a little.

(a) If the truck 1 is gradually moving away from the welding line WL ₈ , the movable body 7 has moved protruding from the intermediate position. Then the encoder
The protrusion amount data of the moving body 7 due to E ₄ is input to the CPU, and the CPU calculates θ ₁ =90°×E ₄ data/E ₄ max. As a result, the left rotation output of driver MD ₂ and the left rotation output of driver MD ₅ are turned ON, all wheels 2 are steered counterclockwise by θ ₁ degree, and the torch T is also rotated on the vertical axis centering on the position P of the welding point. Rotated θ ₁ degree counterclockwise around the Therefore, the truck 1 approaches the welding line WL ₈ in order to return the movable body 7 to the intermediate position, and the torch T is controlled to an optimal rotational posture with respect to the straight line portion of the welding line WL ₈ . Become.

(b) If, on the contrary, the truck 1 gradually approaches the welding line WL ₈ , then the moving body 7 is moving toward the welding line WL 8 from the intermediate position. Then, the immersion amount data of the moving object 7 is obtained by the encoder E ₄ .
This is input to the CPU, where θ ₂ =90°×E ₄ data/E ₄ max is calculated. As a result, the clockwise rotation output of driver MD ₂ and the clockwise rotation output of driver MD ₅ are turned on, and all wheels 2 are steered clockwise by θ ₂ degrees.
Further, the torch T is also rotated by θ ₂ degrees clockwise around the vertical axis, centering on the position P of the welding point. Therefore, the truck 1 is moved away from the welding line WL ₈ to return the moving body 7 to the intermediate position, and the torch T is
The rotational posture is controlled to be optimal for the straight line portion of welding line WL ₈ .

Then, the truck 1 travels upward in FIG. 10, and when it reaches the position 1' shown by the two-dot chain line in FIG. 10, it approaches the concave curved portion of the weld line WL ₈ .
Then, as is clear, the movable body 7 moves protrusively, so the postures of the mechanism 3 and the torch T are controlled in the same way as in (a) above. Furthermore, the trolley 1 is connected to the welding line.
When it reaches the middle of the recess of WL ₈ , the movable body 7 moves recessed, so the mechanism 3
and the attitude of the torch T are controlled.

As described above, the trolley 1 is moved along the two-dot chain line in Fig. 10.
1'', 1 position. Then, when the distance traveled by the encoder _E1 reaches _K31 , the bogie 1 reaches the position 1'''' shown by the two-dot chain line in Fig. 10.
The power of the welding machine WS is turned off, welding is stopped, and furthermore, the driver MD ₁ is also turned off, and the cart 1 is stopped.

In the end, the truck 1 traces a travel trajectory as shown by the arrow in Figure 10, and the entire welding line WL ₈ can be welded.

Note that depending on the shape of the curve of the welding line WL ₈ , (90°) in the calculation formula for θ ₁ and θ ₂ described above may be changed to (180°), for example, and the present invention is not limited to this embodiment.

As described above, in this invention, for example, when the roller 9 comes off the side of the workpiece W ₂ at a bending point, the roller 9 protrudes to the maximum and outputs a signal, and furthermore, the output signal turns off the power to the welding machine WS. At the same time, the mechanism 3 changes the steering angle of all the wheels 2 and the rotation angle of the rotating body 4, and moves the truck 1 to, for example, one welding line.
Since it can be moved to a predetermined welding position with respect to another weld line WL ₂ that bends from WL ₁ , every time the traveling trolley reaches a bend point,
This saves the operator the trouble of reinstalling the traveling trolley to a new weld line.

[Brief explanation of the drawing]

1 to 4 show one embodiment of the present invention.
The figure is an overall perspective view, the second figure is a plan view for explaining the function,
FIG. 3 is a block diagram of the control device, and FIG. 4 is a flowchart for explaining the operation. 5 to 7 show another embodiment, FIGS. 5 and 6 are plan views for explaining the operation, and FIG. 7 is a flowchart for explaining the operation. 8 and 9 show another embodiment, FIG. 8 is a plan view for explaining the operation, and FIG. 9 is a flow chart for explaining the operation. 10 and 11 show still another embodiment, FIG. 10 is a plan view for explaining the operation, and FIG. 11 is a flow chart for explaining the operation. In the figure, 1... Traveling trolley, 2... Wheels, 3
...Steering mechanism, 4...Rotating body (rotating arm), 4a...
...Vertical axis, 5... Rotating member, 5a... Vertical axis, 7
...Moving body, 8...Parallel link mechanism, T...Welding torch, _W1 , _W2 ...Workpiece, _WL1 ~
WL ₄ ...each welding line, 9...workpiece W ₂ vertical surface guide roller, 10...workpiece W ₁ horizontal surface guide roller, A ₃ ...protrusion position detector of roller 9, C...
...Control device, _S2 ...Means for stopping welding, _S3 to _S4
...By changing the steering angle by the steering mechanism 3 and the rotation angle of the rotating body 4, the traveling bogie 1 is moved from one welding line (for example, WL ₁ ) to another welding line (WL _{2 ) bent from one welding line (WL 1} ). means for moving it to a predetermined welding position.

Claims (1)

[Claims] 1 At least three traveling wheels are each independently vertically supported, and a winding wheel of the same diameter is provided on each of these vertical shafts and wound with an endless winding device, so that all the wheels are simultaneously turned in the same direction. A traveling truck having a steering mechanism, a rotating body pivotably supported vertically on the upper part of the traveling truck, and a rotating body supported by the rotating body,
A movable body capable of moving forward and backward in the horizontal direction, and an end link that is vertically supported at the tip of this movable body and has a welding torch attached to it, is designed to rotate around a vertical axis around a virtual point in space. a parallel link mechanism, a detector for tracing the vertical surface of the workpiece supported on the moving body, and the output of this detector is inputted;
A fillet profile welding device, comprising: a device for controlling the forward and backward positions of the movable body so that the value falls within a predetermined value.