KR20110115782A - Hinge types welding carriage - Google Patents

Abstract

Hinged welding carriages are provided. A first body having a first travel wheel portion; A second body having a connecting portion hinged to the first body and a second travel wheel portion; And a welding torch installed in any one of the first body and the second body, wherein a hinge connection is formed between the first body and the second body to continuously weld vertically arranged wall surfaces. can do.

Description

Hinge types welding carriage

The present invention relates to a welding carriage, and more particularly, to a hinged welding carriage having a structure capable of welding between the side wall and the bottom surface in contact with the vertical or at an angle.

Recently, many welding carriages for automatically performing welding in the manufacture of ships or plants having a large amount of welding have been developed. The welding carriage moves along the welding section between the two welding members to weld the two welding members.

At this time, the case of the fillet welding of the lower surface of the block abutting between the vertical members is most common when welding one side by using a common welding carriage and then reinstall the carriage on the next side.

In this case, however, the entire area cannot be welded by only one installation. In particular, in the case of multi-layer welding in which the same site is welded several times, excessive time is consumed due to intermittent installation work.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a welding carriage capable of continuously welding between two sidewalls perpendicular to the bottom surface or having a predetermined angle.

According to an aspect of the invention, the first body having a first driving wheel; A second body having a connecting portion hinged to the first body and a second travel wheel portion; And a welding torch installed in any one of the first body and the second body.

On the other hand, the hinged welding carriage may further include a magnet unit installed in the lower portion of the first body and the second body.

Meanwhile, the hinged welding carriage further includes a first guiding arm installed on the first body and a second guiding arm installed on the second body, wherein the first guiding arm and the second guiding arm. On the end side of the rolling member may be installed.

At this time, the first guiding arm may be formed to have a shorter length than the second guiding arm.

On the other hand, the first and the second driving wheel portion includes two driving wheels which are respectively installed on both sides of the first body and the second body, the two driving wheels of the first driving wheel portion in the driving direction A front end portion may be positioned in front of the front end surface of the first body, and two driving wheels of the second driving wheel portion may have rear ends thereof located behind the rear end surface of the second body.

In this case, a first auxiliary wheel and a second auxiliary wheel may be installed in the first body and the second body, respectively, between the first travel wheel part and the second travel wheel part.

On the other hand, the connecting portion is formed in the rear end side of the first body when viewed in the driving direction, the first protrusion having a first through hole parallel to the bottom surface and perpendicular to the driving direction; A second protrusion formed at a front end side of the second body when viewed in a traveling direction and having a second through hole parallel to a bottom surface and perpendicular to the traveling direction; And a hinge shaft penetrating the first through hole and the second through hole.

In this case, the second body further includes a third protrusion formed parallel to the second protrusion, the third protrusion includes a third through hole through which the hinge axis passes, and the first protrusion It may be located between the second protrusion and the third protrusion.

On the other hand, the first body and the second body, the elastic force to the first body and the second body in a direction opposite to the relative rotation direction of the first body and the second rotatable hinged around the connecting portion An elastic member for applying a force may be installed.

At this time, the elastic member may be a leaf spring in which one side is located in the first body portion and the other side is located in the second body portion.

The elastic member may be a torsion spring having one side coupled to the inside of the first through hole and the other side coupled to the inside of the third through hole.

Meanwhile, a first driving motor for driving the first driving wheel part and a second driving motor for driving the second driving wheel part may be included, and the first driving motor and the second driving motor may be operated in synchronization with each other. .

At this time, the hinge type welding carriage is one of the first travel wheel part and the second travel wheel part according to a value sensed by the proximity sensor and the proximity sensor installed on the front end surface of the first body when viewed in the travel direction. It may further include a control unit for controlling a motor for driving at least one.

In this case, the controller may be configured to reduce or stop the speed of the first driving wheel part or the second driving wheel part when the distance value with respect to the front wall surface detected by the proximity sensor is equal to or less than a predetermined value.

In this case, the control unit may be formed to stop the welding torch when the distance value with respect to the front wall surface detected from the proximity sensor is less than a predetermined value.

In the hinged welding carriage according to an embodiment of the present invention, when welding a sidewall having a predetermined angle and contacting the bottom surface to be welded, the proximity sensor senses the position of the neighboring sidewall and the traveling wheels located in front of the body are continuously connected. It is configured to be able to move to the adjacent side wall, the welding operation time can be shortened because the installation work of the intermittent welding carriage can be omitted when welding between the two side walls and the bottom surface.

The hinged welding carriage according to an embodiment of the present invention has a predetermined angle by installing an elastic member at the hinge connection portion and can move without falling from the sidewall when the welding carriage moves between neighboring sidewalls.

The hinged welding carriage according to one embodiment of the present invention may be provided with auxiliary wheels to prevent sagging of the hinge connection part during driving.

1 is a plan view of a hinged welding carriage according to an embodiment of the present invention.
2 is a front view of a hinged welding carriage according to an embodiment of the present invention.
3 is a rear view of the body of the hinged welding carriage according to an embodiment of the present invention.
4 is a cross-sectional view of a connection of a hinged welding carriage according to an embodiment of the present invention.
5A and 5B are exploded views and cross-sectional views of another example of a connection of a hinged welding carriage in accordance with one embodiment of the present invention.
6 is a side view showing an operating state of the hinged welding carriage according to an embodiment of the present invention.
FIG. 7 is a plan view illustrating a hinged welding carriage moving between two adjacent sidewalls according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

1 is a plan view of a hinged welding carriage according to an embodiment of the present invention. 2 is a front view of a hinged welding carriage according to an embodiment of the present invention. 3 is a rear view of the body of the hinged welding carriage according to an embodiment of the present invention. 4 is a cross-sectional view of a connection of a hinged welding carriage according to an embodiment of the present invention.

In the present embodiment, the front is defined as meaning the traveling direction of the welding carriage, that is, the right direction as seen in FIG. In addition, in describing an embodiment of the present invention, a component used with the term "first" refers to a component formed in a body located at the front side of a hinged welding carriage constituting an embodiment of the present invention. A component used in conjunction with the term "second" is defined as referring to a component formed in a body located rearward in FIG. 1. At this time, it will be understood that the first component and the second component have the same configuration as the corresponding component unless otherwise specified.

In addition, in the present embodiment, "right component" and "left component" will be defined and described as components positioned in pairs on the right and left sides of the body in FIG.

1 to 3, the hinged welding carriage 10 according to an embodiment of the present invention has a first body portion 100 and a second body portion 200 hinged to the first body portion 100. ) And a welding torch unit 400.

The hinged welding carriage 10 according to the exemplary embodiment of the present invention is formed such that two body parts 100 and 200 are hinged by the connection part 300.

1 to 3, the first body part 100 includes a first body 110, a first travel wheel part 130, a first auxiliary wheel part 140, and a first guiding arm 150. And a first magnet unit 190.

In addition, the second body part 200 may include a second body 210, a second driving wheel part 230, a second auxiliary wheel part 240, a second guiding arm 250, and a second magnet part 290. ).

In more detail, the first body 110 and the second body 210 may be formed in a square shape.

The welding torch unit 400 is installed on the upper side of the first body 110. The welding torch unit 400 may include a welding torch and a welding rod for welding a welded position.

At this time, the welding torch of the welding torch unit 400 is formed to be inclined downward left as shown in FIG. 2 and is configured to weld the boundary edges of one side and the bottom surface.

In this embodiment, the welding torch unit 400 is configured to be positioned on the upper side of the first body 110, but may also be positioned on the upper side of the second body 210.

In the hinged welding carriage 10 according to the present embodiment, the welding torch portion may be used as a welding torch portion of a known general configuration, and a detailed description thereof will be omitted.

Meanwhile, the first travel wheel part 130 and the second travel wheel part 230 are formed at the front end side of the first body part 100 and the rear end side of the second body part 200.

The first driving wheel unit 130 and the second driving wheel unit 230 include right driving wheels 132 and 232 and left driving wheels 134 and 234, respectively.

The left and right travel wheels 134 and 132 of the first travel wheel part 130 are configured such that the front end thereof is located in front of the front end surface of the first body 110 as shown in FIGS. 1 and 3. . In addition, the left and right travel wheels 234 and 232 of the second travel wheel unit 230 are configured such that the rear end thereof is located behind the rear end surface of the second body 210.

As such, the traveling wheels are positioned at or behind the front or rear end surface of the body toward the front or the rear side of the body, so that the hinged welding carriage 10 according to the embodiment of the present invention is adjacent to each other and has a predetermined angle. In the process of welding two side walls, the wheel part first contacts the neighboring side wall.

That is, if the front end portion of the first travel wheel portion 130 of the welding carriage 10 does not precede the front end surface of the first body 110, the front end surface of the first body 110 is in contact with the adjacent side wall first. As a result, the welding carriage 10 cannot move toward the adjacent side wall. As in the welding carriage according to the present embodiment, the first traveling wheel part 130 must be positioned before the front end surface of the first body part 100 so that the wheels first reach the neighboring side walls, and thus, the first traveling wheel part 130 1), the first body 110 can also move toward the neighboring side wall as it rotates.

In addition, in the case of the trailing second driving wheel part 230, the rear end of the second body 210 must be positioned at the rear side of the second body 210 at the time when the welding carriage 10 finishes moving to the neighboring side wall. 2 The lower end of the rear side of the body 210 may not be caught by the side wall.

The right and left travel wheels 132 and 134 of the first travel wheel part 130 rotate about the first drive shaft 136 connected to the first motor 120 positioned on the upper side of the first body 110. It is formed to be possible.

In addition, the right and left travel wheels 232 and 234 of the second travel wheel unit 230 may be centered on the second drive shaft 236 connected to the second motor 220 positioned on the upper side of the second body 210. It is formed to be rotatable.

The first motor 120 and the second motor 220 may be synchronized so that the first travel wheel part 130 and the second travel wheel part 230 rotate simultaneously.

In this embodiment, although the driving motor is installed in both the first travel wheel part 130 and the second travel wheel part 230, any one of the first travel wheel part 130 and the second travel wheel part 230 may be used. It is also possible to install the drive motor only in the traveling wheel part.

The first auxiliary wheel part 140 and the second auxiliary wheel are disposed between the first driving wheel part 130 installed on the first body 110 and the second driving wheel part 230 installed on the second body 210. Wheel part 240 is installed.

The first and second auxiliary wheel parts 240 may include left auxiliary wheels 144 and 244 and right auxiliary wheels 142 and 242 which are installed in pairs on the left and right sides of the body, respectively.

The first auxiliary wheel part 140 and the second auxiliary wheel part 240 are rearward of the first body 110 when the first body 110 and the second body 210 are connected by the connection part 300 to be described later. It is a component for preventing the front side of the side and the second body 210 to be hit by the bottom surface side.

The first and second auxiliary wheel parts 240 may be configured as wheels smaller than the travel wheels, and may be formed so that a separate driving motor is not connected.

Meanwhile, according to one embodiment of the present invention, the first and second magnet parts 190 and 290 are installed in the lower side of the first body 110 and the second body 210. The first and second magnet parts 190 and 290 are components for maintaining the state in which the welding carriage 10 according to the present embodiment is attached to the side wall when traveling on the side wall.

The first and second magnet portions 190, 290 can include known components that modify the positions of the permanent magnets and the permanent magnets so that the first and second bodies can be separated from the side walls.

On the other hand, as can be seen in Figure 2, the proximity sensor 180 is installed on the front surface of the first body 110 of the hinged welding carriage 10 according to an embodiment of the present invention.

The proximity sensor 180 is a component for determining that the welding carriage 10 moves on the side wall and approaches the neighboring side wall.

When it is recognized that the proximity sensor 180 is adjacent to the adjacent side wall as described above, the welding carriage 10 according to the embodiment of the present invention stops welding to the boundary edge between the side wall and the bottom surface It may be configured to move from the side wall to the neighboring side wall. By doing in this way, the welding carriage 10 can be operated so that it may not be adjacent to the adjacent side wall.

In more detail, the welding carriage according to an embodiment of the present invention may further include a controller (not shown) connected to the proximity sensor.

When the wall is positioned in front of the welding carriage 10 through the proximity sensor 180, the controller may measure the distance when the distance value between the front wall and the first body 110 is measured through the proximity sensor 180. The motor driving at least one of the first travel wheel unit 130 and the second travel wheel unit 230 may be controlled according to the distance value sensed by the sensor 180.

At this time, the control unit is a value when the distance value of the front wall surface detected from the proximity sensor 180 is a predetermined value, for example, the distance between the first body portion 110 and the front wall surface is 10 ~ 20cm or less The driving motor connected to the first driving wheel unit 130 or the second driving wheel unit 230 is controlled to reduce the speed of the first driving wheel unit 130 or the second driving wheel unit 230. When the first driving wheel unit 130 of the first body portion 110 contacts the front wall surface, it may be configured to stop running.

Meanwhile, the controller may be configured to stop the welding torch when the distance value with respect to the front wall surface detected from the proximity sensor 180 is less than or equal to a predetermined value.

This is to allow the welding carriage 10 to finish the welding of the corresponding wall edges when the welding carriage 10 is close to the wall located perpendicular to the wall where the welding is performed, and to perform welding again after moving to the front wall side.

According to one embodiment of the present invention, by controlling the operation of the welding carriage 10 by using the distance value with the neighboring side wall sensed by the proximity sensor 180, the two side walls which are arranged vertically more easily in succession It can be welded.

Meanwhile, the first guiding arm 150 and the second guiding arm 250 are installed on the left surfaces of the first body 110 and the second body 210.

The first guiding arm 150 and the second guiding arm 250 move the welding carriage 10 while the welding carriage 10 is to be moved while welding between the bottom surface and the side wall is performed by the welding torch. It is a component for guiding the welding carriage 10 so as not to deviate from the position.

At this time, according to one embodiment of the present invention, the first guiding arm 150 and the second guiding arm 250 is formed in the form of an extension bar extending in the left direction.

One end of the first guiding arm 150 and the second guiding arm 250 may be provided with rolling members 160 and 260 such as ball flangers or rolling rollers.

Meanwhile, in the present embodiment, the length of the first guiding arm 150 is formed to be shorter than the length of the second guiding arm 250. As such, the length of the first guiding arm 150 is formed to be shorter than the length of the second guiding arm 250 is that the welding carriage 10 while the welding carriage 10 is welding between the side wall and the bottom surface. This is to avoid departing the route that must be driven. Detailed description thereof will be described later.

On the other hand, according to an embodiment of the present invention, the first body 110 and the second body 210 is connected by the connection portion 300.

3, 5A and 5B, the connection part 300 includes a first protrusion 302 protruding toward the rear side of the first body 110 and a second and second protruding toward the front side of the second body 210. 3 protrusions 304 and 306.

The first protrusion 302 is formed to be positioned between the second protrusion 304 and the third protrusion 306.

Through holes 303, 305, and 307 through which hinge shafts 308 are formed are formed in the first protrusion 302, the second protrusion 304, and the third protrusion 306, respectively.

The through holes 303, 305, and 307 formed in the first, second, and third protrusions 306 are parallel to the bottom surface on which the welding carriage 10 is placed and are formed in a direction perpendicular to the running direction of the welding carriage. It is preferable.

As the hinge shaft 308 is fitted into and coupled to the through holes 303, 305, and 307 formed as described above, the first body 110 and the second body 210 may be relatively rotatable about the hinge shaft 308. do.

In this case, referring to FIG. 7, when the welding carriage 10 moves from the first side wall 4 to the neighboring second side wall 6, the first body 110 with respect to the second body 210 is moved. The direction of rotation is counterclockwise.

According to one embodiment of the invention, the connecting portion 300 is provided with an elastic member to suppress the rotation of the first body 110 with respect to the second body (210).

4 illustrates an elastic member 500 disposed above the connection part 300. In the welding carriage 10 according to an embodiment of the present invention, the elastic member 500 is a leaf spring.

According to this embodiment, the elastic member 500 is configured such that one side is connected to the first body 110 and the other side is connected to the second body 210.

As such, when the first body 110 rotates with respect to the second body 210, the elastic member 500 positioned over the first body 110 and the second body 210 on the upper side of the connection part 300. It provides an elastic force in the direction of suppressing the rotation of the first body 110, that is, clockwise as seen in FIG.

As such, the elastic member 500 provides the elastic force for suppressing the rotation of the first body 110 so that the welding carriage 10 according to the embodiment of the present invention is adjacent to the second side wall 4. When moving to the side wall 6, it may not escape from the side wall. A more detailed description thereof will be described later.

Meanwhile, according to another embodiment of the present invention, the elastic member may be a torsion spring 510.

5A and 5B are exploded perspective views and cross-sectional views of the coupling part 300 in which the torsion spring 510 is mounted as another embodiment of the elastic member of the present invention.

5A and 5B, the configuration of the connection portion 300 on which the elastic spring 510 is installed is the same as that of the connection portion 300 on which the leaf spring is installed, but the first protrusion 302 and the first configuration are the same. The three protrusions 306 are distinguished in that spring receiving portions 320 including first and second grooves 322 and 321 are formed.

The first groove 322 may be formed as a groove having a diameter larger than that of the first through hole 303 and concentric with the first through hole 303 on one side of the first protrusion 302.

In addition, the second groove 321 may be formed as a groove having a diameter larger than that of the third through hole 307 and concentric with the third through hole 307 on one side of the third protrusion 306.

The first groove 322 and the second groove 321 are formed adjacent to each other so that the torsion spring 510 fitted on the hinge shaft 308 is located inside the first protrusion 302 and the third protrusion 306. It forms a receiving portion 320 that can be.

As described above, the torsion spring 510 positioned in the first protrusion 302 and the third protrusion 306 may rotate relative to the second body 210 similarly to the leaf spring described above. When the first body 110 may provide an elastic force in the opposite direction to rotate with respect to the second body (210).

The operation of the welding carriage 10 having the above configuration will be described with different drawings.

6 is a side view showing a state in which the welding carriage 10 according to an embodiment of the present invention welds the edge portion between the bottom surface 2 and the first side wall 4. In Fig. 1, the hatched surface means the bottom surface (2).

As can be seen in Figure 6, the welding carriage 10 according to an embodiment of the present invention wheels on the first side wall (4) in the process of welding the bottom surface 2 and the first side wall (4) Move with.

At this time, the rolling members 160 and 260 of the first guiding arm 150 and the second guiding arm 250 remain in contact with the bottom surface 2.

According to the present embodiment, since the length of the first guiding arm 150 is slightly shorter than the length of the second guiding arm 250, the first body part 100 and the second body part 200 are illustrated in FIG. 6. As seen from the front side, the front side moves slightly while remaining inclined toward the bottom surface.

The movement of the front side of the welding carriage 10 in the inclined state toward the bottom surface as described above is to have a force for bringing the welding torch into close contact with the bottom surface 2 when the welding carriage 10 moves to the front side.

That is, since the welding carriage 10 moves in a state where it is attached to the side wall, when the welding carriage 10 does not have a force that moves horizontally with respect to the bottom surface and moves downward, the welding carriage 10 moves in the welding path. Can move outward to the upper side of the side wall.

Therefore, in order to prevent such a path deviation of the welding carriage 10, the first guiding arm 150 is configured to be shorter than the second guiding arm 250 in the present embodiment, and Welding is performed while the end of the second guiding arm 250 is in contact with the bottom surface.

FIG. 7 is a plan view showing a state in which the welding carriage 10 moves through the first side wall 4 to the second side wall 6. The hatched face in FIG. 7 means the first side wall 4 and the neighboring second side wall 6. In the present embodiment, the second side wall 6 is illustrated as having an angle of 90 degrees to the first side wall 4, but the angle of the second side wall with respect to the first side wall is greater than or equal to 90 degrees or less. It is possible.

Referring to FIG. 7, the welding carriage 10 according to an exemplary embodiment of the present invention welds along the first side wall 4 and contacts the second side wall 6 perpendicular to the first side wall 4. Even if the welding carriage 10 itself can be automatically moved from the first side wall 4 to the second side wall 6 without manually reinstalling the second side wall 6.

In more detail, the process of moving the welding carriage 10 from the first side wall 4 to the second side wall 6 will be described.

The welding carriage 10 welds between the first side wall 4 and the bottom surface 2 while moving on the first side wall 4.

When the welding carriage approaches the second side wall 6 at the end of the first side wall 4, the proximity sensor 180 detects this and stops welding on the first side wall 4.

When the welding carriage 10 continues to move in the state where the welding is stopped on the first side wall 4, the first travel wheel part 130 is in contact with the second side wall 6.

When the first travel wheel part 130 continues to rotate while being in contact with the second side wall 6, the first travel wheel part 130 moves upward on the second side wall 6 as seen in FIG. 7. The second travel wheel part 230 moves to the boundary point of the first side wall 4 adjacent to the second side wall 6.

As such, when the first travel wheel part 130 is rotated on the second side wall 6, and the second travel wheel part 230 is positioned on the first side wall 4, the first body 110 and the first body 110 are rotated. As shown in FIG. 7, the second body 210 maintains a state in which the first body 110 is rotated counterclockwise relative to the second body 210 with respect to the connection part 300.

As such, when the first body 110 and the second body 210 rotate relatively, the connection part 300 positioned at the rear side of the first body 110 and the front side of the second body 210 may have a first side surface. Away from the boundary edges of the wall 4 and the second side wall 6.

As such, when the connection part 300 is moved away from the boundary edge between the first side wall 4 and the second side wall 6, the influence of the magnetic force of the magnetic part of the magnetic part on the bottom surface is reduced, so that the first body 110 and The second body 210 can be separated from the first and second side walls 6.

At this time, in the present embodiment, since the elastic member 500 is installed on the connection part 300, the first body 110 provides a force that is rotated in a clockwise direction with respect to the second body 210. 110 and the second body 210 can be maintained in a state not separated from the second side wall 6 and the first side wall (4).

As such, when the second driving wheel part 230 of the second body part 200 touches the second side wall 6 in the state where the elastic force is provided by the connection part 300, the first body part 100 and the second body part are provided. Both body parts 200 are seated on the second side wall 6.

As such, when the welding carriage 10 is seated on the second side wall 6, the welding carriage 10 may move while performing welding between the second side wall 6 and the bottom surface 2 using the welding torch.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

2 bottom surface 4 first sidewall
6 Second Side Wall 10 Welding Carriage
100 first body 110 first body
120 first motor 130 first running wheel part
140 First Auxiliary Wheel 150 First Guiding Arm
160 ball flange 170 handle
180 Proximity sensor 190 First magnet
200 second body 210 second body
220 2nd motor 230 2nd driving wheel part
240 2nd auxiliary wheel part 250 2nd guiding arm
260 Ball Flange 290 Second Magnet
300 connection 400 welding torch
500 Elastic Member 510 Torsion Spring

Claims (10)

A first body having a first travel wheel portion;
A second body having a connecting portion hinged to the first body and a second travel wheel portion;
A hinged welding carriage comprising a welding torch installed in any one of the first body and the second body.
The method of claim 1,
A first guiding arm installed on the first body and
A second guiding arm installed on the second body,
The hinged welding carriage of which the rolling member is provided in the end side of the said 1st guiding arm and the said 2nd guiding arm.
The method of claim 2,
The first guiding arm is formed to have a length shorter than the second guiding arm.
The method of claim 1,
The first and second travel wheels include two travel wheels respectively installed on both side surfaces of the first body and the second body.
Two traveling wheels of the first travel wheel portion in the traveling direction, the front end portion is located in front of the front end surface of the first body, the two running wheels of the second driving wheel portion has a rear end of the rear end surface of the second body Hinged welding carriage located further back.
The method of claim 1,
The first body and the second body, the elastic force is applied to the first body and the second body in a direction opposite to the relative rotation direction of the first body and the second rotatable hinged around the connecting portion The hinged welding carriage in which the elastic member is installed.
6. The method of claim 5,
The elastic member is a hinged welding carriage is a spring or torsion spring, one side is supported by the first body and the other side is supported by the second body.
The method of claim 1,
A first drive motor for driving the first travel wheel part;
A second driving motor for driving the second driving wheel part;
And the first drive motor and the second drive motor operate in synchronization with each other.
The method of claim 1,
Proximity sensor installed on the front end surface of the first body when viewed in the driving direction and
And a control unit for controlling a motor for driving at least one of the first travel wheel unit and the second travel wheel unit according to a value sensed by the proximity sensor.
The method of claim 8,
The control unit is configured to reduce or stop the speed of the first driving wheel portion or the second driving wheel portion when the distance value with respect to the front wall surface detected from the proximity sensor is less than a predetermined value.
The method of claim 8,
The control unit is hinged welding carriage is formed so that the welding torch is stopped when the distance value with respect to the front wall surface detected from the proximity sensor is less than a predetermined value.

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