| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic welding, a defect repair method and automatic welding equipment capable of automatically conducting the whole process including automatic control of multilayer welding, defect detection discrimination per each pass, decision for repair method and welding control of defect repair. SOLUTION: In a process of welding control operation P6, by using the detection information of a sensor 8 for welding, the position copying control of a welding torch and the correction control of a welding condition are conducted, in a process of welding defect detection operation, a quality inspection of a welded part is conducted by a sensor 9 for defect detection, further, the presence or absence, variety, size and position of a defect are discriminated and recorded. Based on the result, a decision process P12 of necessity of repair, automatic repair or manual repair is conducted. In a next repair welding control operation P13, when in automatic repair, control is conducted to repair a defect part and its surrounding, and in manual repair, the demand by manual repair is displayed.
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