Working Equipment

Abstract

To provide a work device capable of improving operability for a work unit and positioning accuracy of the work unit for a workpiece.SOLUTION: A work device 1 comprises: a torch 14 which welds a plate material 20; a remote operation unit 21 which performs a remote operation allowing for moving the torch 14 in an X-axis direction (first direction) and a Y-axis direction (second direction); and a distance conversion unit 45 which converts a travel distance of the torch 14 at ratios different in the X-axis direction and the Y-axis direction with respect to an input in the remote operation unit 21.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a working device. [Background technology]

[0002] There is known a welding device that performs welding by remotely operating a robot arm to which a welding tool is attached (see, for example, Patent Document 1). In the welding device described in Patent Document 1, an operator can operate a joystick. Then, the position of the welding tool can be changed according to the operation direction and operation amount (operation distance) of the joystick. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2019-505391 Summary of the Invention [Problem to be solved by the invention]

[0004] In the welding device described in Patent Document 1, the amount of joystick operation can be directly used as the amount of movement of the welding tool. However, there is a limit to the amount of joystick operation that can be performed in one operation. In such a case, for example, when moving the welding tool by 1 m, the joystick must be operated multiple times to perform the operation for 1 meter, and there remains an issue with remote control of the welding tool.

[0005] On the other hand, if the operator wishes to move the welding tool by 1 mm, the joystick must also be moved by only 1 mm, which is troublesome for the operator. Also, if the operator mistakenly moves the joystick by more than 1 mm, the welding tool will also move by more than 1 mm, and the welding tool will not be positioned accurately. An object of the present invention is to provide a working device that can improve the operability of a working unit and can improve the positioning accuracy of the working unit with respect to a workpiece. [Means for solving the problem]

[0006] One aspect of the working device of the present invention is a working unit that performs work on a workpiece, a remote control unit that performs remote control to move the working unit in a first direction and a second direction that intersects with the first direction; The robot is characterized by comprising a distance conversion unit that converts the moving distance of the working unit in the first direction and the second direction in response to an input from the remote control unit at different ratios. Effect of the Invention

[0007] According to the present invention, the working unit can be accurately moved, for example, as far as possible in the first direction and as little as possible in the second direction by a single operation of the remote control unit. This improves the operability (remote operability) of the working unit, and therefore the work by the working unit can be performed quickly and accurately. Furthermore, because unintended movement of the working unit in the second direction is suppressed, the positioning accuracy of the working unit with respect to the workpiece can be improved, thereby enabling the working unit to perform work accurately. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing an embodiment of a working device of the present invention. [Diagram 2] FIG. 2 is an image diagram showing a remote control state of the working device shown in FIG. [Diagram 3] FIG. 3 is a block diagram of a main part of the working device shown in FIG. [Figure 4] FIG. 4 is a diagram for explaining a process of detecting the surface shape of a workpiece by the working device shown in FIG. [Diagram 5]FIG. 5 is a perspective view showing a state in which the moving distance of the torch is converted at different ratios in the X-axis direction and the Y-axis direction. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] BEST MODE FOR CARRYING OUT THE DISCLOSURE Hereinafter, a working device of the present invention will be described in detail with reference to preferred embodiments shown in the accompanying drawings (FIGS. 1 to 5). In the following, for convenience of explanation, the upper side in Figures 1, 2, 4, and 5 will be referred to as "upper" (or upward) and the lower side will be referred to as "lower" (or downward). Also, for convenience of explanation, the X-axis, Y-axis, and Z-axis are set as three axes that are perpendicular (intersecting) to each other. As an example, the XY plane including the X-axis and Y-axis is horizontal, and the Z-axis is vertical. The working device (working system) 1 includes a welding vehicle 10 (see FIG. 1), a remote control device 2 (see FIG. 2), a display device 3 (see FIG. 2), and a control device 4 (see FIG. 3).

[0010] As shown in Fig. 1, the welding vehicle 10 is a welding robot (work vehicle) that moves in the direction of the arrow α on horizontally placed iron plate materials (steel plates) 20, welding the workpieces to be welded, i.e., the plate materials 20 together. After welding, the plate materials 20 are used, for example, as a floor. The welding vehicle 10 is suitable for welding during the construction of ships and the like. The welding vehicle 10 is a vehicle including a vehicle body 11, a welding device 12, four wheels 18, and a drive unit 16 that drives each of the wheels 18 to rotate. As shown in FIGS. 2 and 3, welding vehicle 10 is equipped with imaging unit 17 and laser light irradiation unit 19.

[0011] The vehicle body 11 has a rotation support portion (support portion) 13 that rotatably supports each wheel 18 (wheel main body). Further, a driving unit 16 is fixed to the outside of each rotation support part 13. The driving unit 16 is formed of, for example, a gear motor (geared motor), and is connected to wheels 18. The wheels 18 can be rotated by operating the driving unit 16. This rotation enables the welding vehicle 10 to travel with the front surface (upper surface) of the plate material 20 as the travel surface 201. In addition, the number of wheels 18 arranged is four in this embodiment, but is not limited to this.

[0012] A welding device 12 is mounted on a vehicle body 11. The welding device 12 includes a torch (welding torch) 14 and a displacement mechanism 15 that supports the torch 14 so that it can be displaced. The torch 14 is a working unit that performs welding work on the plate materials 20. The torch 14 is configured to perform arc welding by arc discharge. By this arc welding, the plate materials 20 can be easily and firmly welded together. Before welding, a groove 202 is formed between the plate materials 20. Then, a wire (not shown) is melted by the torch 14, and the groove 202 is filled with the molten material, thereby welding the plate materials 20 together. The groove 202 may have a total length of 5 m or more, a width of about 5 mm, and a depth of about 10 mm, although this may vary depending on the use of the plate material 20. In this embodiment, the longitudinal direction of the groove 202 is parallel to the X-axis direction, the width direction of the groove 202 is parallel to the Y-axis direction, and the depth direction of the groove 202 is parallel to the Z-axis direction.

[0013] The displacement mechanism 15 has a first moving mechanism 151, a second moving mechanism 152, a third moving mechanism 153, and a rotation mechanism (angle adjustment mechanism) 154. The first moving mechanism 151 is a mechanism that moves the torch 14 relative to the vehicle body 11 in a direction parallel to the direction of the arrow α (the X-axis direction).

[0014] A second moving mechanism 152 is connected to the first moving mechanism 151. The second moving mechanism 152 is a mechanism that moves the torch 14 relative to the vehicle body 11 in a direction perpendicular to the direction of the arrow α (Y-axis direction). A third moving mechanism 153 is connected to the second moving mechanism 152. The third moving mechanism 153 is a mechanism that moves the torch 14 relative to the vehicle body 11 in the vertical direction (Z-axis direction).

[0015] A rotating mechanism 154 is connected to the third moving mechanism 153. The rotating mechanism 154 is connected to the torch 14 via a connecting portion 155. The rotating mechanism 154 is a mechanism that rotates the torch 14 relative to the vehicle body 11 about a horizontal axis. The displacement mechanism 15 having such a configuration makes it possible to appropriately change the position and attitude of the torch 14 with respect to the joint between the plate materials 20, and thus makes it possible to easily perform welding.

[0016] 2, the imaging unit 17 is connected to and supported by the torch 14 via a connecting member 171. The imaging unit 17 is configured with, for example, a CMOS camera or a CCD camera, and can capture an image including the torch 14 and the plate material 20. The laser light irradiation unit 19 is also connected to and supported by the connecting member 171. The laser light irradiation unit 19 irradiates the plate material 20 including the grooves 202 with laser light LB. 4, in this embodiment, the laser light irradiation unit 19 is configured to irradiate a line laser light along the Y-axis direction as the laser light LB. This allows the imaging unit 17 to accurately detect the surface shape of the plate material 20, as described later.

[0017] The working device 1 needs to detect the three-dimensional shape of the surface of the plate material 20, particularly the grooves 202 in this embodiment. As a method for this detection, for example, a light cutting method can be used. In the light cutting method, first, as shown in Fig. 4, the laser light LB is irradiated toward the plate material 20. At this time, the laser light LB also hits the groove 202. Then, while maintaining the irradiation state of the laser light LB, for example, the welding vehicle 10 is moved in the X-axis direction. This allows the laser light LB to scan the plate material 20 in the moving direction of the welding vehicle 10. Note that the laser light LB can also be scanned by operating the displacement mechanism 15 (for example, the first movement mechanism 151).

[0018] As the laser light LB scans, the imaging unit 17 captures an image of the trajectory of the laser light LB. The image captured by the imaging unit 17 is sent to the CPU 41 of the control device 4, where image processing is performed. This makes it possible to extract, for example, the boundary line between the side surface and bottom surface of the groove 202 as an edge. This extraction makes it possible to detect a three-dimensional shape Q of the surface of the plate material 20, as shown in the diagram on the right side of FIG. 4. Furthermore, the three-dimensional shape Q makes it possible to grasp the direction in which the groove 202 extends, i.e., the longitudinal direction (extension direction) of the groove 202. The movement of the welding vehicle 10 may be movement by remote control by the worker WK, or may be movement executed by a program (automatic travel). As described above, the imaging section 17 and the laser light irradiation section 19 function as a detection section that detects the surface shape of the plate material 20. The detection result is used by the direction determination section 44 of the control device 4, which will be described later.

[0019] 2, the remote control device 2 is a device that allows a worker (operator) WK to remotely control the welding vehicle 10 in a separate room or the like away from the welding vehicle 10. Therefore, the working device 1 is a leader-follower system in which the welding vehicle 10 follows the operation of the worker WK without delay. The remote control device 2 has a remote control unit 21 which is held by an operator WK and can apply a force in a desired direction or generate a displacement in a desired direction.

[0020] By operating the remote control unit 21 by applying a force or displacing it in the X-axis direction, the operator WK can move the torch 14 in the X-axis direction via the first moving mechanism 151 of the displacement mechanism 15. Similarly, when the operator WK operates the remote control unit 21 by applying a force in the Y-axis direction, the operator WK can move the torch 14 in the Y-axis direction via the second moving mechanism 152 of the displacement mechanism 15. Furthermore, when the operator WK operates the remote control unit 21 by applying a force in the Z-axis direction, the operator WK can move the torch 14 in the Z-axis direction via the third movement mechanism 153 of the displacement mechanism 15. In this way, the remote control unit 21 can operate the displacement mechanism 15 to perform remote control to move the torch 14 in the X-axis direction, the Y-axis direction, and the Z-axis direction. The remote control unit 21 is not particularly limited, and for example, a joystick or the like can be used.

[0021] In addition, in the working device 1, a display device 3 is also used in addition to the welding vehicle 10 and the remote control device 2. 3, the display device 3 has a display unit 31. The display unit 31 is configured with a liquid crystal display, an organic EL display, or the like, and can display an image captured by the imaging unit 17. The worker WK can perform remote operation while visually checking the image displayed on the display unit 31.

[0022] The control device 4 is configured, for example, by a personal computer. The control device 4 is electrically connected to the welding vehicle 10, the remote control device 2, and the display device 3, and can control the operation of these devices. Note that the "electrical connection" may be either a wireless connection or a wired connection. The control device 4 includes a CPU 41 , a storage unit 42 , and a transmission unit 43 . The CPU 41 can execute programs and the like stored in the storage unit . Transmitting unit 43 can transmit an input signal, i.e., a command, from remote control device 2 to receiving unit 101 of welding vehicle 10. Then, receiving unit 101 can receive the input signal from remote control device 2. This allows welding vehicle 10 to be remotely operated in accordance with the input signal.

[0023] As shown in FIG. 3, the CPU 41 also has a function as a direction determining section 44 and a function as a distance converting section 45. As described above, the imaging unit 17 can detect the three-dimensional shape Q of the surface of the material 20. The direction determining unit 44 determines (identifies) the first direction and the second direction based on the detection result. Specifically, the CPU 41 grasps the longitudinal direction of the groove 202 from the detection result of the imaging unit 17. The direction determining unit 44 determines the longitudinal direction of the groove 202 as the first direction, and determines the horizontal direction (width direction of the groove 202) perpendicular to the longitudinal direction of the groove 202 as the second direction. This determines the movement direction of the torch 14 during welding. The first direction is the direction in which the torch 14 mainly moves during welding, and in this embodiment, it is parallel to the X-axis direction. The second direction is the width direction of the groove 202, and in this embodiment, it is the Y-axis direction.

[0024] As described above, the remote control device 2 has the remote control unit 21. The remote control unit 21 is held by the operator WK, and can perform remote control to move the torch 14 by applying a force in a desired direction. In addition, there is a limit to the amount of operation (operation distance) per operation of remote control unit 21. Therefore, for example, when moving torch 14 by 1 m, operator WK must operate remote control unit 21 multiple times to perform the amount of operation for 1 meter, which corresponds to the moving distance of torch 14. As a result, remote controllability of torch 14 deteriorates.

[0025] Conversely, for example, to move torch 14 by 1 mm, remote control unit 21 must also be operated by only 1 mm, which is nerve-wracking and cumbersome for operator WK. Also, if operator WK mistakenly operates remote control unit 21 by more than 1 mm, torch 14 will also move by more than 1 mm. As a result, torch 14 cannot be positioned accurately. Therefore, the working device 1 is configured to eliminate such problems. The configuration and operation will be described below.

[0026] The CPU 41 has a function as a distance conversion unit 45. The distance conversion unit 45 can convert the amount of movement (movement distance) of the torch 14 with respect to an input signal (input) at the remote control unit 21, i.e., a predetermined operation amount of the remote control unit 21, at different ratios in the X-axis direction (first direction) and the Y-axis direction (second direction). In this case, in this embodiment, the distance conversion unit 45 makes the ratio in the X-axis direction larger than the ratio in the Y-axis direction. For example, as shown in FIG. 5, when the remote control unit 21 is operated in the X-axis direction by an operation amount LX21, the torch 14 moves in the X-axis direction by an amount of movement LX14. Furthermore, when the remote control unit 21 is operated in the Y-axis direction by an operation amount LY21, the torch 14 moves in the Y-axis direction by an amount LY14.

[0027] The manipulated variable LX21 and the manipulated variable LY21 have the same magnitude. Moreover, the movement amount LX14 is M times the operation amount LX21, where M is an arbitrary numerical value equal to or greater than 1, and is set appropriately according to the overall length of the groove 202, for example. Moreover, the movement amount LY14 is N times the operation amount LY21, where N is an arbitrary value equal to or greater than 0 and less than 1, and is appropriately set according to the width of the groove 202, for example.

[0028] With the distance conversion unit 45 configured as above, for example, when the remote control unit 21 is operated with an operation amount LX21 of 10 mm, the torch 14 can be moved with a movement amount LX14 of 100 mm. Therefore, the operation amount LX21 is magnified by 10 times and reflected in the movement amount LX14. Torch 14 moves mainly in the X-axis direction during welding. Therefore, it is preferable to move torch 14 as much as possible in the X-axis direction in one operation of remote control unit 21 (hereinafter, such a state is referred to as "first state"). In the first state, the efficiency of welding work is improved. In the working device 1, the operation amount LX21 is magnified tenfold and reflected in the movement amount LX14, so that the first state is possible.

[0029] Also, for example, when the remote control unit 21 is operated with an operation amount LY21 of 10 mm, the torch 14 can be moved with a movement amount LY14 of 1 mm. Therefore, the operation amount LY21 is reduced to 1 / 10 and reflected in the movement amount LY14. Because torch 14 moves linearly in the X-axis direction during welding, it is preferable to suppress movement in the Y-axis direction as much as possible (hereinafter, such a state will be referred to as the "second state"). In the second state, it is possible to prevent torch 14 from coming off groove 202 during welding. Furthermore, in the second state, even if remote control unit 21 is mistakenly operated with an operation amount LY21 of 20 mm, it is possible to limit the movement amount LY14 of torch 14 to 2 mm. In this case as well, it is possible to prevent torch 14 from coming off groove 202. In the working device 1, the operation amount LY21 is reduced to 1 / 10 and reflected in the movement amount LY14, so that the second state is possible.

[0030] As described above, in the working device 1, the torch 14 can be accurately moved as far as possible in the X-axis direction and as little as possible in the Y-axis direction with a single operation of the remote control unit 21. This improves the operability (remote operability) of the torch 14 during welding, thereby enabling welding work to be performed quickly and accurately. Furthermore, in the working device 1, unintended movement of the torch 14 in the Y-axis direction is suppressed, so that it is possible to improve the positioning accuracy of the torch 14 with respect to the plate material 2. This makes it possible to perform the welding work accurately.

[0031] Next, two methods (a first method and a second method) for determining the target position (a destination position) of the torch 14 will be described. <Method 1> [1] Identification of the first direction and definition of the work coordinate system Σw on the plate 20 The first direction is the main direction in which the torch 14 moves during welding. The work coordinate system Σw is determined so that one of its base vectors coincides with the first direction. This is the same as described in the description of the direction determination unit 44. The work coordinate system Σw is expressed as the basis vector exw , e yw , e zw Here, the first direction is defined as the basis vector e xw The remaining basis vectors e yw , e zw For example, the normal to the top surface of the plate material 20 is expressed as a basis vector e yw Then, the basis vector e xw , e yw Once determined, the basis vector e zw is uniquely determined. This gives the basis vector e xw , e yw , e zw Now that is determined, the work coordinate system Σw is defined.

[0032] In addition, the basis vector e yw , e zw The choice of is arbitrary. The basis vector e yw , e zw is the reference coordinate system Σf of the torch 14 (for example, a base coordinate system defined for the surface on which the torch 14 is placed) and the basis vector e xw Specifically, one of the basis vectors of the base coordinate system of the torch 14 may be determined as the basis vector e xw One possible method is to use a reference coordinate system Σf obtained by performing a rotation transformation so that it coincides with It is assumed that the coordinate transformation law between the reference coordinate system Σf of the torch 14 and the work coordinate system Σw can be obtained. In other words, the target position of the torch 14 expressed using the basis vectors of the work coordinate system Σw by homogeneous transformation is w p f (t) using the basis vectors of the reference coordinate system Σf f p f (t). This is because the imaging unit 17 used to identify the first direction is fixed to the torch 14, and the first direction can be described in the reference coordinate system Σf, that is, f e xw In general, the kinematic model of the torch 14 is constructed based on the reference coordinate system Σf.w p f (t) in the reference coordinate system Σf f p f If we express it as (t), f p f The joint displacements of the displacement mechanism 15 (the displacements of the first moving mechanism 151, the second moving mechanism 152, the third moving mechanism 153 or the rotation mechanism 154) for realizing (t) can be obtained by inverse kinematics.

[0033] Identification of the first direction and definition of the work coordinate system Σw must be performed before the target work (welding work in this embodiment). In the case of welding work, the plate material 20 in the range to be welded is detected by, for example, an optical cutting method, and the first direction and the work coordinate system Σw are determined before starting the welding work. [2] Correspondence between the task coordinate system Σw and the input coordinate system (operation coordinate system) ΣL Basis vector e of the work coordinate system Σw xw , e yw , e zw and the basis vector e of the input coordinate system ΣL xL , e yL , e zL For example, the coordinate systems are related to each other so that the X, Y, and Z directions are consistent with each other.

[0034] [3] Torch 14 target position w p f (t) Determination The position of the remote control unit 21 given by the worker WK L p L For (t) = (X, Y, Z), the target position of the torch 14 is w p f (t)=(r x X,r y Y,r z Z), where r x ,r y ,r z is the magnification in each direction, which is a predetermined value. For example, r x =1, r y =r z= 0.5, the target position of the torch 14 is not enlarged or reduced in the first direction (X-axis direction) relative to the position of the remote control unit 21, but is reduced to 1 / 2 in the Y-axis and Z-axis directions. This is similar to what was described in the explanation of the distance conversion unit 45.

[0035] <Second method> [1] Identification of the first direction As in the first method, the first direction is obtained based on the coordinate system of the torch 14 (torch coordinate system). The unit vector of the first direction expressed in the torch coordinate system is f e p This is expressed as: [2] Velocity vector of remote control unit 21 L v L Acquisition of (t) The current position of the torch 14 is the position determined by the previous control step. f p f (t-1) or the origin of the torch coordinate system. The worker WK operates the remote control unit 21, and the position of the remote control unit 21 is L p L (t). Velocity vector of the remote control unit 21 at the current control step t L v L (t) is calculated using the following method.

[0036] Velocity Vector L v L (t) is calculated from the difference between the input information in the past control step and the input information in the current control step. The three-dimensional position of the remote control unit 21 one step before is L p L The velocity vector of the remote control unit 21 is expressed as (t-1). L v L (t)= L p L (t)- L p L Let's call it (t-1). In the above example, the velocity vector of the remote control unit 21 L v L(t) is defined as the difference between the position of the remote control unit 21 at the current control step and the position at the previous step. L v L The method of determining (t) is not limited to this. For example, it may be determined by a moving average using position information from several steps before, or it may be an estimated value using an algorithm such as a Kalman filter.

[0037] Next, the degree of coincidence c between the moving direction of the torch 14 and the first direction is calculated. Velocity Vector L v L From (t) by homogeneous transformation f v L (t) is obtained. And, f v L Unit vector in the (t) direction f e v (t)= f v L (t) / | f v L Get (t)| inner product f e v (t)× f e p (t) magnitude c(t) = | f e v (t)× f e p (t)| is calculated. This value ranges from 0 to 1. Unit Vector f e v and a unit vector f e p If they are perpendicular to each other, the degree of agreement is 0, and if they are parallel, the degree of agreement is 1. As a result, the degree of agreement c can be treated as the degree of agreement between the movement direction of the torch 14 and the first direction.

[0038] Next, the scaling ratio r is determined. inner product f e v (t) f e p Using the magnitude c(t) of (t), the scaling ratio r(t) of the motion is defined as follows: Let r(t) = a × c(t) + b. Note that a and b are constants whose values ​​are determined in advance based on the work conditions. a and b may be stored in advance in the storage unit 42, or may be changeable by the worker WK.

[0039] Next, the target position of the torch 14 f p f Determine (t). The target position of torch 14 f p f (t)= f p f (t-1)+r(t)× f v L Let (t). If a and b are positive constants, then when the moving direction of torch 14 coincides with the first direction, r(t) is maximum, and torch 14 moves a large distance. If the moving direction of torch 14 differs from the first direction, torch 14 moves a small distance. This is the same as described in the explanation of distance conversion unit 45.

[0040] Although the working device of the present invention has been described above with reference to the illustrated embodiment, the present invention is not limited to this, and each part constituting the working device may be replaced with any other part capable of exerting the same function. In addition, any other component may be added. In the above embodiment, a light-section method is used as a method for detecting the three-dimensional shape of the surface of the plate material 20, but this is not limiting. As another detection method, first, the image capturing unit 17 captures an image of the plate material 20 from above to obtain a grayscale image of the plate material 20 including the grooves 202. Next, a binarization process is performed on this grayscale image to extract, for example, the boundary line between the side surface and the bottom surface of the groove 202, i.e., the edge. Then, the groove 202 may be detected based on this edge.

[0041] If the three-dimensional shape of the surface of the plate material 20 has already been obtained, that is, is already known, the execution of the detection method can be omitted. The control device 4 may be configured to switch between a state in which the function of the distance conversion unit 45 is exercised and a state in which the function of the distance conversion unit 45 is stopped. Further, in the above embodiment, the movement of the torch 14 is a linear movement along the X-axis direction within the groove 202, but is not limited to this. For example, the movement may be a serpentine movement within the groove 202.

[0042] Further, the application of the working device 1 is welding in the above embodiment, but is not limited to this, and may be, for example, painting, surgery, or the like. Further, while in the above embodiment the working device 1 is composed of a vehicle body 11 and a welding device 12, it is not limited to this and may be, for example, a device that does not have a vehicle body, such as a stationary robot arm, and is composed of a working unit (torch 14) and a displacement mechanism 15 that displaces the working unit. Furthermore, the vehicle body 11 is not limited to one that moves on wheels 18, but may be one that runs on rails, or one that moves by a belt or conveyor mechanism, for example. Further, in the above embodiment, the distance conversion unit 45 sets the ratio in the first direction to be greater than the ratio in the second direction, but this is not limited to this, and depending on the application of the working device, for example, the ratio in the first direction may be smaller than the ratio in the second direction. [Explanation of symbols]

[0043] 1 Work equipment (work system) 2 Remote control device 21 Remote control unit 3 Display device 31 Display section 4. Control device 41 CPU 42 Storage section 43 Transmitter 44 Direction Determination Unit 45 Distance conversion section 10 Welding Vehicle 101 Receiving unit 11 Body 12 Welding equipment 13 Rotation support part (support part) 14 Welding torch 15 Displacement Mechanism 151 1st movement mechanism 152 Second movement mechanism 153 Third movement mechanism 154 Rotation mechanism (angle adjustment mechanism) 155 Connection section 16 Drive unit 17 Imaging section 171 Connecting members 18 wheels 19 Laser light irradiation unit 20 Plate material (steel plate) 201 Running surface 202 Groove LB laser light LX14 Travel amount LY14 Travel amount LX21 Manipulated amount LY21 Manipulated amount WK Worker (operator) Q 3D shape Alpha Arrow

Claims

1. A working unit that performs work on a workpiece; a remote control unit that performs remote control to move the working unit in a first direction and a second direction that intersects with the first direction; a distance conversion unit that converts a moving distance of the working unit in the first direction and a moving distance of the working unit in the second direction at different ratios in response to an input from the remote control unit, The workpiece has a groove, the remote control unit moves the working unit with a longitudinal direction of the groove defined as the first direction and a width direction of the groove defined as the second direction; The distance conversion unit sets the ratio in the first direction to be greater than the ratio in the second direction. Working equipment.

2. A detection unit that detects a surface shape of the workpiece; The working apparatus according to claim 1 , further comprising a direction determining unit that determines the first direction and the second direction based on a detection result by the detection unit.

3. A working unit that performs work on a workpiece; a remote control unit that performs remote control to move the working unit in a first direction and a second direction that intersects with the first direction; a distance conversion unit that converts a moving distance of the working unit in response to an input from the remote control unit at a different ratio in the first direction and in the second direction; A detection unit that detects a surface shape of the workpiece; a direction determination unit that determines the first direction and the second direction based on a detection result by the detection unit; A working device comprising:

4. 4. The working device according to claim 1, wherein the working unit performs welding as the work.

5. 5. The working device according to claim 1, wherein the distance conversion unit converts an input of an operation amount in the first direction at the remote control unit and an input of an operation amount in the second direction at the remote control unit at different ratios.

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