| 摘要 |
PROBLEM TO BE SOLVED: To save manpower of a welding work by mounting the welding hand having horizontal, up/down, folding axes to a manipulator movable up/down/ horizontally and having a welding power source and a controller, recognizing a groove shape with a laser beam sensor and correcting a target position and a welding condition at each pass with a control means with a welding condition stored. SOLUTION: A tube column mounted with a ring 12 is rotated by a positioner 14, multi layer cladding by welding is conducted by a welding torch. The work data of a position, groove shape, welding sequence, etc., of the ring of an object work is inputted from a drawing to a master controller 40. The groove shape data from a laser beam sensor 36 and the rotary position detection data are inputted in the master controller 40. The master controller 40 compares them to the work data, instructs respective hand controller 38 to control a welding hand 28 in order to correct a target position and a welding condition at each pass.
|
