JPH07323370A - Working method of welding or melt-cutting and device thereof - Google Patents

Abstract

PURPOSE:To obtain the shortening of welding time and the saving of manpower by executing the welding and the melt-cutting works to the outer peripheral surface in the cross sectional direction of a square column while rotating the material to be worked at the angular velocity given from a specific equation. CONSTITUTION:In the welding or the melt-cutting works to the cross sectional direction of the square column 1 forming four corners to 1/4 circular arc in a hollow closed cross section, the working point Q1 of a working tool 3 is shifted at the horizontal working velocity along the outer periphery of the square column 1. In the working of a flattened surface, the working surface is held to the horizontal plane and in the working of the circular arc part, the rotation around the optional axis O' in the square column 1 is given with the angular velocity omega=V.r<-1> radian obtd. from the horizontal working velocity V and the radius (r) of the circular arc part. In the working of the flattened surface, the working tool 3 is moved at the constant velocity movement and in the corner part, the working tool 4 is moved as the copying from the actual material synthesizing the vertical movement accompanied with the rotation and the movement in the working line direction. The strict positional control of the working point Q1 is unnecessary and the welding time is shortened by execution a multi-point synchronous welding.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hollow closed quadrangular cross-section used for steel structures, in which the four corners are made up of quarter arcs. It relates to a method and an apparatus.

[0002]

2. Description of the Related Art Square columns are widely used as column materials for steel-framed constructions, and the automation of welding and fusing has been considered to be applied to robots because of the geometrical characteristics of the cross section.

Since it is necessary to carry out welding and fusing downwards, when machining the flat portion of a rectangular column, the flat portion of the column to be worked is held horizontally and stopped, and cutting and welding are performed. A torch (hereinafter referred to as a processing tool) is guided in the processing direction, and when processing a quarter arc portion of a corner, the rotation of the square column and the movement of the processing tool are interlocked. In the conventional method using a robot, etc., the rotation of the square column and the motion of the processing tool are combined to perform the machining. For that purpose, in order to mathematically logicalize the geometric processing process, the square column's It is necessary to match the geometric center with the center of rotation of the corner column,
There was a problem that the equipment configuration became complicated and the preparation work was troublesome. Further, the product accuracy of the corner portion of the corner column is poor, and it is necessary to correct the reproduction path of the robot. This preparatory work hinders the operating rate of the robot. Originally, the robot is planned to be used for learning and playing machining lines, but if learning and playing were repeated each time work was performed,
The benefits of repeatability are lost and the value of using a robot is worthless.

Further, in the steel column column, the connection of the column portion and the structure called the ordinary joint connecting the column and the beam is 3 on average.
~ 4 columns (corresponding to the 3rd and 4th floors) have 3 connections
~ 4 pieces, 6 ~ 8 joints and columns along the outer circumference of the square column
There are several places, and it is very difficult to unify and control the multiple processing tools independently in order to make the rotation of the column correspond to the 6 to 8 welding robots, and it has not been realized yet.

[0005]

SUMMARY OF THE INVENTION In consideration of the above-mentioned problems of conventional welding and fusing of square columns, the present invention performs downward welding such as welding and fusing of square columns. When performing welding and fusing processing in the transverse direction of the square column that links the rotation of the square column and the movement of the tool so that it faces upward, the vertical movement mechanism of the processing tool associated with the rotation of the square column is simple, (EN) Provided are a processing method capable of performing processing without being affected by deformation of a rectangular column and a deviation of a rotation center, and further capable of performing simultaneous multi-point processing using a plurality of devices, and an apparatus therefor. This is an issue.

[0006]

A processing method of the present invention for solving the above-mentioned problems is to hold a processing tool such as a welding torch or a fusing torch in a fixed posture suitable for downward processing, and set the processing point thereof. When moving a flat surface of a work piece along the outer circumference of the work piece at a predetermined horizontal machining speed, the flat surface of the work piece is held horizontally and the four corners of the work piece are held horizontally. At the time of machining the arc portion, the formula ω ≈ v · from the machining speed v in the horizontal direction and the radii r of the arc portions at the four corners of the workpiece.
It is characterized in that the workpiece is rotated around an arbitrary straight line parallel to its geometric axis at an angular velocity ω given by r ~ ¹ radian.

Further, the processing apparatus of the present invention for carrying out this method is supported by means for rotatably supporting the work piece about an arbitrary straight line parallel to its geometrical axis, and thus means. Means for rotating the work piece around a support shaft, and a processing cart having a uniaxial drive wheel that rolls on the surface of the work piece and rolls in the processing direction at a predetermined processing speed, and maintains a fixed posture A processing tool such as a welding torch or a fusing torch that is held in a fixed posture on the processing carriage so that the processing points are along the workpiece, and guides the processing carriage substantially horizontally in the processing direction, It has a horizontal guide rail that can be rotated in the vertical plane as a fulcrum, moves the processing carriage in the processing direction at a predetermined horizontal processing speed during processing, and when processing a flat surface of the workpiece, Hold the surface horizontally and At the factory, the horizontal machining speed v
And the radii r of the arcs at the four corners of the work piece, the formula ω ≈ v · r
Wherein the angular velocity given by ~ ¹ radian ω having a control means for controlling as to rotate the workpiece around the support shaft.

[0008]

The operation of the present invention having the above construction will be described with reference to FIG. In the figure, 1 and 2 show the cross section of the rectangular column, and 1
Indicates the center of the cross section by O when the side surface of the column is horizontal and vertical. Reference numeral 2 shows a cross section of the angular column when it is rotated by α with the axis O ′ deviated from the cross section center O as the rotation center.
P ₁ and P ₂ are 4 at the corners of the column in the 1 and 2 states, respectively.
The center of one-half arc, Q ₁ is the starting point of the arc of the corner in the state 1 of the rectangular column, 3 is the position of the processing tool at that time, 4
Indicates the position of the processing tool with respect to the state 2 of the square column, and Q ₂ indicates the processing point on the square column at that time. Q'denotes the moving point of the Q ₁ point of 1 in the corner column 2.

The geometrical principle of FIG. 1 is that ∠P ₁ O'P ₂ = α = ∠Q'P ₂ Q ₂ Q ₂ Q '= r · α Q ₁ where r is the radius of curvature of the corner. P ₁ ‖ Q ₂ P ₂ Let v be the horizontal movement speed (machining speed) of the processing tool with respect to the surface of the square column, and ω be the rotation angular velocity of the square column, then ω = v · r ~ ¹ .

When the flat portion of the square column in the state 1 is machined, the machining tool may simply be moved horizontally at the speed v in the machining direction. The above is the basic principle of the present invention, and it is not necessary to match the geometric center of the cross section and the center of rotation with respect to the rotation of the rectangular column.

In the processing apparatus of the present invention for carrying out the above-described processing method, a processing cart having a uniaxial wheel that rolls along the surface of an angular column at a predetermined processing speed and holds a constant posture is provided. Since the processing tool is held in a constant posture and its machining point is along the surface of the square column, the machining tool is always driven at a constant speed v along the surface of the square column to be machined. It When machining the arcuate parts at the four corners of the square column, as described above, the square column is controlled to rotate around an arbitrary axis parallel to the geometrical axis at an angular velocity of ω = vr ~ ^1. To be done.

Other problems of the present invention and means for solving the same will become apparent from the description of the embodiments described in detail below with reference to the drawings.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 2 is a diagram showing an embodiment of the present invention.
In the drawing, reference numeral 5 is a state of the square column in which the arc-shaped corner portion of the square column 1 is being processed, O is the center of its geometric cross section,
O'indicates the center of rotation. The processing carriage 6 for driving the processing device is rotated around one axis on the carriage, and is driven by a drive wheel 7 which rolls along the peripheral surface of the square column 1, and the drive wheel and the square column on the projection plane of the drawing. 5 is provided with a processing tool 8 fixed to the processing carriage 6 so that the contact point with the peripheral surface of 5 substantially coincides with the processing point.

The contact surface of the drive wheel 7 is knurled or magnetized so that the drive wheel 7 can roll without slipping between the drive wheel 7 and the peripheral surface of the corner column 1.

The processing carriage 6 includes a guide rail 10 of the processing apparatus.
It is rigidly connected integrally with a slide pedestal 11 that can slide along a vertical connecting rod 9. Therefore, the inclination of the rail 10 forms an inclination with respect to the flat processing surface of the processing tool 8 via the pedestal 11 and the connecting rod 9. Therefore, by positively operating the inclination of the rail 10, the inclination angle of the processing tool 8 can be held constant or changed.

A base metal fitting 18 of the guide rail 10 is provided so that the guide rail 10 of the processing apparatus can be moved in the vertical direction and in the longitudinal direction of the corner column 1.
Is a rail 1 laid on the ground in the longitudinal direction of the corner column 1.
3 along a vertical guide rail provided on a vertical column 15 which is erected on a carriage 12 driven by an electric motor 14 and is screwed to a screw rod 17 which is rotationally driven by an electric motor 16 so as to be able to move up and down. ing.

The guide rail 10 and its base hardware 18 are
It is connected via a horizontal rotary joint 19 which allows rotation in a horizontal plane and a vertical rotary joint 20 which allows rotation in a vertical plane. The horizontal rotary joint 19 is adapted for lateral guidance and copying in the case of a T-joint by fillet welding or rectangular welding, for example. The vertical rotation joint 20 makes the drive wheels 7 of the processing carriage closely contact the square column being processed.

Reference numeral 21 denotes a horizontal swing jib crane provided on the top of the support column 15, which is the tip of the guide rail 10 and the jib crane 2.
1 is provided with a suspending tool 22 so that the wheel pressure of the wheels 7 of the processing carriage 6 can always be appropriately maintained even if the processing carriage 6 moves in the vertical direction as the square column 1 rotates. ing.

The leveling of the guide rail 10 may be generally downward when cutting, and the processing tool 8 accompanying it.
The inclination of the to the processing line direction is not a problem. In welding, the processing tool 8 is slightly inclined with respect to the welding direction, and it is necessary to prevent the molten metal from preceding, but since the rail up / down device may be intentionally fixed at a higher position, the up / down device is not always required. It is not necessary to have tight control and keep the guide rail 10 strictly horizontal.

FIG. 3 shows another embodiment. Members having the same functions as those of the embodiment of FIG. 2 are designated by the same reference numerals, and different points will be mainly described. This embodiment is the same as FIG. 2 except that the principle of the pantograph is used to maintain the downward posture of the processing tool. The pantograph mechanism 23 includes two parallelogram links ABCD and CDFE sharing the link CD.
The link AB is fixed to the horizontal rotary joint 19 at a predetermined tilt angle (generally vertical in the example of the drawing), and the link EF
Is fixed to the vertical connecting rod 9. The lower end of the vertical connecting rod 9 is fixed to the processing carriage 6, but the upper end thereof is the pedestal 11.
Further, it is rotatably supported by a single rotating pin 24 about a horizontal axis.

Due to the nature of the parallelogram link, AB ‖ DC ‖ FE is always maintained. Therefore, even if the angle of the guide rail 10 changes, the posture of the processing tool 9 should always be kept in a predetermined posture parallel to AB. You can

In welding a square column, for example, a joint core that serves as a core of the joint, a multi-layered R-shaped T-joint that joins the joint and the column member in the column assembly, and stiffening to the outer periphery of the square column. Requires multi-layer fillet and weaving welds on the ring. These welding methods are already known individually, and for application to the present invention, these functional elements may be inserted between the processing carriage and the processing tool.

FIG. 4 shows an example of a welding processing apparatus in consideration of the above points. In the figure, 6 is a drive wheel 7 on a square column.
26 with a processing carriage that moves the welding torch 25 at a constant speed.
Is a drive motor, and 27 is a vertical connecting rod 9 which is joined to the pedestal 11 shown in FIGS. 2 and 3 for movably supporting the processing device along the rail 10.

Reference numerals 28 to 31 are auxiliary function devices, 28 is a device for moving the welding torch 25 left and right with respect to the welding line in the case of multi-layer welding, 29 is its driving device, and 30 is a mechanism for moving the working point up and down. Then, the welding torch 25 is driven by the drive unit 31.
Is positioned vertically.

Reference numeral 32 denotes a gripping rod of the welding torch 25, which fixes the welding torch 25 via the welding torch mounting metal fitting 33 so that the welding material 34 can be continuously supplied.
If a servomotor with an encoder is used for the drive units 29, 31 and the like, and the positioning of the processing tool is stored in advance as a program and reproduced, the multi-layer deposition can be automatically performed. The arrow X in the figure indicates the traveling direction of the welding point x.

When the method of the present invention is applied to welding, the welding amount at the flat portion and the bent portion are different, so that it is necessary to increase the welding speed slightly above the flat portion for the corners.
In the case of cutting, the speed of the flat part and the bent part is changed.

FIG. 5 shows an example of operating a large number of devices of the present invention. In the figure, reference numeral 35 indicates that the center hole of the joint core of the rectangular column is skewed by tie bolts so that a plurality of joint cores are put together into one and multi-point simultaneous welding is performed. A column rotating device 36 with power,
It is rotatably supported by a rotating device including a shaft receiving device 37 having no rotational driving force. The rotating device 36 and the bearing device 37 are movable along the rail 38 in accordance with the length of the workpiece. 39 is previously 6 according to FIG. 2 and FIG.
1 to 34 are simplified representations of the welding torch guide device shown in FIGS.
A large number of units can be arranged along a rail 40 provided in parallel with the rotation axes of Nos. 6 and 37.

The only point of synchronization in the multi-point simultaneous machining of the apparatus of the present invention is to make the speeds of the independent machining apparatuses uniform. Many well-known techniques such as a method of controlling the rotation of the wheels of other devices by changing the driving wheel rotation speed or rotation angle to a voltage and a drive method often used for numerical control by giving the rotation speed in pulses can be adopted.

In each of the above-described embodiments, the guide rail 10 and the horizontal swing jib crane 21 of the processing apparatus are provided with a vertical guide column 15 which is erected on a traveling carriage 12 which is driven by a traveling electric motor 14 on a rail 13 laid on the ground. However, the guide rail 10 and the horizontal swing jib crane 21 travel on the rail 51 laid on the upper surface of the girder 50 supported by the ceiling beams or columns of the factory building as shown in FIG. It is also possible to attach and support to a hanging vertical guide column 53 that travels by 52. In this case as well, depending on the size of the square column to be processed, the guide rail 10
It is necessary to allow the base metal fitting 18 of the guide rail to be displaced and held at any position by the feed screw shaft 17 or the like rotated by the lifting / lowering electric motor 16 so that the mounting height of the guide rail can be adjusted. Is.

By suspending the vertical guide column 53, it is possible to reduce the obstacles such as the transportation of the workpiece 5 and the passage of the worker.

FIG. 7 is a view showing an example of an angle column multi-point simultaneous welding device constituted by arranging a plurality of processing devices of the present invention held in a hanging vertical guide column in one row. . In the figure, as in the case of FIG. 5, illustration of a horizontal swing jib crane, a hanger, etc. is omitted.

In this example, as a device for rotatably supporting the square column joint core 55, a known turning roll 56 with a cage is used, but of course, a rotary drive mechanism is provided on one side described in FIG. It is also possible to support with a pair of bearings provided. The turning roll 56 is movable on a traverse rail 57 laid on the ground,
When the guide rail 10 is stored in the storage position when not in use and the guide rail 10 is flipped up in a vertical posture and stored, it does not interfere with the transportation of the work piece, the equipment, etc. and the passage of the worker.

[0034]

As described above, according to the present invention, the locus of the machining point is a constant velocity motion in contact with the outer periphery of the square column on the square column when the square column flat portion is machined, and when machining the corner portion. Is a combined motion of the vertical movement associated with the rotation of the square column and the back-and-forth movement in the machining line direction. However, since that movement is just a copy of the actual thing, complicated continuous positioning control based on the equation of motion is not necessary. The strict matching of geometrical conditions such as the deformation of the shape and the deviation of the center of rotation and the center of the section including the shape error is unnecessary. Further, for multi-point simultaneous machining, it is sufficient to simply make the driving speeds of the respective machining devices uniform. Therefore, the mechanism and the control are simplified, which is an economical advantage.

By performing simultaneous multi-point cutting and welding on a square column, for example, in the case of a steel-framed building using a square column, the welding of 6 to 8 places at the joint between the column and the joint is performed at the same time as in the conventional method. The welding time to 6 to 1/8 of the
It is possible to save labor and save a lot of equipment and floor space, and the profit is huge.

Further, there are two welding points per core with respect to the joint core in the above-mentioned joint, but by connecting a plurality of such joints and performing multi-point simultaneous welding, it is enormous as in the above. Profit is obtained.

[Brief description of drawings]

FIG. 1 is an explanatory diagram illustrating an operation of the present invention.

FIG. 2 is a front view showing an embodiment of the device of the present invention.

FIG. 3 is a front view showing another embodiment of the device of the present invention.

FIG. 4 is a perspective view showing an example of the configuration of a welding apparatus according to the present invention.

5 is a perspective view showing in simplified form a part of the configuration of an embodiment of a multi-point simultaneous welding apparatus using a large number of the apparatuses of FIG. 2 or FIG.

FIG. 6 is a front view showing still another embodiment of the device of the present invention.

FIG. 7 is a schematic perspective view showing a part of the configuration of an embodiment of a multipoint simultaneous welding apparatus using a large number of the apparatuses of FIG.

[Explanation of symbols]

1 Square column (square steel pipe, work piece) 2, 5 Square column during rotation P ₁ , P ₂ Square column center arc center Q ₁ , Q ₂ , Q Square point on square column surface O Square column cross section Center O'Center of rotation of square column 3 Processing tool 4 Processing tool 6 Processing carriage 7 Driving wheel of processing carriage 8 Processing tool 9 Vertical connecting rod 10 Horizontal guide rail for processing equipment 11 Pedestal 12 Traveling carriage 13 Rail 14 Traveling motor 15 Vertical Guide column 16 Motor for vertical device 17 Linear motion axis 18 Guide rail base bracket 19 Rail horizontal rotation joint 20 Rail vertical rotation joint 21 Horizontal swivel jib crane 22 Horizontal swivel jib crane suspension 23 Pantograph mechanism 24 Vertical connection rod rotation pin 25 Welding torch 28 Welding torch lateral movement device 29 Driving part of welding torch lateral movement device 30 Welding torch vertical device 31 Welding torch top Device drive unit 32 Welding torch gripping rod 33 Welding torch mounting bracket 34 Welding material 35 Square column joint core (workpiece) 36 Column rotating device (rotating means) 37 Rotating bearing device (rotatably supporting means) 38 Moving rail for rotary bearing device 39 Square column welding device group 40 Moving rail for square column welding device 50 Girder 51 Rail 52 Traveling electric motor 53 Suspended vertical guide column 55 Square column joint core 56 Turning roll 57 Traverse rail

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[Procedure amendment]

[Submission date] November 11, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0033

[Correction method] Change

[Correction content]

In this example, as a device for rotatably supporting the rectangular column post 55, a known turning roll 56 with a cage is used, but of course, one side described in FIG. 5 is provided with a rotary drive mechanism. It is also possible to support with a pair of bearings. The turning roll 56 is movable on a traverse rail 57 laid on the ground. When the turning roll 56 is stored in a storage position when not in use and the guide rail 10 is flipped up in a vertical posture to be stored, it is processed. It does not interfere with the transportation of goods and equipment and the passage of workers.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] Brief description of the drawing

[Correction method] Change

[Correction content]

[Brief description of drawings]

FIG. 1 is an explanatory diagram illustrating an operation of the present invention.

FIG. 2 is a front view showing an embodiment of the device of the present invention.

FIG. 3 is a front view showing another embodiment of the device of the present invention.

FIG. 4 is a perspective view showing an example of the configuration of a welding apparatus according to the present invention.

5 is a perspective view showing in simplified form a part of the configuration of an embodiment of a multi-point simultaneous welding apparatus using a large number of the apparatuses of FIG. 2 or FIG.

FIG. 6 is a front view showing still another embodiment of the device of the present invention.

FIG. 7 is a schematic perspective view showing a part of the configuration of an embodiment of a multipoint simultaneous welding apparatus using a large number of the apparatuses of FIG.

[Explanation of symbols] 1 square column (square steel pipe, work piece) 2, 5 Square column during rotation P ₁ , P ₂ Square center of arc of corner column Q ₁ , Q ₂ , Q Square machining point on square column surface O Center of cross section of square column O'Center of rotation of square column 3 Machining tool 4 Machining tool 6 Machining cart 7 Driving wheel of machining cart 8 Machining tool 9 Vertical connecting rod 10 Horizontal guide rail of machining equipment 11 Pedestal 12 Traveling cart 13 Rail 14 Traveling Motor 15 Vertical Guide Strut 16 Motor for Vertical Device 17 Linear Motion Axis 18 Guide Rail Base Metal Fitting 19 Rail Horizontal Rotation Joint 20 Rail Vertical Rotation Joint 21 Horizontal Swing Jib Crane 22 Horizontal Swing Jib Crane Lifting 23 Pantograph Mechanism 24 Vertical Connection Rod rotation pin 25 Welding torch 28 Welding torch lateral movement device 29 Driving part of welding torch lateral movement device 30 Welding torch vertical movement device 3 Welding torch up-and-down device drive unit 32 Welding torch gripping rod 33 Welding torch mounting bracket 34 Welding material 35 Square column joint core (workpiece) 36 Column rotating device (rotating means) 37 Rotary bearing device (rotatably supported) 38 Moving rail of rotary bearing device 39 Square column welding device group 40 Moving rail of square column welding device 50 Digit 51 Rail 52 Traveling electric motor 53 Hanging vertical guide post 55 Square column post 56 Turning roll 57 Traverse rail

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location // B23K 9/127 502 C 8315-4E

Claims (5)

[Claims] 1. A processing method such as welding or fusing in a transverse direction of a rectangular steel pipe having a hollow closed cross section and four corners formed by quarter arcs. In a working method such as a welding torch or a fusing torch, downward working is performed. Hold a suitable fixed posture, move the machining point along the outer periphery of the workpiece at a predetermined horizontal machining speed in the machining direction, and when machining the flat surface of the workpiece, the surface of the workpiece Is held horizontally, and when machining the circular arcs at the four corners of the workpiece, the formula ω ≈ from the machining speed v in the horizontal direction and the radii r of the circular arcs at the four corners of the workpiece.
A machining method characterized in that a workpiece is rotated around an arbitrary straight line parallel to its geometric axis at an angular velocity ω given by v · r ~ ¹ radian. 2. In a processing device such as a transverse welding or fusing of a rectangular steel pipe having a hollow closed cross section and four corners of which are constituted by quarter arcs, a work piece can be machined in any direction parallel to its geometric axis. Means for rotatably supporting a straight line, means for rotating a workpiece supported by the means around a support shaft, rolling contact with the surface of the workpiece, and rolling at a predetermined machining speed in the machining direction A processing carriage having a uniaxial drive wheel and holding a fixed posture, and a processing tool such as a welding torch or a fusing torch which is held on the processing carriage in a constant posture so that the processing point is along the workpiece. , Which has a horizontal guide rail that guides the processing carriage horizontally in the processing direction and is rotatable in the vertical plane with the base as a fulcrum, and moves the processing carriage in the processing direction at a predetermined horizontal processing speed during processing. When machining a flat surface of a work piece, The machining surface is held horizontally, and when machining the circular arcs at the four corners of the workpiece, the formula ω ≈ from the horizontal machining speed v and the radius r of the circular arcs at the four corners of the workpiece.
v · r ~ processing apparatus characterized by comprising control means for controlling as to rotate around the support shaft workpiece ¹ angular velocity is given in radians omega. 3. The means for holding the posture of the processing carriage constant is that the processing carriage is rigidly coupled to a pedestal guided while maintaining a constant posture with respect to the horizontal guide rail. The processing device according to claim 2. 4. A means for holding the posture of the processing carriage constant, wherein the processing carriage is rotatable around a horizontal axis on a pedestal guided while maintaining a constant posture with respect to the horizontal guide rail. 3. The processing apparatus according to claim 2, further comprising a pantograph mechanism which is held between the processing carriage and the base portion of the horizontal guide rail and which keeps both of these members in a constant posture relationship at all times. . 5. A plurality of processing devices according to claim 2 are provided so as to be independently movable respectively along guide rails laid parallel to the axial direction of a workpiece, and a plurality of positions of the workpiece are simultaneously processed. A multi-point simultaneous processing device characterized by being able to do so.