| 摘要 |
PROBLEM TO BE SOLVED: To automatically perform a multi-layered building-up welding for a thick plate continuously for each layer with a groove cross section immediately before reflected. SOLUTION: This equipment is provided with a welding torch 16 actuated by a means for setting welding conditions, and with a laser sensor 26 which precedes and moves in front of the welding torch 16 and which detects a groove cross section. This equipment is further provided with a memory for seeking and storing the groove cross section along a torch moving route through a detection signal from the laser sensor 26, a controller which, in welding each layer by the torch 16, obtains groove shape data from the memory and which operates the torch 16 through the means for setting welding conditions so as to meet the welding conditions corresponding to the groove shape data at each position in the moving route of the torch 16. During the welding, the recognition of the groove shape by the laser sensor 26 is performed, as is the automatic formation of the welding conditions suitable for the groove shape; therefore, the welding is possible applicable in real time to a change in the groove and also, with the recognition result stored for the groove shape of one layer, a welding plan is made for the next layer based on such storage, enabling automatic welding from the initial layer to the finish. |
