| 摘要 |
PURPOSE:To execute exactly welding along a joint from the inside face even in case of a small diameter pipe by stabilizing a welding torch of the tip of a leading-in bar provided with a caster by a draw bar from a pipe outlet side, controlling its position to a pipe joint, and moving it. CONSTITUTION:A draw bar 93 is advanced to the maximum, and its tip part is fixed so as to be freely attachable and detachable to and from a frame 20 on which a caster 5 as shown in the figure is provided on the tip, of a welding operating part W, in order to stabilize the operating part W. Subsequently, a leading-in part 10 is advanced and a drawing part 90 is moved back synchronously, the operating part W is led smoothly into a pipe A by the caster 5. A shift from a pipe joint of the tip of a welding torch 50 is observed by a TV camera 71 of a horizontal movement control part 70, and a horizontal moving base 33 is controlled as to its movement in the horizontal direction being parallel to the pipe horizontal diameter direction. Also, welding is executed, move- controlling up and down the torch on a vertical moving base 41 by a vertical direction movement control part 80, and when the welding is executed to an outlet of the pipe A, the operating part W moves backward. When the operating part W comes out of an inlet of the pipe A, engagement of the bar 93 to the frame 20 is released, and the drawing part 90 moves backward. |
