| 摘要 |
PROBLEM TO BE SOLVED: To provide a position copy control method for a welding torch in which the groove shape is detected by an optical sensor, and a torch is positioned based on the image-processed shape to perform the multi-layer welding. SOLUTION: In the control method, a welding head on which a torch movable in the vertical and horizontal direction, and an optical sensor to pick up the image of the groove shape at the preceding position of the torch are mounted, is loaded on a rail installed in the vicinity of the weld line of the groove, the torch is positioned following the program of each position Xp and order of a plurality of welding passes set based on the reference position in the preliminarily prescribed groove section, and each welding pass is welded successively. Every time the welding head is moved for the prescribed time, the reference position of the groove section is obtained through the image processing, the differenceΔXs between the reference position of the groove section of the moving point and the reference position of the start position is obtained, the prescribed number of the successively obtained differences are averaged, and the position of the torch is corrected so that the reference position deviated by the averaged difference is canceled by the positional deviation of the start point.
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