| 摘要 |
PROBLEM TO BE SOLVED: To automatically perform welding even when a shape of a groove is complicated. SOLUTION: Magnets 15 and 16 are rotatably attached to the upper attaching part 11 and the lower attaching part 12 of a welding head moving means 18 having a moving part 17, a weld running means 21 is attached to the moving part 17, a groove position sensor 25 is attached to the attaching part 21b of the weld running means 21, torch left and right moving means 22a and 22b are attached to the attaching part 21b, torch up and down moving means 23a and 23b are attached to the torch left and right moving means 22a and 22b, and welding torches 24a and 24b are attached to the torch up and down moving means 23a and 23b.
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