WELDING EQUIPMENT FOR CYLINDRICAL VESSEL

摘要

PURPOSE:To automate the high-speed welding of a joint part of a cylindrical vessel by using a picture processing means and a profiling means by an arc sensor to position and move a torch. CONSTITUTION:A welding head 1 is turned by a rotating mechanism 45 and axes of an arm 44 and a column 43 are arranged in order. The column 43 is moved to insert the head 1 and the arm 44 into the cylindrical vessel 8. A circumferential joint groove is searched based on the picture data of a camera and a height of a torch 13 is fitted to it. The vessel 8 is turned and the torch 13 is pointed to the groove properly to start the welding. One round is welded while performing the profiling operation of X and Y axes by the precise profiling by the arc sensor and a welding end is detected from the picture data to turn off an arc automatically. This process from the welding start to the welding end is controlled with the full automation by a picture processing controller 21, a welding parameter controller 22, a picture processing groove profile controller 23 and an arc sensor groove controller 24 of a welding controller 2.