| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an automatic welding device and an automatic welding method that can weld a groove where a tool is present on a weld line by automatically avoiding the tool, and can measure and weld the groove at a tool installation part after the tool is removed.SOLUTION: An automatic welding device includes: a detection sensor 5 which detects the position of a tool 12 on a weld line; a teaching point data storage device 13 which determines a welding start position, a welding stop point, a welding restart point and a welding end position, and a tool removal part welding start position and a tool removal part welding end position from the detected position of the tool 12; a two-dimensional shape sensor 6 which measures a groove shape; a welder 3 which starts welding at the welding start position and stops the welding at the welding stop point, restarts the welding at the welding restart point and ends the welding at the welding end position, and starts the welding at the tool removal part welding start position after the tool is removed and ends the welding at the tool removal part welding end position; and a welding torch driving mechanism which moves a welding torch 4 up to the welding restart point by avoiding the tool 12 at the welding stop point.</p> |
