JPH0362509B2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an apparatus that is capable of automatically tracing a workpiece that has a 90-degree bent line in the middle and automatically tracing the vicinity of the bent part. It is something.

(Prior art) For example, a tracing plate is vertically supported on a traveling truck, and the traveling truck is moved by aligning the tracing plate along the vertical work surface, and the traveling truck is rotated at a bending point of the workpiece, and There is a device in which an arm of an end effector is supported on the traveling carriage so as to be horizontally movable, and a part of the arm is inserted into a cam groove formed in the profile plate. This device detects when the profiling plate comes into contact with a vertical workpiece at a bending point, rotates the traveling cart 90 degrees at that position, and then moves along the vertical workpiece that it contacted. When the traveling carriage rotates at the bending point, the arm is guided by the cam groove, and the end effector attached to the arm moves along the bending line.

By the way, the production of the cam grooves formed in the profile plate is extremely difficult when positional accuracy is required, such as profile welding, because the tolerance range for play is narrow.

(Problem to be Solved) This invention was made in view of the above-mentioned circumstances, and it controls the position of the end effector by a profiling sensor without using a cam. By sequentially performing the combination of steering and forward/backward movement of the end effector, rotation of the end effector around the vertical axis, and activation/deactivation of the end effector, it is possible to precisely follow the machining line of the bent part of the workpiece. The aim is to provide a device that

(Means for Solving the Problems) The present invention provides a traveling truck having a steering mechanism capable of simultaneously rotating all wheels in the same direction and the same angle, and a rotating truck supported by the traveling truck and capable of rotating around a vertical axis. a moving body, a member supported by the rotating body, movable at least horizontally, and supporting an end effector and a processing line tracing sensor, and a vertical member protruding from the outer circumferential wall of the traveling truck and at its front and rear ends in the traveling direction. The tracing processing device is equipped with a workpiece detection sensor and a control device that takes in the outputs of the processing line tracing sensor and the vertical workpiece detection sensor, and the support member of the end effector is moved to the vertical workpiece surface according to the output from the tracing sensor. Control the position to follow the surface. Moreover, when the traveling trolley moves forward, a first means determines that it has come into contact with a bent vertical workpiece by a vertical workpiece detection sensor at the front end, a second means stops the traveling trolley based on this determination, and then a rotating body is rotated at a certain angle. a third means for rotating the end effector forward by an amount, and a fourth means for thereafter deactivating the end effector;
means for tracing the end of the bending point of the machining line; and a fifth means for determining that the traveling trolley has come into contact with a bent vertical workpiece by a vertical workpiece detection sensor at the rear end when the traveling trolley is moving backward; A sixth means for stopping the cart, a seventh means for thereafter rotating the rotating body backward by a certain angle, an eighth means for thereafter activating the end effector, and a ninth means for rotating the rotating body forward by a certain angle. The control device includes means for tracing the starting end of the bending point of the machining line.

(Function) While controlling the position of the support member of the end effector according to the output of the tracing sensor, if the traveling trolley moves forward and approaches the bending point and the vertical workpiece detection sensor at the front end in the traveling direction outputs a signal, the traveling By stopping the cart and rotating the rotary body forward by a certain angle, the end portion of the bending point is patterned. In addition, for the end of the bending point, once the traveling trolley is moved backwards, and the vertical workpiece detection sensor at the rear end in the traveling direction outputs a signal, the traveling trolley is stopped and the rotary body is rotated backward by a certain angle. Position the point of effect of the effector at the bending point of the processing line.

After that, the end effector is activated and the rotary body is rotated forward at a certain angle.
Process the pattern.

(Example) Although this example will be described as a fillet profile welding device, other processing devices such as a profile seal device may be used, and the present invention is not limited to this embodiment.

W ₁ and W ₂ are workpieces, respectively, where W ₁ is a horizontal workpiece and W ₂ is a vertical workpiece. Both works
W ₁ and W ₂ are mutually positioned and tack welded in advance as shown in FIG. WL (WL ₁ ~
WL ₄ ) is a processing line (horizontal fillet weld line) formed by both workpieces W ₁ and W ₂ and bent at 90 degrees.

Reference numeral 1 denotes a traveling trolley whose planar shape is approximately quadrilateral (approximately square in the embodiment), and a total of four wheels 2 are mounted thereon. All wheels 2 are configured to be driven in the same direction by an electric motor _M1 attached to the bottom of the truck 1 via a power transmission mechanism 3 consisting of a chain 3a, sprockets 3b, 3c, and bevel gears 3d, 3e. ing. Although _E1 is not shown in detail, it is an encoder for detecting travel distance connected to the wheel 2. S1 is a servo system including an electric motor _M1 and an encoder _E1 .

Reference numeral 4 denotes a steering mechanism, which is configured to be able to simultaneously steer all wheels 2 in the same direction and at the same angle via a chain 4a and sprockets _4b , 4c by an electric motor M2 attached to the bottom of the truck 1.
E ₂ is a steering angle detection encoder of the mechanism 4, although its details are not shown. S2 is a servo system including electric motor _M2 and encoder _E2 .

5 is vertically supported 5a at the upper center of the trolley 1,
It is a rotating body rotated by electric motor _M3 . _E3 is
Although not shown in detail, it is an encoder for detecting the rotation angle of the rotating body 5. S3 is a servo system including electric motor _M3 and encoder _E3 . 5b is
This is a handle fixed to the upper part of the rotating body 5.

6 is a movable body supported by the rotating body 5 and movable in the horizontal direction by an electric motor _M4 . _E4 is an encoder for detecting the position of the moving body 6. S4 is
This is a servo system including electric motor _M4 and encoder _E4 .

7 is a tilting member supported by the movable body 6 and tiltable up and down by an electric motor _M5 . _E5 is an encoder for detecting the tilt angle of the member 7. S5 is a servo system including electric motor _M5 and encoder _E5 .

Reference numeral 8 denotes a welding torch support member supported by member 7 and rotated approximately horizontally about a shaft 8a by an electric motor _M6 . _E6 is an encoder for detecting the rotation angle of the member 8. S6 is electric motor _M6
and a servo system including encoder _E6 .

SH is supported by the member 8, and is a horizontal direction tracing sensor (contact type in the embodiment) for the welding line WL;
Contactor 9 urged to protrude by a spring (not shown)
and a differential transformer TR ₁ connected to this contactor 9.
including. Note that the sensor SH is set so that the shaft 8a passes through the tip of the contact 9 at the protruding position of the contact 9 at a preset reference output value. Furthermore, the protrusion of the contactor 9 is limited by a stopper (not shown). SV is a sensor (contact type in the embodiment) that is supported by the member 7 and traces the weld line WL in the vertical direction, and includes a contact 10 protrudingly biased by a spring (not shown) and a differential sensor connected to the contact 10. Including dynamic transformer TR ₂ . Note that the sensor SV is set so that the member 7 is in a horizontal position at the protruding position of the contactor 10 at a preset reference output value.

T is an end effector (welding torch) attached to the member 8. The mounting position of the torch T is such that at the protruding positions of the contacts 9 and 10 at the reference output values of the sensors SH and SV, the welding point P of the torch T is below the tip of the contact 9 and the contact 1
It is set to be located on a horizontal plane passing through the 0 tip.

11 is a conduit cable including a signal cable, a power cable, a power supply cable to the torch T, and the like.

There are two SWs on each side wall of the trolley 1 (SW ₁
and SW ₂ ), a total of eight vertical workpiece W ₂ detection sensors (limit switches in the embodiment) are installed protrudingly.

C is a control device mainly composed of a computer including a central processing unit CPU and a memory MEM. The control device C includes each servo system S1 to S6 and an operation panel.
REM, welding power source WS, transformers TR ₁ , TR ₂ , switches SW ₁ , SW ₂ are connected via bus line B.

The control device C includes (a) two switches SW ₁ at the front end of the truck 1;
A first means F ₁ for determining that at least one of the SW ₂ has output a signal, and a second means for stopping the trolley 1 based on the determination of this means F ₁
F ₂ , after executing this means F ₂ , a third means F _{3 for rotating the rotating body 5 by a certain angle to the right or left (right in the embodiment); after executing this means F 3 ;}
A fourth means F ₄ for turning off the power source WS, a profile welding means FA at the end of the bending point of the welding line WL, and (b) two switches at the rear end of the truck 1.
A fifth means F ₅ determines that both SW ₁ and SW ₂ output signals, and by the determination of this means F ₅ ,
A sixth means F ₆ for stopping the truck 1, a seventh means F 7 for rotating the rotating body 5 to the left or right _{(to the left in the embodiment) by a certain angle after the execution of this means F 6 ;} After execution of means F ₇ , power WS
of the welding line WL, consisting of an eighth means F ₈ for turning ON, and a ninth means F ₉ for rotating the rotating body 5 by the given angle in the opposite direction to the right or left (right in the embodiment). Contains a profile welding connection means FB at the starting end of the bending point, and FB.

Further, the operation of this embodiment will be explained based on the flowchart of FIG. 6 while referring to FIGS. 4 and 5.

First, the operator turns on the power switch and origin positioning switch (not shown) on the operation panel REM.
Make it. At this time, the steering angle of the wheels 2 is such that all the wheels 2 are in the front-rear direction (the X direction in FIG. Furthermore, the moving body 6 is located at a position in the Y direction (in FIG. 1), and the transformer TR ₁
The member 7 is placed at a position where the output value of the transformer TR 2 matches a preset reference output value, and furthermore, the member 7 is placed at a position where the output value of the transformer TR ₂ matches a preset reference output value.
Furthermore, the member 8 is
The torch angle with respect to the direction of

Then, the operator holds the handle 5b and places the trolley ₁ on the workpiece _W1 as shown in FIG. , SV contacts the workpieces W ₁ and W ₂ , respectively. At this time, when welding welding lines WL ₁ to WL ₃ (however, the length of welding line WL ₁ is the same as the length of WL ₃ ) that is U-shaped in plan continuously on three sides, the bogie 1 Position the solid line in the figure as the starting position. In addition, when welding welding lines WL ₁ to _{WL 4} of a rectangular plane shape continuously on all four sides, the trolley 1 is set at the middle position of the welding line WL ₁ as the starting position, as shown by the solid line in Figure 4. Position.

When the start switch (not shown) on the operation panel REM is turned on, a command is first output to turn on the power source WS (step ST ₁ ), and a command is also sent to the electric motor _M1 to move the trolley 1 forward at a preset welding speed. is output (step ST ₂ B). Moreover, counting by the encoder E ₁ is started (step ST ₃ ), and furthermore, horizontal tracing control of the moving body 6 by the sensor SH and vertical tracing control of the member 7 by the sensor SV are also started (step ST ₄ ). Furthermore, i=1 is set (step ST ₅ ).

That is, the CPU compares the output value from the transformer TR ₁ and the reference position, and depending on the difference, the movable body 6 moves away from or approaches the workpiece W ₂ , and the horizontal position of the torch T with respect to the welding line WL ₁ is controlled. , and also output the output value from transformer TR ₂ and the reference value to the CPU.
According to the difference, the member 7 moves away from or approaches the workpiece _W1 , and the welding line _WL1 of the torch T
The vertical position of the weld line is controlled.
WL ₁ is profile welded.

Although not detailed, during the profile welding,
The position information of the welding point is taken into the CPU at fixed time intervals (for example, 0.1 seconds), and the direction of the welding line WL ₁ is calculated sequentially from both the current position information and the position information from the previous fixed time, and as a result, the calculated welding point The torch angle can be controlled by rotating the member 8 around the shaft 8a so that the angle of the torch T with respect to the direction of the line WL ₁ is constant, or the distance between the cart 1 and the welding line WL ₁ is almost constant. In addition, the rotation speed of the wheel 2 is controlled so that the welding speed is constant.

As a result of the profile welding, the front end of the truck 1 finally collides with the workpiece W ₂ as indicated by the two-dot chain line in FIG. 4A or FIG. 5.
This collision is determined based on whether switch SW ₁ is turned ON and outputs a signal (step ST ₆ ) or whether switch SW ₂ is turned ON and outputs a signal (step ST ₇ ). Note that these steps ST ₆ and ST ₇ correspond to the first means F ₁ .

If a signal is output from at least one switch SW ₁ and/or SW ₂ , the following subroutine contents are executed (step
_ST8 ).

That is, a command is output to electric motor _M1 to stop truck 1 (step _ST9 ). Note that step _ST9 corresponds to the second means _F2 . Then, the count value N ₁ i by the encoder E ₁ is first recorded in the memory MEM as N ₁₁ (step ST ₁₀ ). This count value N ₁₁ corresponds to the distance L ₁ in FIG. 4A or FIG. 5.

Next, electric motor M ₃ is used to rotate rotating body 5 to the right.
A command is output to (step ST ₁₁ ), and the encoder
Counting by E ₃ is also started (step
_ST12 ). Then, it is determined whether _{the count value has reached N 31 (} step ST ₁₃ ).
Once the rotating body 5 has been rotated from the T' position to the T'' position, an electric motor is activated to stop the rotating body 5.
A command is output to _M3 (step _ST14 ). Note that steps _ST11 to _ST14 correspond to the third means _F3 .
Then, when step ST ₁₄ is executed, the power supply WS is turned on.
A command is output to turn it off (step
_ST15 ). This step _ST15 corresponds to the fourth means _F4 .

In addition, in steps ST ₁₁ to ST ₁₄ , the rotating body 5
Even when rotating forward at a certain angle, the profiling sensor
The position of the moving body 6 is controlled according to the output of SH, and the position of the moving body 6 is controlled to the end of the bending point of welding line WL ₁ , that is, welding line WL ₁
The welding line WL ₁ near the intersection of and WL ₂ will be followed and welded.

Next, a command is output to the electric motor M ₄ to temporarily stop the previous tracing control of the moving body 6 by the sensor SH and move the moving body 6 away from the work W ₂ (step ST ₁₆ ), and a count is performed by the encoder E ₄ . is also started (step ST ₁₇ ). Then, it is determined whether the count value has reached _N41 (step _ST18 ), and if it has reached _N41 , a command is output to the electric motor _M4 to stop the moving body 6 (step _ST19 ). Note that this stop position of the movable body 6 corresponds to the above-mentioned origin position of the movable body 6, and the torch T
is located at the solid line position in Figure 4B.

Next, a command is output to electric motor _M1 to move truck 1 backward (step _ST20 ). Then, it is determined whether a certain period of time has elapsed ((step ST ₂₁ )),
Once the elapsed time has elapsed, the electric motor is activated to stop the trolley 1.
A command is output to _M1 (step _ST22 ). In other words, the truck 1 has been retreated to the position indicated by the two-dot chain line in FIG. 4B.

Next, electric motor M ₃ is used to rotate rotating body 5 to the right.
A command is output to (step ST ₂₃ ), and counting by encoder E ₃ is also started (step ST 23).
_ST24 ). Then, it is determined whether the count value has reached _N32 (step _ST25 ), and if it has reached _N32 , a command is output to the electric motor _M3 to stop the rotating body 5 (step _ST26 ). During this time, the rotary body 5 has been rotated until the torch T reaches the T'' position from the two-dot chain line T′ position in FIG. 4B, and the stopping position of the rotary body 5 is This corresponds to the position rotated 90 degrees to the right from each solid line position in Figure 5.

Next, a command is output to electric motor _M1 to move truck 1 forward (step _ST27 ). Then, the contact 9 of the sensor SH finally comes into contact with the workpiece W ₂ and is pushed into it, but at this point the output value from the transformer TR ₁ is
The value is imported into the CPU and the difference between this value and the reference value is determined (step ST ₂₈ ). Then, it is determined whether the difference has become 0 (step ST ₂₉ ), and if it has become 0, a command is output to stop the truck 1 (step ST ₃₀ ). This stop position of the trolley 1 corresponds to the solid line position in Fig. 4, and from this position the sensor
Tracing control of the moving body 6 by the SH is started (step _ST31 ).

Next, a command is output to electric motor M ₂ to steer wheel 2 to the right (step ST ₃₂ ), and encoder E ₂
counting is also started (step ST ₃₃ ).
Then, it is determined whether the count value has reached N ₂₁ (step ST ₃₄ ), and if it has reached N ₂₁ ,
A command is output to electric motor _M2 to stop steering wheel 2 (step _ST35 ). During this time, all the wheels 2 are steered 90 degrees to the right, and the front and back direction of the truck 1 almost coincides with the direction of the weld line WL ₂ .

Next, a command is output to electric motor _M1 to move truck 1 backward (step _ST36 ). Then, the rear end of the cart 1 finally collides with the workpiece W ₂ , but this collision is caused by whether both switches SW ₁ and SW ₂ are turned ON and output signals (steps ST ₃₇ and ST ₃₈ ).
Determined by. These steps _ST37 and _ST38 correspond to the fifth means _F5 . And both switches SW ₁ ,
If SW ₂ both output signals, a command is output to electric motor M ₁ to stop truck 1 (step ST ₃₉ ). Therefore, when the truck 1 is moving backward, even if the front and back direction of the truck 1 does not exactly match the left-right direction in FIG. 4 or the vertical direction in FIG. 4 and is slightly tilted, when the truck 1 is stopped, In this case, one side of the cart 1 is completely forcibly pressed against the workpiece W ₂ , and the inclination is returned to zero. In other words, the front-rear direction of the truck 1 will accurately match the left-right direction in FIG. 4 or the up-down direction in FIG. 5. Furthermore, step ST ₃₉
corresponds to the sixth means _F6 , and the stopping position of the truck 1 at this time corresponds to the position indicated by the two-dot chain line in FIG.

Next, electric motor M ₃ is used to rotate rotating body 5 to the left.
A command is output to (step ST ₄₀ ), and the encoder
Counting by E ₃ is also started (step
_ST41 ). Then, it is determined whether the count value has reached _N33 (step _ST42 ), and if it has reached _N33 , a command is output to the electric motor _M3 to stop the rotating body 5 (step _ST43 ). That is, the rotating body 5 is rotated to the left until the torch T reaches the position shown by the two-dot chain line in FIG. 4C and the position shown by the solid line in FIG. 4D. Note that steps ST ₄₀ to ST ₄₃ are the seventh means F ₇
corresponds to

Next, a command is output to turn on the power source WS (step ST ₄₄ ), and a command is output to the electric motor _M3 to rotate the rotating body ₅ to the right (step ST ₄₅ ). Counting is also started (step ST ₄₆ ). Then, it is determined whether the count value has reached N ₃₄ (same value as N ₃₃ ) (step ST ₄₇ ), and if it has reached N ₃₄ , a command is output to the electric motor M ₃ to stop the rotating body 5. (Step ST ₄₈ ). In other words, even when the rotating body 5 rotates to the right from the position shown by the solid line in FIG.
The position of the movable body 6 is controlled according to the output of the SH, and the welding line WL ₂ is welded in the vicinity of the intersection of the welding lines WL ₁ and WL ₂ .

Note that step _ST44 corresponds to the eighth means _F8 , and steps _ST45 to _ST48 correspond to the ninth means _F9 .

Next, an electric motor is used to move the trolley 1 forward at the welding speed.
A command is output to M ₁ (step ST ₄₉ ), and counting by encoder E ₁ is also started (step ST 49).
_ST50 ).

Therefore, by steps ST ₃₇ to ST ₄₈ , the weld line
The starting point of the bend point of WL ₂ , that is, the welding point WL ₁ and
The welding line WL ₂ near the intersection with WL ₂ will be followed and welded.

When the contents of the subroutine (step ST ₈ ) consisting of steps ST ₉ to _{ST 50} are executed, 3
Determine whether it is a side weld or a 4-side weld (step
_ST51 ).

(a) If welding on three sides (U-shaped weld lines WL ₁ to WL ₃ as shown in Fig. 5), determine whether (i = 3) (step ST ₅₂ ), and (i≠3). Then, as (i=i+1) (step ST ₅₃ ),
Return to step ST ₆ and repeat the steps as described above.
Repeat T ₆ to ST ₅₃ . Note that when step ST ₈ is executed for the second time, the count value by encoder E ₁ in step ST ₁₀ is N ₁₂ , which means that the rear end of truck 1 is located at the weld line in FIG.
Workpiece whose front end of truck ₁ forms welding line WL ₃ from the position where it collided with workpiece _W2 which forms WL 1
Corresponds to the distance L ₂ until collision with W ₂ .

And if (i = 3), then trolley 1
has passed through two bend points and is now at the final weld line.
This means that welding is underway following WL ₃ .
Therefore, after the start of counting by encoder E ₁ in step ST ₅₀ , the count value becomes the distance.
It is determined whether the count value N ₁₁ corresponding to L ₁ has been reached (step ST ₅₄ ), and if it has reached N ₁₁ ,
In Figure 5, the rear end of the truck 1 has a weld line.
This means that he wants to travel a distance L ₃ (L ₃ =L ₁ ) to the right from the position where he collided with the work W ₂ forming WL ₂ .

This means that all welding lines WL ₁ to WL ₃ on the three sides have been traced and welded, and the power supply WS
A command is output to turn OFF (step
ST ₅₅ ), and further a command is output to electric motor M ₁ to stop truck 1 (step ST ₅₆ ).

(b) Also, in step ST ₅₁ , welding on four sides (fourth
Square-shaped welding line WL ₁ to WL ₄ as shown in the figure)
If so, determine whether (i=5) (step ST ₅₇ ), and if (i≠5), set (i=i+1) (step ST ₅₃ ), return to step ST ₆ , and perform the steps as described above. ST ₆ ~ ST ₅₁ , ST ₅₇ ,
Repeat ST ₅₃ . Note that the execution of step ST ₈ is 2,
In the case of the third and fourth times, the count values by the encoder E ₁ at step ST ₁₀ are N ₁₂ , N ₁₃ ,
It becomes _N14 . Each of these values is, for N ₁₂ ,
In Figure 4 A, the rear end of the truck 1 is at the welding line VL ₁
This corresponds to the distance L ₂ from the point where the front end of the truck 1 collides with the workpiece W 2 forming the welding line WL ₃ to the point where the front end of the truck 1 collides with the workpiece W ₂ forming the welding line WL ₃ . Regarding N ₁₃ , in Fig. 4A, the front end of the truck 1 is moving from the position where the rear end of the truck 1 collides with the work W ₂ forming the weld line WL ₂ to the work W ₂ forming the weld line WL ₄ . It corresponds to the distance L ₃ until the collision occurs.
Furthermore, in the case of N ₁₄ , in Fig. 4A, the front end of the cart 1 moves from the position where the rear end of the cart collides with the workpiece W ₂ forming the weld line WL ₁ to the weld line WL ₁ .
Distance L ₄ until colliding with workpiece W ₂ forming
(Note that this corresponds to L ₄ =L ₂ ).

If (i=5), it means that the trolley 1 has passed through four bending points and is currently welding along the remaining welding line WL ₁ , excluding the first completed welding section. Therefore, (N ₁₃ −N ₁₁ )
Find it as N ₁₅ (step ST ₅₈ ). In other words, the distance corresponding to the count value N ₁₅ is the distance L ₅ from the position where the rear end of the truck 1 collides with the workpiece W ₂ forming the welding line WL ₄ to the starting position indicated by the solid line in Fig. 4.
This corresponds to (L ₃ - L ₁ ) = L ₅ .

After the encoder E ₁ starts counting at step ST ₅₀ , the count value becomes the distance L ₅
( _step ST ₅₉ ), and if N ₁₅ has been reached, the cart 1 moves to the workpiece W ₂ whose rear end forms the weld line WL ₄ in FIG. 4A. Distance L ₅ upward from the point of collision
This means that only the vehicle was driven.

This means that all four sides of welding lines WL ₁ to WL ₄ have been traced and welded, and the steps described above are complete.
ST ₅₅ and ST ₅₆ are executed, the power source WS is turned off, and the cart 1 is also stopped.

As described above, whether it is 3-side welding or 4-side welding, all the refracted welding lines WL can be automatically traced and welded continuously, and when the trolley 1 reaches the welding end position, the welding can be performed automatically. Power supply WS is OFF,
Truck 1 is stopped.

The above description is only an example, and it goes without saying that the technical scope of the present invention also includes the replacement of each component with an equivalent.

(Effects) As mentioned above, this invention is difficult to manufacture and does not require the use of a cam that cannot be expected to position the end effector with high precision. By sequentially controlling the activation and deactivation of the effector in a predetermined order, it is possible to trace and process the bent end and starting end of the machining line with high accuracy.

[Brief explanation of drawings]

Each of the figures shows an embodiment of the present invention.
2 is a bottom view of the traveling carriage, FIG. 3 is a block diagram of the control device, FIGS. 4 and 5 are action explanatory diagrams, and FIG. 6 is a flowchart. In the figure, _W1 ...Horizontal workpiece, _W2 ...Vertical workpiece, WL, _WL1 ~ _WL4 ...Processing line (welding line), T...
End effector (welding torch), 1... Traveling trolley, 2... Wheels, 4... Steering mechanism, 5... Rotating body, 5a
... Vertical axis, 6... Moving body, 7... Tilting member, 8... Supporting member, SH... Lateral direction tracing sensor for processing line, SV
...Vertical direction tracing sensor for processing line, SW, SW ₁ ,
SW ₂ ...Vertical workpiece detection sensor, WS...Welding power source,
C...control device, _F1 ...first means, _F2 ...second means,
F ₃ ... third means, F ₄ ... fourth means, F ₅ ... fifth means,
F ₆ ... 6th means, F ₇ ... 7th means, F ₈ ... 8th means,
_F9 ...9th means, _F10 ...10th means, FA...means for profiling the end of the bending point, FB...means for profiling the starting end of the bending point.

Claims (1)

[Scope of Claims] 1. A traveling truck having a steering mechanism capable of simultaneously rotating all wheels in the same direction and at the same angle, a rotating body supported by the traveling truck and capable of rotating around a vertical axis, and this rotating body. a member supported by a moving body, movable at least in the horizontal direction, and supporting an end effector and a processing line tracing sensor; a vertical workpiece detection sensor protruding from the outer circumferential wall of the traveling trolley and the front and rear ends thereof in the traveling direction; A control device receives signals from the profiling sensor and the detection sensor, and controls the position of the support member along the vertical work surface according to the output from the profiling sensor, a first means for determining that the detection sensor at the front end outputs a signal due to the forward movement of the truck; a second means for stopping the truck based on the determination of the first means; A third means for rotating the rotating body forward by a predetermined angle; and a fourth means for rendering the end effector inactive after execution of the third means, the bent point end portion of the processed line. a fifth means for determining that the detection sensor at the rear end outputs a signal due to backward movement of the traveling carriage; and a sixth means for stopping the traveling carriage based on the determination by the fifth means. , after executing this sixth means,
a seventh means for rotating the rotating body backward by a predetermined angle; an eighth means for turning the end effector into an operating state after execution of the seventh means; and a seventh means for rotating the rotating body forward by a predetermined angle. A profiling device comprising: a profiling means for profiling a starting end of a bending point of a machining line, including a ninth means for rotating.