| 摘要 |
PURPOSE:To execute welding with excellent mechanical property and corrosion resistance without any working man-hours even in the case a heat transfer tube pulls in a tube plate. CONSTITUTION:A welding torch 5 is fitted so as to be changable in the direction of the welding arc by the welding torch 5 and relatively moved toward the tube plate 1. And this device is provided with a welding torch moving mechanism 50 for rotating the welding torch 5 so that the welding arc moves along the annular boundary part 23, a camera 15 for picking up the image of the tube plate 1, an image processor for obtaining the position of a tube hole 24 from the image of the camera 15, a laser length measuring device 7 for measuring distance to the boundary part 23 and a welding torch positional controller 33 for outputting the correcting distance to the moving distance of the welding torch 5 into the welding torch moving mechanism by a manipurator 22 based on the position of the tube hole obtd. by the image processor and the distance to the boundary part 23 obtd. by the length measuring device 7. |
