JPH06126442A - Self-travelling type automatic welding equipment - Google Patents
Self-travelling type automatic welding equipmentInfo
- Publication number
- JPH06126442A JPH06126442A JP28336392A JP28336392A JPH06126442A JP H06126442 A JPH06126442 A JP H06126442A JP 28336392 A JP28336392 A JP 28336392A JP 28336392 A JP28336392 A JP 28336392A JP H06126442 A JPH06126442 A JP H06126442A
- Authority
- JP
- Japan
- Prior art keywords
- self
- distance
- welding
- torch
- vertical plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、橋梁や船殻ブロックな
ど大型のパネルに補強用スチフナなどの縦板が取り付け
られる接合部を、パネル上を走行して隅肉溶接する自走
式自動溶接装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to self-propelled automatic welding in which a joining portion where a vertical plate such as a stiffener for reinforcement is attached to a large panel such as a bridge or a hull block is welded to fillet by traveling on the panel. Regarding the device.
【0002】[0002]
【従来の技術】従来、パネル上を走行して隅肉溶接する
自走式台車には、パネルに接合される縦材に接する倣い
ローラーがアームを介して前後位置に配置されるととも
に、出退自在な溶接トーチが搭載されている。一般に直
状の縦材に沿って走行させる場合には、アームは同じ長
さに設定されて縦材と平行に倣い走行させ、これに対応
して溶接トーチを位置調整している。2. Description of the Related Art Conventionally, in a self-propelled carriage that travels on a panel and welds fillets, a copying roller that contacts a vertical member to be joined to the panel is arranged at the front and rear positions via an arm and moves back and forth. Equipped with a free welding torch. Generally, when traveling along a straight vertical member, the arms are set to have the same length and run in parallel with the vertical member, and the position of the welding torch is adjusted correspondingly.
【0003】[0003]
【発明が解決しようとする課題】ところで、この縦材の
パネル取付角が一様でなく捩じれている場合、たとえ
ば、台車の外側の走行車輪のみを駆動し内側の走行車輪
を遊転させて、少なくとも前方の倣いローラーを縦材に
当接させて走行させる。そうすると、その捩じり角によ
って後方の倣いローラーが縦材から離間して縦材に対す
る台車の姿勢が変化し、溶接トーチ取付け位置における
台車と縦材との距離が変化して溶接線までの距離が変化
し、溶接トーチを正確な位置に設定することができず自
動溶接作業ができなかった。By the way, when the panel mounting angle of the vertical member is not uniform and twisted, for example, only the traveling wheels on the outside of the carriage are driven and the traveling wheels on the inside are idled, At least the front copying roller is brought into contact with the vertical member to run. Then, the twisting angle causes the trailing copying roller to separate from the vertical member, changing the posture of the carriage with respect to the vertical material, and changing the distance between the carriage and the vertical material at the welding torch mounting position to the distance to the welding line. Change, the welding torch could not be set at the correct position and automatic welding work could not be performed.
【0004】本発明は、上記問題点を解決して、パネル
上に取り付ける縦材表面が捩じられた形状であっても、
溶接トーチを正確に対応させて自動隅肉溶接が可能とな
る自走式自動溶接装置を提供することを目的とする。The present invention solves the above problems and, even if the surface of the vertical member to be mounted on the panel has a twisted shape,
It is an object of the present invention to provide a self-propelled automatic welding device capable of performing automatic fillet welding by accurately matching a welding torch.
【0005】[0005]
【課題を解決するための手段】上記問題点を解決するた
めに本発明の自走式自動溶接装置は、自走式台車をパネ
ル上に取り付けられた縦材に沿ってパネル上を倣い走行
させ、自走式台車に取り付けた溶接トーチにより、パネ
ルと縦材との接合部を隅肉溶接する自走式自動溶接装置
において、前記自走式台車に、縦材の表面に当接する基
準倣いローラーを設けるとともに、前記基準倣いローラ
ーと高さが異なる前後位置に自走式台車の走行方向と直
角な方向の縦材表面との距離を測定する第1距離センサ
ーおよび第2距離センサーを設け、これら第1距離セン
サーおよび第2距離センサーの検出信号と予め入力され
た基準倣いローラーの配設位置データに基づいて、溶接
トーチ配設位置における自走式台車から隅肉溶接線まで
の距離を演算し溶接トーチを出退自在なトーチ駆動装置
に制御信号を出力するトーチ制御装置を設けたものであ
る。In order to solve the above-mentioned problems, the self-propelled automatic welding apparatus of the present invention causes a self-propelled carriage to travel on a panel along a vertical member mounted on the panel. In a self-propelled automatic welding device for fillet-welding a joint between a panel and a vertical member by a welding torch attached to the self-propelled carriage, in the self-propelled carriage, a reference copying roller that abuts the surface of the vertical member. And a first distance sensor and a second distance sensor for measuring the distance to the surface of the vertical member in the direction perpendicular to the traveling direction of the self-propelled carriage at front and rear positions different in height from the reference copying roller. The distance from the self-propelled carriage to the fillet welding line at the welding torch arrangement position is calculated based on the detection signals of the first distance sensor and the second distance sensor and the previously input arrangement position data of the reference copying roller. Melting It is provided with a torch controller for outputting a control signal to torch projecting and retracting freely torch driving device.
【0006】[0006]
【作用】上記構成によれば、縦材表面に当接する基準倣
いセンサーと第1距離センサーおよび第2距離センサー
の検出値とにより、自走式台車に対する縦材表面の3次
元の勾配を計算し、これにより溶接位置を演算してトー
チ駆動装置を制御するので、縦材のパネルに対する取付
角や、縦材に対する自走式台車の走行姿勢および角度が
変化しても、溶接位置を正確に判断して溶接トーチの溶
接位置を確実に制御し、パネルと縦材との溶接線に沿っ
て正確に隅肉溶接することができる。According to the above construction, the three-dimensional gradient of the surface of the vertical member with respect to the self-propelled carriage is calculated by the reference scanning sensor contacting the surface of the vertical member and the detection values of the first distance sensor and the second distance sensor. Since this calculates the welding position and controls the torch drive device, the welding position can be accurately determined even if the mounting angle of the vertical member with respect to the panel and the running posture and angle of the self-propelled carriage with respect to the vertical member change. Thus, the welding position of the welding torch can be reliably controlled, and fillet welding can be performed accurately along the welding line between the panel and the vertical member.
【0007】[0007]
【実施例】以下、本発明に係る自走式自動溶接装置の一
実施例を図面に基づいて説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a self-propelled automatic welding apparatus according to the present invention will be described below with reference to the drawings.
【0008】図1〜図3において、1は四隅に配置した
走行車輪2A,2BによりパネルP上を走行自在な自走
式台車で、この走行車輪2A,2Bのうち縦板材Vと反
対側の前後走行車輪2Aをマグネット車輪で構成すると
ともにこの前後走行車輪2Aのみを内部の走行駆動装置
により回転駆動するマグネット式駆動車輪2Aとし、縦
板材V側の走行車輪2Bを遊転させる遊転走行車輪2B
として、パネルP上を縦板材Vに沿う倣い走行可能に構
成されている。台車本体1aの後部には、パネルPと縦
板材Vとの溶接線Xに沿って隅肉溶接可能な溶接トーチ
3が配設されており、この溶接トーチ3はトーチ制御装
置4によりトーチ駆動装置5を介して進行方向と直交す
る平面(図4にAで示す)内で出退移動され、溶接線X
に沿って隅肉溶接することができる。また、パネルP上
に隅肉溶接される縦板材Vは、一端側の取付角α1 から
他端側の取付角α2 へと変化している。1 to 3, reference numeral 1 denotes a self-propelled trolley which can travel on a panel P by traveling wheels 2A and 2B arranged at four corners. One of these traveling wheels 2A and 2B is opposite to a vertical plate member V. The front-rear traveling wheel 2A is composed of magnet wheels, and only the front-rear traveling wheel 2A is a magnet-type drive wheel 2A that is rotationally driven by an internal traveling drive device, and the traveling wheel 2B that idles the traveling wheel 2B on the vertical plate V side. 2B
Is configured so that it can travel along the vertical plate V on the panel P. A welding torch 3 capable of fillet welding is arranged along the welding line X between the panel P and the vertical plate member V at the rear portion of the carriage main body 1a. The welding torch 3 is a torch drive device by a torch control device 4. 5 is moved back and forth in a plane (indicated by A in FIG. 4) orthogonal to the traveling direction through the welding line X.
The fillets can be welded along. Further, the vertical plate member V to be fillet-welded on the panel P changes from the mounting angle α 1 on one end side to the mounting angle α 2 on the other end side.
【0009】台車本体1aの縦板材V側(右側部)に
は、所定間隔を隔てた前後位置にアーム6a,6bを介
して倣いローラー6A,6BがパネルPと平行な同一平
面内に配置されている。この倣いローラー6A,6Bの
アーム6a,6bは同一長さに設定され、前記走行車輪
2A,2Bのうち左側の走行車輪2Aのみを駆動すると
共に右側の走行車輪2Bを遊転して、自走式台車1を常
に縦板材V側に寄る方向に走行移動させる倣い機構が採
用され、少なくとも進行方向前方の倣いローラー6Aま
たは6Bを確実に縦板材Vの表面に当接させるように構
成されている。そして、このように必ず縦板材Vに当接
する走行方向前方の倣いローラー6Aが基準倣いローラ
ーとしている。On the vertical plate member V side (right side portion) of the carriage main body 1a, copying rollers 6A and 6B are arranged in the same plane parallel to the panel P at the front and rear positions with a predetermined space therebetween via arms 6a and 6b. ing. The arms 6a and 6b of the copying rollers 6A and 6B are set to have the same length, and only the left traveling wheel 2A of the traveling wheels 2A and 2B is driven and the right traveling wheel 2B is idled so as to be self-propelled. A copying mechanism for moving the type carriage 1 in a direction always moving toward the vertical plate V is adopted, and at least the copying roller 6A or 6B at the front in the traveling direction is configured to surely abut the surface of the vertical plate V. . In this way, the copying roller 6A, which is always in contact with the vertical plate V in the front in the traveling direction, serves as a reference copying roller.
【0010】また、台車本体1aの右側部で倣いローラ
ー6A,6Bの間で下位に、縦板材Vとの距離を検出可
能な第1距離センサー7および第2距離センサー8が前
後方向に所定間隔をあけて同一高さに配置され、これら
第1距離センサー7および第2距離センサー8によりパ
ネルPと平行な水平面内における自走式台車1の走行方
向に直角な自走式台車1と縦板材Vとの距離d1,d2 を測
定できるように構成される。In addition, a first distance sensor 7 and a second distance sensor 8 capable of detecting the distance to the vertical plate V are provided at a predetermined distance in the front-rear direction below the copying rollers 6A and 6B on the right side of the carriage main body 1a. The first distance sensor 7 and the second distance sensor 8 are placed at the same height, and the vertical plate member and the self-propelled carriage 1 perpendicular to the traveling direction of the self-propelled carriage 1 in a horizontal plane parallel to the panel P are provided. It is configured so that the distances d 1 and d 2 from V can be measured.
【0011】トーチ制御装置4は、図4に示すように、
第1距離センサー7の検出信号で求められる点aと第2
距離センサー8との検出信号で求められる点bと、予め
入力された基準倣いローラー5Aの当接点cから、傾斜
する縦板材Vの表面(仮想平面)Cを想定し、この表面
CとパネルPの表面Cと溶接トーチ3の移動面Aとの交
点x(溶接線X)と自走式台車1とのパネルPの平面に
沿う距離Yを演算している。この時、他方の倣いローラ
ー5Bは縦板材Vに接していても、接していなくてもよ
い。The torch control device 4 is, as shown in FIG.
The point a determined by the detection signal of the first distance sensor 7 and the second
A surface (virtual plane) C of an inclined vertical plate V is assumed from a point b obtained by a detection signal from the distance sensor 8 and a contact point c of the reference copying roller 5A which is input in advance. A crossing point x (welding line X) between the surface C of the vehicle and the moving surface A of the welding torch 3 and the distance Y along the plane of the panel P between the self-propelled carriage 1 are calculated. At this time, the other copying roller 5B may or may not be in contact with the vertical plate member V.
【0012】また下記のような概略的な計算で距離Yを
求めることもできる。すなわち、第1および第2距離セ
ンサー7,8が配置された高さhで縦板材Vの表面Cの
水平面傾斜角度θS を算出する。第1距離センサー7の
検出値がd1、第2距離センサー8の検出値がd2、第1距
離センサー7と第2距離センサー8の距離がL1 とする
と、 θS =tan -1(d1-d2)/L1 となる。 この縦板材Vの表面Cの水平面傾斜角度θS は、縦板材
Vの高さによって変化するが、ここではその変化が小さ
く、パネルP表面における水平面傾斜角度θL と基準倣
いローラー5Aの高さH位置の水平面傾斜角度θH はほ
ぼ等しくθS ≒θ L ≒θH と考える。The distance Y can be calculated by the following rough calculation.
You can also ask. That is, the first and second distance centers
Of the surface C of the vertical plate V at the height h at which the sensors 7 and 8 are arranged.
Horizontal plane inclination angle θSTo calculate. Of the first distance sensor 7
The detected value is d1, The detection value of the second distance sensor 8 is d2, First distance
The distance between the separation sensor 7 and the second distance sensor 8 is L1To
And θS= Tan-1(d1-d2) / L1 Becomes Horizontal plane inclination angle θ of the surface C of the vertical plate VSIs a vertical plate
It changes depending on the height of V, but the change is small here
The horizontal plane inclination angle θ on the surface of the panel PLAnd standard imitation
Horizontal roller inclination angle θ at the height H of the roller 5AHHaho
Almost equal θS≈ θ L≈ θHI think.
【0013】つぎに、第1距離センサー7の取付け位置
の垂直面内における基準倣いローラー5Aの高さH位置
の自走式台車1と縦板材Vとの距離D1 は、基準倣いロ
ーラー5Aの縦板材Vへの当接距離をDS 、第1距離セ
ンサー7と基準倣いローラー5Aとの水平面における距
離をL2 とすると、 D1 =DS +L2 tan θS となる。Next, the distance D 1 between the vertical traveling plate V and the self-propelled carriage 1 at the height H position of the reference copying roller 5A in the vertical plane at the mounting position of the first distance sensor 7 is equal to that of the reference copying roller 5A. If the contact distance to the vertical plate V is D S and the distance between the first distance sensor 7 and the reference scanning roller 5A on the horizontal plane is L 2 , then D 1 = D S + L 2 tan θ S.
【0014】さらに第1距離センサー7の取付け位置の
垂直面におけるパネルP表面上の自走式台車1と溶接線
Xとの水平距離yは、 y=(H×d1−D1 ×h)/(H−h) y={H×d1−〔DS +(L2 tan θS )〕×h}/(H−h) したがって、溶接トーチ3と第1距離センサー7との距
離L3 とすると、実際の溶接トーチ3の取付け位置にお
ける自走式台車1と溶接線XとのパネルP表面上の水平
距離Yは、 Y=y+L3 tan θS Y=y+L3 (d1-d2)/L1 となり、 これにより溶接トーチ3のパネルP表面上における出退
距離Yを求めることができる。Further, the horizontal distance y between the self-propelled carriage 1 on the surface of the panel P and the welding line X on the vertical plane of the mounting position of the first distance sensor 7 is y = (H × d 1 −D 1 × h) / (H−h) y = {H × d 1 − [D S + (L 2 tan θ S )] × h} / (H−h) Therefore, the distance L between the welding torch 3 and the first distance sensor 7 3 , the horizontal distance Y on the panel P surface between the self-propelled carriage 1 and the welding line X at the actual mounting position of the welding torch 3 is: Y = y + L 3 tan θ S Y = y + L 3 (d 1 -d 2 ) / L 1 and thus the distance Y of the welding torch 3 on the surface of the panel P can be obtained.
【0015】[0015]
【発明の効果】以上に述べたごとく本発明の自走式自動
溶接装置によれば、縦材に当接する基準倣いセンサーと
第1距離センサーおよび第2距離センサーとにより、自
走式台車に対する縦材対向側面の3次元の勾配を計算
し、これにより溶接位置を求めてトーチ移動装置を制御
するので、縦材のパネルに対する取付角および縦材に対
する自走式台車の姿勢が変化しても、溶接位置を正確に
判断して溶接トーチの溶接位置を確実に制御し、パネル
と縦材との接合部を正確に隅肉溶接することができる。
もちろん、前後方向に走行しての溶接作業も可能であ
る。As described above, according to the self-propelled automatic welding apparatus of the present invention, the reference scanning sensor, the first distance sensor and the second distance sensor, which are in contact with the vertical member, allow the longitudinal movement of the self-propelled carriage. Since the torch moving device is controlled by calculating the three-dimensional gradient of the side surface facing the material and thereby obtaining the welding position, even if the attachment angle of the vertical member to the panel and the attitude of the self-propelled carriage with respect to the vertical member change, The welding position of the welding torch can be reliably controlled by accurately determining the welding position, and the fillet weld of the joint between the panel and the vertical member can be performed accurately.
Of course, welding work by traveling in the front-back direction is also possible.
【図面の簡単な説明】[Brief description of drawings]
【図1】本発明に係る自走式自動溶接装置を示す斜視図
である。FIG. 1 is a perspective view showing a self-propelled automatic welding device according to the present invention.
【図2】同自走式自動溶接装置を示す平面図である。FIG. 2 is a plan view showing the self-propelled automatic welding device.
【図3】同自走式自動溶接装置を示す正面図である。FIG. 3 is a front view showing the self-propelled automatic welding device.
【図4】同自走式自動溶接装置における概略計算方法を
説明する斜視図である。FIG. 4 is a perspective view illustrating a schematic calculation method in the self-propelled automatic welding apparatus.
P パネル V 縦板材 X 溶接線 1 自走式台車 2A マグネット式駆動走行車輪 2B 遊転走行車輪 3 溶接トーチ 4 トーチ制御装置 5 トーチ駆動装置 6A 基準倣いローラー 6B 倣いローラー 7 第1距離センサー 8 第2距離センサー P panel V Vertical plate material X Welding line 1 Self-propelled trolley 2A Magnet type drive traveling wheel 2B Idling traveling wheel 3 Welding torch 4 Torch control device 5 Torch drive device 6A Reference copying roller 6B Copying roller 7 First distance sensor 8 2nd Distance sensor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 坂井 剛 大阪府大阪市此花区西九条5丁目3番28号 日立造船株式会社内 (72)発明者 中島 義男 大阪府大阪市此花区西九条5丁目3番28号 日立造船株式会社内 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Go Sakai 5-3, Nishikujo 5-chome, Konohana-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. (72) Yoshio Nakajima 5-chome, Nishikujo, Konohana-ku, Osaka No. 28 in Hitachi Shipbuilding Co., Ltd.
Claims (1)
縦材に沿ってパネル上を倣い走行させ、自走式台車に取
り付けた溶接トーチにより、パネルと縦材との接合部を
隅肉溶接する自走式自動溶接装置において、前記自走式
台車に、縦材の表面に当接する基準倣いローラーを設け
るとともに、前記基準倣いローラーと高さが異なる前後
位置に自走式台車の走行方向と直角な方向の縦材表面と
の距離を測定する第1距離センサーおよび第2距離セン
サーを設け、これら第1距離センサーおよび第2距離セ
ンサーの検出信号と予め入力された基準倣いローラーの
配設位置データに基づいて、溶接トーチ配設位置におけ
る自走式台車から隅肉溶接線までの距離を演算し溶接ト
ーチを出退自在なトーチ駆動装置に制御信号を出力する
トーチ制御装置を設けたことを特徴とする自走式自動溶
接装置。1. A self-propelled trolley is made to travel on a panel along a vertical member attached to the panel, and a welding torch attached to the self-propelled trolley is used to fillet the joint between the panel and the vertical member. In a self-propelled automatic welding device for welding, the self-propelled carriage is provided with a reference copying roller that comes into contact with the surface of a longitudinal member, and the traveling direction of the self-propelled carriage is at a front-back position different in height from the reference copying roller. A first distance sensor and a second distance sensor for measuring the distance to the surface of the vertical member in a direction perpendicular to the reference material, and the arrangement of the reference copying roller pre-input with the detection signals of the first distance sensor and the second distance sensor. Based on the position data, a torch control device that calculates the distance from the self-propelled carriage at the welding torch installation position to the fillet welding line and outputs a control signal to the torch drive device that can freely move the welding torch is installed. A self-propelled automatic welding device that features
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP28336392A JP2637022B2 (en) | 1992-10-22 | 1992-10-22 | Self-propelled automatic welding equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP28336392A JP2637022B2 (en) | 1992-10-22 | 1992-10-22 | Self-propelled automatic welding equipment |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH06126442A true JPH06126442A (en) | 1994-05-10 |
JP2637022B2 JP2637022B2 (en) | 1997-08-06 |
Family
ID=17664525
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP28336392A Expired - Lifetime JP2637022B2 (en) | 1992-10-22 | 1992-10-22 | Self-propelled automatic welding equipment |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2637022B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR200447806Y1 (en) * | 2008-02-18 | 2010-02-22 | 공석태 | Dd |
KR100973439B1 (en) * | 2008-06-16 | 2010-08-02 | 에스티엑스조선해양 주식회사 | Fillet welding carriage for distortion control |
JP2020153884A (en) * | 2019-03-22 | 2020-09-24 | Jfeエンジニアリング株式会社 | Shape measurement device |
CN117139944A (en) * | 2023-10-30 | 2023-12-01 | 扬州鼎迈机械有限公司 | Gear box welding device |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102294561B (en) * | 2011-08-18 | 2014-02-26 | 山东水泊焊割设备制造有限公司 | Upwards lifted soldering machine profiling machine and automatic welding machine |
-
1992
- 1992-10-22 JP JP28336392A patent/JP2637022B2/en not_active Expired - Lifetime
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR200447806Y1 (en) * | 2008-02-18 | 2010-02-22 | 공석태 | Dd |
KR100973439B1 (en) * | 2008-06-16 | 2010-08-02 | 에스티엑스조선해양 주식회사 | Fillet welding carriage for distortion control |
JP2020153884A (en) * | 2019-03-22 | 2020-09-24 | Jfeエンジニアリング株式会社 | Shape measurement device |
CN117139944A (en) * | 2023-10-30 | 2023-12-01 | 扬州鼎迈机械有限公司 | Gear box welding device |
CN117139944B (en) * | 2023-10-30 | 2024-01-30 | 扬州鼎迈机械有限公司 | Gear box welding device |
Also Published As
Publication number | Publication date |
---|---|
JP2637022B2 (en) | 1997-08-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPH06126442A (en) | Self-travelling type automatic welding equipment | |
JP2719966B2 (en) | Backside groove information detection method for single-sided automatic welding | |
JP4046867B2 (en) | Work machine apparatus and method for track with reference system for controlling work unit | |
JP3642156B2 (en) | Obstacle sensor detection range inspection device | |
JPH0827652B2 (en) | Guidance method for unmanned mobile machines by point tracking method | |
JP3219204B2 (en) | Road surface unevenness measurement vehicle | |
JPH0944238A (en) | Automatic travel control system for underwater cleaning device | |
JP2001179448A (en) | Automatic overhead welding equipment | |
JPH08282491A (en) | Slack sensing device for rail coupling device | |
JP2742493B2 (en) | Flaw detector for self-supporting traveling plate | |
JPS6127177A (en) | Self-advancing welding robot | |
JP3819276B2 (en) | Welding robot controller | |
JPH05150832A (en) | Control method for unattended work vehicle | |
JP2934770B2 (en) | Method and apparatus for measuring wheel diameter of mobile robot | |
JP2895825B1 (en) | Automatic welding equipment for box girder inner surface | |
JP7078506B2 (en) | Driving state detection device and work machine equipped with this | |
JP2819644B2 (en) | Automatic fillet welding robot inside the frame | |
JP2540259B2 (en) | Automatic welding method and automatic welding device | |
JPH10286694A (en) | Trackless truck | |
JPS6356362A (en) | Device for allowing carriage to approach automatically | |
JP2001276973A (en) | Automatic upward welding apparatus | |
JPH11197830A (en) | Welding equipment | |
KR20220021774A (en) | SAW apparatus capable of curved driving | |
JPS6076280A (en) | Self-traveling welding robot | |
JP2001195127A (en) | Guide device for automated guided vehicle |