JP2000167666A - Automatic welding, defect repair method and automatic welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic welding, a defect repair method and automatic welding equipment capable of automatically conducting the whole process including automatic control of multilayer welding, defect detection discrimination per each pass, decision for repair method and welding control of defect repair. SOLUTION: In a process of welding control operation P6, by using the detection information of a sensor 8 for welding, the position copying control of a welding torch and the correction control of a welding condition are conducted, in a process of welding defect detection operation, a quality inspection of a welded part is conducted by a sensor 9 for defect detection, further, the presence or absence, variety, size and position of a defect are discriminated and recorded. Based on the result, a decision process P12 of necessity of repair, automatic repair or manual repair is conducted. In a next repair welding control operation P13, when in automatic repair, control is conducted to repair a defect part and its surrounding, and in manual repair, the demand by manual repair is displayed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to automatic welding of grooved joints made of cylindrical, cylindrical or flat members and repair welding when a welding defect occurs. The present invention relates to a defect repair welding method and an automatic welding apparatus suitable for automatically performing the defect detection determination, repair method determination, and repair welding control.

[0002]

2. Description of the Related Art As an example of detecting a welding defect in a conventional automatic welding apparatus, Japanese Patent Application Laid-Open No. 63-68268 discloses an inspection method for a welding defect using an infrared camera, an image identification device, or the like. It is disclosed that a temperature distribution of a weld metal in the vicinity of a molten pool is obtained, and the presence or absence of a welding defect is determined from the result. In this defect inspection, when a defect is found, the welding is immediately stopped, and the defect is manually removed and repaired, and then the welding is restarted.

Japanese Patent Application Laid-Open No. 9-101120 discloses a method of irradiating a slit-like light beam on the surface of a processed object, performing image processing on a light-cut image of a reflected image thereof, detecting defects on various weld beads, detecting defects on the surface. Quantitative detection of shape and size is disclosed.

Japanese Patent No. 2751175 (Japanese Patent Laid-Open No. 1-197069) discloses that welding conditions during welding are recorded on a condition signal recorder in real time, and the recorded data signal and stored data of an appropriate condition range recorder are recorded. It is disclosed that a signal is compared to determine an unhealthy welded portion by a comparison calculator, and welding conditions and an abnormal welding position when it is determined to be unhealthy are displayed on a display.

Japanese Patent Application Laid-Open No. 7-47471 discloses various welding status signals and welding video signals over time on the same screen, and simultaneously determines whether the operation status of the apparatus is within a range of appropriate welding conditions. indicate. Furthermore, when outside the range, the repair position signal is sent to the welding device to perform repair welding,
It is disclosed that the welding quality signal is diagnosed by recording the welding status signal and the welding video signal. Welding status signals detected here are various output signals such as arc current and voltage during welding, wire feed speed, moving speed of welding torch, width and speed of oscillate, laser distance meter, welding acoustic meter and sound pressure meter. And the like. When the welding status signal exceeds the proper condition range of the pre-input, a color change display is displayed so that the welder can be identified, and a repair position signal is automatically sent to the welding device, or displayed on the same screen. We wait for the judgment of the welder watching the welding video before sending. Repair of a defective portion determined to be abnormal in welding is performed immediately by a welding device based on a repair position signal (repair command) or after a welding operation has been completed.

[0006] Japanese Patent Application Laid-Open No. 8-150474 discloses a bead corner radius r based on an inner shape of a groove immediately after welding, which is detected by using a slit laser type (optical cutting type) sensor or an oscillating scanning type laser displacement meter. And bead fold line deviation angle θ
And controlling the bead shape by changing welding conditions such as weaving width, stop time, current, and speed based on this information.

Japanese Patent Application Laid-Open No. Hei 1-1181989 discloses that a bead shape during laser welding is measured using a slit laser type (light cutting type) sensor, and when it is determined that the bead needs to be repaired, a laser welding apparatus is used to perform the entire process. It is disclosed to perform rewelding across. Bad beads are discarded.

[0008]

SUMMARY OF THE INVENTION Japanese Patent Application Laid-Open No. 63-6826
In the method for inspecting welding defects disclosed in Japanese Patent Publication No. 8 (1994), there is no suggestion that position control or condition control is performed during welding.
No automatic repair of welding defects has been performed.

Japanese Patent Application Laid-Open No. 9-101120 is effective for quantitatively evaluating a detected defect, but does not disclose a method of utilizing a defect detection result or a method of performing defect repair welding. In addition, there is a known example in which a defect detection operation is performed by a detection means similar to the above, but the defect has not been repaired automatically.

On the other hand, Japanese Patent No. 2751175
In Japanese Unexamined Patent Publication (Kokai) No. 1-197069, the self-diagnosis of the welding quality is performed after the completion of the welding, which is utilized for reducing the non-destructive inspection, but the collected data and the diagnosis result are not used during the welding. Repair of weld defects is after inspection is completed,
In this case, a skilled welder must manually perform the metal removal processing at the defective portion and the overlay repair welding.

The welding quality diagnosis assurance apparatus described in Japanese Patent Application Laid-Open No. 7-47471, however, does not use a defect detection sensor for directly detecting the presence, type, and size of a welding defect. The welder observes the recorded welding images and judges the occurrence of defects. In addition, repair welding of defective parts is said to be performed automatically, but it is difficult to perform automatic repair and control with a welding quality diagnosis device and welding device because it is necessary to change the construction conditions according to the type and size of the defect It is. No measures have been proposed for automatic repair. Therefore, it is presumed that the welder has to confirm the defect and repair while manually operating the welding device.

Japanese Patent Application Laid-Open No. 8-150474 is effective in preventing poor welding beforehand, but does not assume repair of defects after welding is completed. The document does not disclose a defect detection operation, the necessity of repair after defect determination, and the automatic repair of a defective portion.

In Japanese Patent Application Laid-Open No. Hei 18-181989, one-pass welding by laser welding is used, not multi-pass welding by arc welding. No control is performed to repair the defective part and its surroundings, and defective beads are discarded without manual repair.

Therefore, the present invention has been made in view of the above problems, and aims at de-skilling and advanced automation of arc welding and repair work. Inspection, determination of necessity of repair after defect determination,
It is an object of the present invention to provide an automatic welding and defect repairing method and an automatic welding apparatus suitable for performing all the processes up to the welding repair control automatically.

[0015]

Means for achieving the above object include a welding control head capable of moving the welding torch up and down, right and left and reciprocating in the direction of the welding line, and supplying power and wire to the welding torch. Welding power supply, drive control of welding control head, output control of welding power supply, information processing of welding condition and position data, detection command and detection information processing of welding sensor and defect detection sensor, and overall management of component equipment Using a possible welding control device, in a method of performing automatic welding and defect repair of a grooved joint consisting of a cylindrical or cylindrical or flat member, detection information of misalignment and groove shape by the welding sensor, A first step of performing position tracking control of a welding torch or a correction control of welding conditions for each pass welding based on the reference information of the welding conditions and position data, or a welding process of the first step. When reversing the welding control head after welding is completed, the quality of the weld is inspected by the defect detection sensor for each pass welding, and the detected information is processed to determine the presence, type, size and position of the defect. And a second step of recording, and a third step of determining whether repair welding is necessary or not and performing automatic repair or manual repair when necessary based on the defect determination result. A fourth step of performing drive control of a welding control head and an output control of a welding power source so as to perform repair welding on the periphery thereof; and a fifth step of performing a repair request display by manual operation during the manual repair. .

Further, when repair is unnecessary and when repair welding is completed in the fourth step or the fifth step, a sixth step of updating to a welding operation of the next pass, and multi-pass welding and defect repair are all completed. The method further comprises a seventh step of returning the welding control head and the automatic operation screen to the initial position and the initial screen when the operation is forcibly terminated at the time of or during the operation.

Also, a welding control head capable of moving the welding torch up and down, right and left and reciprocating in the direction of the welding line, a welding power supply capable of supplying power to the welding torch and supplying wires, drive control of the welding control head, welding Using a power output control, information processing of welding conditions and position data, detection instructions and detection information processing of welding sensors and defect detection sensors, and a welding control device capable of comprehensively managing the components, a cylinder or cylinder In the automatic welding and defect repair of the groove joint consisting of a shape or a flat member, based on the detection information of the displacement and groove shape by the welding sensor, based on the reference information of welding conditions and position data, First welding control processing means for performing position tracking control of a welding torch and correction control of welding conditions for each pass welding, and inverting a welding control head during or after this pass welding process A first defect detection processing means for performing a detection command of the defect detection sensor and information processing of defect detection when moving, and a defect determination for determining and recording presence / absence, type, size and position of a defect based on the detection result Recording means, repair method determining means for determining whether repair welding is necessary or not and whether to perform automatic repair or manual repair when necessary based on the result of the defect determination, and repairing the defective portion and its periphery during the automatic repair. First repair control processing means for performing drive control of the welding control head and output control of a welding power source so as to perform welding, and manual repair request means for displaying a repair request display by manual operation during the manual repair. It is characterized by.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the contents of the present invention will be described based on embodiments. FIG. 1 is a configuration diagram showing an embodiment of the automatic welding apparatus of the present invention.

In FIG. 1, a welding work 1 for a fixed circular pipe is shown.
a, 1b, a rail 3 installed on the welding work 1a, and a welding control head 4 attached to the rail 3, and each axis driving device 14 moves the welding torch 5 up and down, right and left, and reciprocates in the welding direction. And a pair. Welding torch 5
Is for welding the groove joint 2 of the welding work 1a, 1b and repairing when a defect occurs, and is installed on the left and right drive shaft 6 of the welding control head 4. The wire 7 is supplied near the tip of the welding torch 5. Further, a welding sensor 8 for detecting welding information such as a displacement or a groove shape is provided as a pair with the welding information calculation device 18, and the welding sensor 8 is an optical cutting sensor or an arc sensor.

A pair of the defect detection and calculation device 19 detects welding defects such as undercut, overlap, irregular bead, open-hole blowhole, welding crack, etc. from the bead shape of the welded portion (for example, a light-cut type sensor or a direct-view type). Sensor)
A defect detection sensor 9 is provided. The welding power source 10
Power is supplied to the welding torch 5 and the wire 7 is supplied. The welding control panel 11 controls the welding control head 4 and the welding power source 10 using information of the welding sensor 8 and the defect detection sensor 9 to perform multi-pass welding, quality inspection of a welded portion, and repair welding of a defective portion. Do it automatically. The wiring 12 connects the welding power source 10 with the welding torch 5 and the wire 7. The wires 13a and 13b connect the welding control panel 11, the welding control head 4, the sensors 8, 9 and the welding power source 10.

FIG. 2 is a diagram showing an embodiment in which the automatic welding apparatus of FIG. 1 is applied to flat plate welding.

In FIG. 2, the main difference from FIG. 1 is that since the welding works 1c and 1d are flat members, the linear type rail 3b is installed on the welding work 1c.
The welding control head 4 that moves the welding torch 5 up and down, left and right, and reciprocates in the welding direction is attached to the rail 3b. Furthermore, a welding and defect detection / combination sensor 89 having both functions of the welding sensor 8 and the defect detection sensor 9 is provided in front of the welding torch 5.

This welding and defect detection / combination sensor 89 is
For example, a light-cut sensor. In other words, a laser projector that irradiates slit-shaped light or a spot-shaped light to irradiate and oscillate a slit-shaped light on the surface where a groove joint or a weld bead is provided, and a camera that captures a laser reflection image of the laser projector. Weld detection program for extracting detection information such as groove shape and misalignment from the optical cut image obtained from the optical sensor provided with the optical sensor, and defect detection program for extracting defect information on the surface of the weld bead And an image processing apparatus (disposed on the welding control panel 11) in which both are incorporated. Using the information detected by the optical sensor and the image processing device, the correction calculation of the welding torch position and the profiling control, the correction calculation of the welding speed, the welding current, and the weaving width, and the condition correction control are performed. Then, when the welding control head is reversely moved after the end of welding, the quality inspection of the welded portion is performed by the optical sensor and the image processing device, and the detection information is processed to determine the presence / absence, type, size, and position of the defect. It is determined and recorded. The details will be described later.

FIG. 3 is an example of a block diagram constituting the welding control panel 11 of the present invention.

In FIG. 3, reference numeral 15 denotes an operation panel, which is used for inputting initial settings necessary for automatic operation, the shape and dimensions of the groove joint 2, basic welding conditions, defect detection conditions, and defect repair conditions. Reference numeral 16 denotes a screen display device, which displays input and calculation results when creating welding path plan data, displays welding torch positions during automatic welding and defect repair, displays welding conditions, sensor detection information, and other information during automatic operation. Display the necessary information.
Reference numeral 17 denotes a general control device, which controls the driving of the welding control head 4, supplies power to the welding torch 5 and controls the output of a welding power source 10 for supplying the wire 7, a welding sensor 8 and a pair of welding information calculation devices 18 and defect detection. It performs information processing of detection commands to the sensor 9 and a pair of defect detection devices 19 and obtained detection data, information processing of welding conditions and position data, and general management of constituent devices. Note that a welding and defect detection combined sensor 89 may be used instead of the welding sensor 8 and the defect detection sensor 9. The general control device 17 includes an automatic calculation program 21 for creating welding path plan data 22, an automatic operation program 20 for automatic welding and defect repair, and data files 24, 26, 27 used for automatic operation. ing.

FIG. 4 is a schematic diagram of a procedure for performing repair welding when a defect occurs in multi-pass welding and welding quality inspection. FIG. 5 is a schematic diagram of another construction procedure.

The outline of the procedure of the automatic welding and defect repairing method of the present invention will be described with reference to FIGS. FIG.
The main difference between FIG. 5 and FIG. 5 is the case where the welding defect detection operation and the defect discrimination recording process P7 are performed in the welding process (FIG. 4) and after the welding is completed (FIG. 5).

First, the automatic operation program 20 is called from the welding control panel 11 and started P1. Immediately after that, the welding operation program 21 is used to pass an arbitrary groove shape and basic welding conditions from the input set values. A target value of appropriate conditions such as a torch position, welding current, speed, and weaving for each welding is calculated, and welding path plan data 22 is created P2. After the initial setting of the welding sensor 8 and the defect detection sensor 9 and the origin adjustment of the welding control head 4 and the welding position (P3), the operation is started P4. At the time of the automatic operation P5, the screen display device 16 displays a situation in which a series of operations from welding control to defect repair change every moment until all passes are completed.
Is displayed as appropriate. In the next step of the welding control operation P6, position tracking control and welding condition control of the welding torch are performed for each one-pass welding based on the detection information of the displacement and the groove shape by the welding sensor 8.

In the process of the welding defect detection operation P7, the quality inspection of the welded portion and the defect discrimination recording processing by the defect detection sensor 9 are performed. In the embodiment shown in FIG. 4, the welding defect detection operation P7 is performed while giving a time difference during the welding control operation P6. This is possible by installing the defect detection sensor 9 behind the welding torch 6. In the embodiment shown in FIG. 5, for example, the welding defect detection operation P7 is performed when the welding control head 4 is reversed and moved after the end of the welding control operation P6. In this case, the defect detection sensor 9 may be installed either behind or in front of the welding torch. When the welding and defect detection combined sensor 89 is used instead of the welding sensor 8 and the defect detection sensor 9, it is desirable to install the sensor in front of the welding torch.

In the next repair method determining process P12,
Based on the result of the defect discrimination obtained in the process of P7, a process is performed to determine whether repair welding is necessary or not and, when repair is necessary, whether to perform automatic repair or manual repair. Next repair welding control operation P13
In the step (2), control is performed such that repair welding is performed on the defective portion and its surroundings during automatic repair, and a repair request display by manual operation is performed during manual welding. When repair is unnecessary and when repair is completed P14, one-pass end processing P16 is performed, and various data files to be recorded such as welding control data, welding defect detection data, and defect repair data are created. When one pass is completed, the process returns to the step of welding path updating / automatic operation P5 (P18), and the welding control operation P5 of the next pass is restarted.

Although not shown, when it is desired to check the welding quality after the completion of the repair, the welding path updating process P5 is required.
It is preferable to add the defect detection operation P7 again before returning to. This series of operations is repeated until all the paths are completed, and when all the paths are completed, the end process and the initial position moving process P19 are performed, and the process is ended P20. With this configuration, from the automatic control of multi-layer welding to the quality inspection for each pass welding, the necessity of repair and the determination of the repair method,
Control of defect repair can be performed automatically.

In multi-pass welding, it is necessary to bring a welding torch to a predetermined position allocated according to the number of passes.
Also, welding conditions for each pass welding need to be determined in advance. FIG. 6 shows the pass sequence (numerical) and the target welding torch position (dots with ●) in multi-pass welding of a V-shaped groove having an arbitrary shape. (A) in the figure is the plate thickness T of the welding work 1a, 1b,
An example of a shape that describes the dimensions of the groove angle α, the root width B and the thickness f of the groove bottom, (b) is a welding example of a single-layer multi-pass 2b with a wide groove angle α, and (c) is a groove A welding example of a single-layer one-pass 2c having a small angle α is shown.

FIG. 7 is a schematic view showing the welding state of a specified path 100 (shaded area). The welding torch 5 and the wire 7 are subjected to a weaving operation 102 so that the arc 5b at the tip of the electrode 5a and the wire in the arc 5b. 7 shows a state in which the tip 7 is swung right and left. FIG. 8 is a schematic diagram showing the current 101 and the weaving operation 102 of the pulse arc welding shown in FIG.

Here, at the time Tb of the base current Ib, the welding torch 5 is swung right and left (width W) on the middle side of the groove, and at the time Tp of the peak current Ip, the swing torch is stopped on both wall sides. Synchronized with. When a DC arc that is easier than a pulse arc is used, a process for making the values of the peak current Ip and the base current Ib the same may be performed.

Next, the torch position and welding conditions for each pass welding are calculated from input values of an arbitrary groove shape and basic welding conditions by using the welding calculation program 21. Although the detailed calculation method is omitted, the target welding torch position (Y, Z coordinates) is calculated by calculating the number of layers and the number of passes from the groove cross-sectional area and the welding area per pass, and then the width and height of the laminated bead. , And the lamination bead width is set at the center position divided by the number of passes of each layer.

For example, one-layer one-pass welding 2c (pass numbers: 1 to 6) shown in FIG. 6C, and one-layer multi-pass welding 2c shown in FIG.
Each torch position in one-pass welding (pass numbers: 1 to 3) in b is the center position (groove center) of each laminated bead.
In addition, at the welding locations (pass numbers: 4 to 9) of the two passes in the left and right distribution in FIG. 4B, in order to improve the melting of the groove wall, the groove is divided from the center position where each lamination bead width is divided into two. The position is slightly shifted toward the wall. Welding conditions are based on input basic conditions, welding data of pre-analysis based on arc welding phenomena, and information on calculated lamination bead width and height, etc., and set target values for appropriate conditions such as welding current, speed, wire speed, weaving, etc. Is calculated.

Table 1 is a display example showing a part of the calculation result of the welding path plan data of the V-shaped groove.

[0038]

[Table 1]

Reference information serving as a target of such multi-pass welding is provided to the welding control panel 11. Here, the example of the V-shaped groove has been described. However, for the U-shaped groove and the R-shaped groove, the appropriate torch position and welding conditions to be the target for each pass welding are determined using the welding calculation program 21. The calculation is performed and the welding path plan data is given to the welding control panel 11.

FIG. 9 shows a specific execution procedure of the welding control operation P6 of the embodiment shown in FIG.

First, a welding condition setting command 31 is issued to the welding power source 10 and a movement command 32 to a predetermined position is issued to the welding control head 4, and then welding 33 is started. During the welding operation, the status display 34 that changes every moment is displayed on the screen display device 16.
To the welding control head 4
, A request 36 for reporting a condition output value is sent to the welding power source 10. In addition, a welding information detection command 37 and a detection result report request 38 are made to the welding sensor 8 side.

On the basis of the obtained detection information such as the positional deviation and the groove shape and the reference information of the welding path plan data 22, correction calculation 39 of the torch position and correction calculation 39 such as welding speed, welding current and weaving width are performed. Do. Then, when the welding torch 5 reaches the position 40 to be corrected, a correction command 42 of the positional deviation amount is issued to the welding control head 4, and a correction command 45 of the welding condition is provided at the time when the condition is to be corrected. It is sent to the welding control head 4. A series of the above operations are repeated until the end position 46 is reached (47 →
34 → 47). By performing such control, automatic welding can be performed. This operation is completed 48
Then, the process proceeds to the next welding defect detection operation and defect determination recording process P7.

FIG. 10 is an embodiment showing a specific execution procedure of the welding defect detection operation and the defect discrimination recording process P7 of the embodiment shown in FIG. In this embodiment, the quality inspection of the welded portion is performed by the defect detection sensor 9 while the welding control head 4 is reversed after the welding end processing 51. That is, a reverse movement command 52 and a report request 54 of the current traveling position are made to the welding control head 4, and a welding defect detection command 55 and a report request of the detection result 56 are made to the defect detection sensor 9 side. The traveling speed of the welding control head 4 at this time can be slower (shorter the detection interval) or faster (shorter the detection interval) than during welding, depending on the required accuracy of defect detection.

During the defect detection operation, the operation status is displayed on the screen display device 16 in chronological order. Information processing is performed on the defect detection data acquired from the defect detection sensor 9 side, and the presence / absence, type, size, position of the defect is determined, and recording processing 57 is performed. The above series of operations is repeated until the end position 58 is reached (58a → 53 → 58a). When the vehicle reaches the end position 58, the traveling of the vehicle stops and the detection ends at 59a. By separating the welding control operation and the defect detection operation in this manner, defect detection can be reliably performed at a desired detection interval without being affected by welding arc light.

FIG. 11 is an embodiment showing a specific execution procedure of the welding control operation P6 and the welding defect detection operation P7 of the embodiment shown in FIG. In this embodiment, control for correcting the welding torch 5 and correcting welding conditions during welding and quality inspection of the welded portion by the defect detection sensor 9 are continuously performed. That is, based on the detection information obtained from the welding sensor 8 and the reference information of the welding path plan data 22, correction calculation of the torch position, correction calculation 39 such as welding speed, welding current and weaving width are performed, and the correction is performed. A command 42 and a correction command 45 are performed. Immediately after this, a weld defect detection command 55 and a report request 56 of the detection result are sent to the defect detection sensor 9 side, and the presence / absence, type, size and position of the defect are determined and recorded 57. A series of operations of welding control and defect detection / determination are repeated (58b → 35 → 58b) until the end position 58 is reached. By connecting the welding control operation and the defect detection operation in this way,
The quality results of the weld can be clarified quickly, which can contribute to shortening of the working time.

Next, an outline of a method of detecting a positional deviation by the arc sensor and controlling the scanning of the torch position will be described. FIGS. 12A and 12B are schematic diagrams showing a weaving operation for swinging the electrode 5a at the tip of the welding torch 5 right and left, where FIG. 12A shows an example of one-layer one-pass welding and FIG. In the figure, an arc sensor unit 106 takes in the output signal 103 of the voltage between the electrode 5a and the welding workpieces 1a and 1b, and calculates and corrects a positional deviation from a voltage change occurring during the welding of the weaving operation 102. is there.

FIG. 13 is an embodiment showing an operation control flowchart of pulse arc welding according to the present invention.
Reference numerals 1 and 103 denote current and voltage waveforms, 102 denotes a weaving operation synchronized with the current and voltage waveforms, 104 denotes a left and right axis correction signal, and 105 denotes a vertical axis correction signal. Here, the welding torch 5 is swung right and left (weaving width W) during the time Tb of the base current Ib,
The oscillation is controlled to stop during the time Tp of the peak current Ip. Further, at the position of time ts (while the oscillation is stopped) immediately after the rise of the peak current Ip, the left and right voltages EpL,
In addition to detecting EpR (one point or a plurality of points), the voltage Eb is detected at a substantially central position of the weaving width W or a substantially central position of the base time Tb. The position correction control in the left-right direction and the vertical direction is performed based on both pieces of detection information.

FIG. 14 is an embodiment showing a control block diagram of a welding torch position in the horizontal direction, and FIG. 15 is an embodiment showing a control block diagram of a welding torch position in the vertical direction.

Appropriate left and right reference values 108a and 108b and left and right detection values 107a and 107b, which are set in advance, respectively.
Are compared 109a and 109b to obtain a difference voltage ΔE between the two, and then a correction calculation 110 in the left-right direction is performed. Then, at the position 113 to be corrected, for example, at the time of resuming the swing, a correction control command 111 of the torch position is transmitted to the welding control head 4 in a direction to eliminate the left and right positional deviation.
The torch position control in the up-down direction is based on the reference value (Es) 11.
5 and the correction value 117 in the vertical direction is calculated from the voltage difference between the detected value (Eb) 114 at the center of the weaving width, and the torch position correction control command 111 is welded in the direction to eliminate the displacement (direction to eliminate the difference voltage). The call is transmitted to the control head 4.

Each of the detected values 10 shown in FIGS.
7a, 107b and 114 are preferably obtained by averaging not only one point but also a plurality of points. For example, an average value of a plurality of points detected after the waiting time ts shown in FIG. 13 may be used, or an average value of each value detected in several cycles may be used. The left and right correction and the vertical correction are performed with a half cycle time difference,
This time difference can be reduced. With this configuration, it is possible to appropriately control the torch position in the left-right and up-down directions.

Next, an outline of a method of detecting a position shift, a groove shape, and a method of detecting a welding defect by a combined use of a welding and a defect detection sensor (optical cutting sensor) having both functions of a welding sensor and a defect detection sensor. Will be described. FIG. 16 is an embodiment showing a configuration of a welding and defect detection / combination sensor and related equipment in the automatic welding apparatus of the present invention.

The sensor head 89 includes a laser projector 61 for irradiating a slit-shaped light 64 on the surface where the groove joint 2 and the weld bead 100 are located, and an interference filter 64 for reflecting the reflected image.
And a camera 63 for taking an image through the camera. The sensor head 89 is disposed in front of the welding torch 5 and mounted on the welding control head 4. The interference filter 64 extracts only laser light of a specific wavelength. The light emitting / receiving controller 65 includes:
The laser projector 61 and the camera 63 are controlled, and the captured light-section image is transmitted to the image processing device 66. The image processing device 66 includes both a welding detection program for extracting positional deviation and groove shape detection information when performing welding, and a defect detection program for extracting defect information when performing quality inspection of a weld bead surface. This makes it possible to respond to a detection command and a report request of a detection result from the central control device 17.

Instead of the slit-shaped laser projector 61, an oscillating laser projector having a mechanism for irradiating a spot-shaped laser beam and oscillating at a high speed may be used. Although not shown, the sensor head 89 has a water cooling structure for preventing overheating and a gas outflow structure for preventing entry of troublesome fine particles. When an arc sensor is used to detect a positional deviation, the welding and defect detection combined sensor only needs to be used for defect detection, and is used as a defect detection sensor again in the image processing device 66 having only a defect detection program. Just do it.

FIG. 17 is an explanatory diagram showing the contents of detection by a welding and defect detection / combination sensor for use in position control and welding condition control of a welding torch. The dotted line in the drawing indicates the groove cross-section where the reference was set before welding (the origin of the torch position and the sensor position were matched), and the solid line indicates the groove cross-section where the reference position was changed during welding. The main detection items are the groove shoulder width Ws, the center position Cs of the groove shoulder, the positional deviation △ Ys, ΔZs between the center position Cs and the initial value, the groove depth Hs, the groove angle αs, the unwelded area ( Groove area) As, bead width or groove bottom width Bs, center position Cb of groove bottom width, and positional deviations ΔYss, ΔZss between the center position Cb and initial values.

FIG. 18 is a schematic diagram showing types of defects required for quality inspection of a welded portion and automatic repair of a welding defect and details of detection.

(1) One side (right or left) undercut,
(2) is a defect of undercut on both sides, which is characterized in that the metal on the groove slope is missing. (3) is a defect of one-sided overlap and (4) a defect of both-sided overlap, which is characterized in that the bottom of the groove slope is not easily melted (insufficiently fused) and can easily be formed into an acute angle. (5) is an irregular bead defect, which is characterized in that undulating beads are easily formed near the center.
(6) is an open blow hole, which is characterized in that large and small holes are easily formed near the center.

Another feature is that one sharp groove having a width different from that of the blow hole is easily formed near the center when a weld crack occurs. It should be noted that welding of general steel and stainless steel hardly causes welding cracks. By focusing on the different feature points, it is possible to classify the types of defects and to specify the locations where the defects occur. Also, the detection items for each type of defect are as follows:
The depth h of the defect, the area A, the width b, and the angle θ contacting the bead. From this size, it is possible to determine whether the repair is necessary and whether the repair should be performed automatically or manually.

Although an example using a light-cutting type sensor as a means for detecting the above-mentioned welding defect has been described, a direct-viewing type sensor may be used. For example, it is preferable that the image processing device performs a process of extracting defect information from a direct-view image obtained from a direct-view sensor provided with a camera that captures an image of a surface portion of the weld bead. It is considered that the size of the extractable defect area can be information that determines whether repair is necessary and whether automatic repair or manual repair is required.

FIG. 19 is an embodiment of a control block diagram for performing the scanning control of the welding torch position and the correction control of the welding condition by using the detection information of the optical cutting type sensor. Detected value obtained by adding averaging process to the detected value of displacement (△ Ys, △ Zs)
Position deviation to be corrected from 68 and the target value 67 (△ Ym, △
Zm) is calculated 69, and a torch position correction control command 70 is transmitted to the welding control head 4 in a direction to eliminate the left / right / up / down displacement. On the other hand, for the correction control of the welding conditions, the calculation 78 of the welding speed △ Vm, the current △ Im, and the weaving width ｍBm to be corrected is performed by using the detected values 75 and 77 of the unwelded area As and the bead width Bs, The signal is transmitted to the welding control head 4 and the welding power source 10 so as to be appropriate at the position to be corrected. By performing such control, it is possible to obtain an appropriate and uniform weld bead shape over the entire welding length even for a welded work having a machining error or a positioning error of the groove joint.

In automatic welding, welding position control and condition control are performed so as to obtain good welding results, but there is no guarantee that welding defects will not occur at all. We conduct quality inspections of welds for that purpose. If a welding defect occurs, it must be repaired. Some welding defects can be repaired automatically, while others are difficult to repair.

FIG. 20 shows a repair method determining process P12 according to the present invention.
7 is an example showing a specific execution procedure of the repair welding control operation P13. In this embodiment, it is determined whether defect repair is necessary or not and whether it should be repaired automatically or manually when repair is necessary.At the time of automatic repair, control is performed to repair and weld the defective portion and its surroundings. A repair request is displayed by manual operation. That is, in the step 121 of determining the repair method, the type and size of the defect detected and determined in the previous process are determined based on the defect repair reference data file 122.
For example, if it is less than the first reference value, it is determined that repair is unnecessary, if it is within the range between the first reference value and the second reference value, it is determined that it is automatic repair, and if it exceeds the second reference value, it is manually repaired. Is determined. The reference data file 122 for the defect repair includes a reference value for determining whether repair is necessary according to the presence / absence, type, and size of the defect, a reference value for determining whether the repair is automatic or manual, and a reference value for determining a repair range of the defective portion. The details are described later.

After the above-mentioned judgment, whether or not repair is possible, the type, size, number of defects to be repaired,
The repair range and the repair method 123 are displayed on the display device 16 on the screen 1
24. When no repair is required due to no defect or slight defect 125,
The process directly proceeds to the one-pass end process 144. On the other hand, when manual repair is to be performed 128 with a medium defect, a request 146 for manual repair is displayed, and the process waits until the repair is completed. The device operator or welding operator checks the content and position of the defect to be manually repaired displayed on the screen, and performs the manual repair 147 while operating the pendant and visually monitoring. When the repair is completed 148, a repair completion process and a one-pass end process 144 are performed.

Tables 2 and 3 show an embodiment in which defect information to be automatically repaired and defect information to be manually repaired are displayed on a screen.

[0064]

[Table 2]

[0065]

[Table 3]

When the automatic repair is to be performed due to the presence of a small defect, for example, when the F1 key for continuous execution is pressed, a movement command 129 of the welding control head 4 and a repair condition setting command are issued, and the repair position shown in Table 2 is returned. Moved and started automatic repair of defect disappearance 13
0. This is a repair welding for slackening to re-melt the defective part and its surroundings. The repair welding conditions at this time are modified in part from the repair-only conditions preset based on experience and experiments, or the welding conditions (weld path plan data shown in Table 1) used in the welding operation process. I use it. The main condition changing factors are the shift amount of the torch position, the current, the wire feed speed, and the weaving width, and each value determined according to the type and position of the defect to be repaired is used.

For example, when the overlap defect is on the right side, the torch position should be shifted to the right, and when it is on both sides, the weaving width should be slightly widened. When the undercut defect is on the left side, it is advisable to insert a small amount of wire or slightly reduce the current. When there is a bead irregular defect at the center, it is preferable that the torch position is not corrected and no wire is used. Further, when various types of defects are mixed, it is preferable to shift the torch position in the direction of the overlap or increase or decrease the weaving width.

During repair welding for disappearance of defects, the display 132 of repair execution information is displayed on the screen display device 16, a request 133 for reporting the current position of each axis is transmitted to the welding control head 4, and a request for reporting a condition output value is transmitted to the welding power source 10. Do each. In this automatic repair, the torch position correction calculation 134 and the position shift correction command 137 at the correction position 136 are repeatedly performed using the welding position following control data 28 stored in the process of the welding control operation P6.
FIG. 21 shows an embodiment in which repair execution information is displayed on a screen during automatic repair. The peak base current and time, voltage, welding speed, and welding speed required for the welding power source 10 and the welding control head 4, respectively.
Repair condition information 170 such as weaving width, travel X of the welding torch, center information Y of the left and right, and position information 171 of the up and down Z, ｓYs, △ Zs of position control data, and values △ Ym, 修正 of correction calculation
Zm and other position control information 172, repair start and end positions θs1, θe1, defect types and defect repair information 173 such as occurrence positions, etc. Further, when an abnormality occurs, the repair operation is automatically stopped, Information of treatment content 17
4 is displayed on the screen display device 16 in real time.

The repair status can be provided to the operator by displaying the information. In the process of the welding control operation P6, it is preferable that information necessary during welding is extracted from the above information and displayed, and at the same time, detection information of a missing welding sensor is additionally displayed. End position 139
, The repair temporary end processing 141 is reached, the process moves to the repair position of the next defective portion 129, and the automatic repair is started again.
The above series of operations is repeated until all repairs are completed 142. In the repair completion process and the one-pass end process 144, necessary files such as welding control record data in the welding process, defect determination record data in the defect detection process, and defect repair welding record data in the repair process are created 145. End 1
49. When it is desired to check the welding quality after the repair is completed, the defect detection operation P7 may be performed again before returning to the welding pass update process P5. By using different repair methods according to the type and size of the defect, not only can the automatic repair of the disappearance of the defect be reliably performed, but also the level of welding automation can be improved, reliability can be improved,
This can contribute to a significant reduction in manual repairs.

FIG. 22 is an embodiment showing the necessity of repair according to the presence / absence, type, and size of a defect, and a reference value for determining whether to perform automatic repair or manual repair. In this embodiment, the size of each defect is determined, for example, by dividing the depth h into four levels. For undercut, overlap, and irregular bead defects, repair is determined to be unnecessary at level 0 (no defect or fine defect), automatic repair is determined at levels 1 and 2 (small defect), and level 3 (depth 2 It is judged as manual repair for medium defect of 0.0 mm or more). At the time of welding cracks, blowhole defects are difficult to repair automatically than the above defects,
In the range of level 1, automatic repair is determined, and in levels 2 and 3 above, the standard is changed so that manual repair is performed. Undercuts and overlaps can occur on both sides as well as on one side.

Other defects tend to occur mainly at the center. When various types of defects are mixed, for example, the priority of repair may be in the order of welding cracks, blow holes, overlaps, undercuts, and irregular beads.
Instead of the depth h of the defect, for example, the size of the defect area A may be used as a reference for the repair determination. In addition, the welding of the finishing layer after the filling layer can be rigorous, as described above, for better quality results. In addition, even if the reference level is changed according to the welding material and required quality, the present invention is not affected at all.

FIG. 23 and FIG. 24 are schematic diagrams showing a defect position, an automatic repair range, and the like in each welding work of the fixed circular tube and the flat plate member. In this embodiment, when a defect to be repaired at an arbitrary position (point indicated by a circle) or when there are a plurality of defects to be repaired, a start position and an end position of each repair are respectively shown. I have.

In FIG. 23, the defect to be repaired is θx
At the position of 1 to θx5, and at the time of a single defect, repair welding (θs2 → θe2) is performed by the angle length including the surroundings before and after the defect position (θx3). From the initial position (θx1) to the end position of the defect group
Repair welding (θs2) up to the total angle length including the circumference of (θx2)
1 → θe1). The clockwise direction is the normal welding direction. In the drawing, the forward rotation repair range (θs to θe) indicates an area in which the posture changes from a downward attitude to a downward attitude, and the reverse rotation repair range indicates an area in which the upward attitude becomes. When defects to be repaired are scattered in the area of the upward posture, in order to improve the repair, the posture is changed in the reverse direction to perform repair welding (θs3 → θ
e3), the drive control of the welding control head and the output control of the welding power source are performed.

The repair welding (s1 → e1, s2 → e2) of the defect position (X1 to X5) of the flat plate member (the weld bead 100a of the designated pass) shown in FIG. 24 can be performed in the same manner as described above. In addition, if defects to be repaired occur frequently everywhere and the total repaired length is more than 70% of the total welding length, avoid repair welding operations that are repeated intermittently, and repair over the entire welding length. It is better to do it like welding. By selectively using the repair operation according to the position and the number of the defects in this manner, it is possible to reliably eliminate the defects and to shorten the operation time.

FIG. 25 is an embodiment showing a control block diagram of an important welding torch position in the automatic repair. In this embodiment, the position control data 28 and the defect correction position correction data 162 stored in the process of the welding control operation P6 are used to calculate the correction of the positional deviation of the torch position from the target value 161 and to calculate the position to be corrected. At 168, a torch position correction control command 166 is transmitted to the welding control head 4.

FIG. 26 shows an embodiment of the control result of the defect repair. The automatic repair of each defective portion and its surroundings (three places) can be appropriately performed while appropriately controlling the torch position by interpolation scanning. As described above, the defect can be reliably eliminated by the automatic repair, and the sound quality can ensure the welding quality.

[0077]

As described above, according to the present invention, not only the repair welding of a defective portion, which has been dependent on the advanced skill of a skilled welder, can be automated, but also the automatic welding of multi-layer welding can be performed. From control to quality inspection and defect determination for each pass welding,
There is an effect that determination of a repair method and welding control for defect repair can all be performed automatically. This high degree of automation has the effect of contributing not only to sound welding quality, but also to de-skilling, improvement of reliability and reduction of man-hours, as well as improvement of productivity and labor-saving by improving the equipment operation rate.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an automatic welding apparatus according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram showing an automatic welding apparatus according to another embodiment of the present invention.

FIG. 3 is a block diagram illustrating a configuration of a welding control panel according to the embodiment of the present invention.

FIG. 4 is an explanatory view showing an important construction procedure for multi-layer welding and repair welding when a defect occurs according to the present invention.

FIG. 5 is an explanatory view showing another procedure for performing multi-pass welding and repair welding when a defect occurs according to the present invention.

FIG. 6 is a sectional view showing a pass sequence and a target welding torch position in multi-pass welding.

FIG. 7 is a sectional view showing a welding state of a designated pass in multi-pass welding.

FIG. 8 is an explanatory diagram showing a current and a weaving operation in the welding shown in FIG. 7;

FIG. 9 is an explanatory diagram showing an execution procedure of the welding control operation shown in FIG.

FIG. 10 is an explanatory diagram showing an execution procedure of a welding defect detection operation and a defect determination recording process shown in FIG. 4;

11 is an explanatory diagram showing an execution procedure of a welding control operation and a welding defect detection operation shown in FIG.

FIG. 12 is an explanatory diagram showing a weaving operation and voltage detection.

FIG. 13 is an explanatory diagram showing an operation control flowchart in pulse arc welding of the weaving operation in FIG. 12.

14 is an explanatory diagram showing a control block diagram of a welding torch position in the left-right direction in the control of FIG. 13;

15 is an explanatory diagram showing a control block diagram of a welding torch position in a vertical direction in the control of FIG. 13;

FIG. 16 is a view showing a configuration of a welding and defect detection / combination sensor and related equipment of the automatic welding apparatus according to the present invention.

FIG. 17 is an explanatory diagram showing the contents detected by a welding and defect detection / combination sensor for controlling the position of a welding torch and controlling welding conditions;

FIG. 18 is a schematic diagram showing types of defects required for quality inspection of a welded portion and automatic repair of a weld defect and details of detection.

FIG. 19 is an embodiment of a control block diagram for performing scanning control of a welding torch position and correction control of welding conditions using detection information from a light-cut sensor.

FIG. 20 is an explanatory diagram showing a repair method determining process and an execution procedure of a repair welding control operation according to the embodiment of the present invention.

FIG. 21 is an explanatory diagram showing an image display of repair execution information during automatic repair of the execution procedure of FIG. 20;

FIG. 22 is an explanatory diagram showing the necessity of repair in the execution procedure of FIG. 20, and a reference value for determining whether to perform automatic repair or manual repair.

FIG. 23 is an explanatory diagram showing a defect position and an automatic repair range in fixed circular pipe welding in the execution procedure of FIG. 20;

FIG. 24 is an explanatory diagram showing a defect position and an automatic repair range in flat plate member welding in the execution procedure of FIG. 20;

FIG. 25 is an explanatory diagram showing a control block diagram of a welding torch position in the execution procedure of FIG. 20;

FIG. 26 is an explanatory diagram showing an example of a control result of defect repair in the execution procedure of FIG. 20;

[Explanation of Signs] 1a, 1b, 1c, 1d welding work, 2 groove joint,
3, 3b rail, 4 welding control head, 5 welding torch, 5a electrode, 6 horizontal drive shaft, 7 wire, 8 welding sensor, 9 defect sensor, 89 welding and defect detection Shared sensor, 10 welding power source, 11 welding control panel, 12 13a, 13b wiring, 14 axis drive unit, 15 operation panel, 16 screen display panel, 17 general control device, 18 welding information Computing device, 19 Defect detection computing device, 20 Automatic operation program, 21 Automatic operation program, 22 Weld path plan data, 23 Weld position /
Condition control unit, 24 ‥ welding control data file, 25 ‥ defect repair decision control unit, 26 ‥ defect repair data file, 2
7 ‥ Defect repair reference data file, 28 ‥ Position tracking control data file, 29 ‥ Create various recording data files,
31 ‥ welding condition setting command, 32 ‥ welding predetermined position moving command, 33 ‥ welding start / output command, 34 ‥ automatic welding operation status display, 35 ‥ each axis current position report request, 36 ‥ condition output value report request, 37 ° welding information detection command, 38 detection result report request, 39 ° torch position, correction calculation of welding conditions, 42, 70 ° misalignment correction command, 45 ° welding condition correction command, 52 ° welding control head Reverse movement command, 5
3 Defect detection operation status display, 55 Weld defect detection instruction, 57 Defect detection data information processing, 59 End / return return processing, 61 Laser projection, 62 Interference filter, 63 Camera, 64 Slit light, 65 ° laser projection / reception controller, 66 ° image processing device, 100 ° welding bead of specified path, 67 ° target value of torch position, 68 ° detection value of torch position, 69 ° correction calculation of position shift, 74 ‥ Target value of unwelded area, 75 ‥ Detected value of unwelded area, 76 ‥
Target value of weaving width, 77 ° detected value of weaving width, 78 ° current, voltage, correction calculation of weaving width, 7
9 ° current correction command, 80 ° speed, weaving width correction command, 121 ° defect determination and repair method determination processing, 12
2 ‥ Reference data file for defect repair, 124 ‥ Screen display of defect content, position, repair method, 125 ‥ When repair is unnecessary, 127 ‥ Automatic repair, 128 ‥ Manual repair, 129 ‥ Move repair position Command, 130 ‥ automatic repair start command, 131 ‥ automatic repair status display, 141 ‥ repair temporary stop processing, 146 ‥ manual repair request display, waiting for completion,
161 ‥ Target value of defect repair position, 162 ‥ Defect repair position correction data, 165 ‥ Position control data at the time of welding.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Noboru Saito 502 Kandate-cho, Tsuchiura-city, Ibaraki Pref. Machinery Research Laboratories, Hitachi, Ltd. Inside the Machinery Research Laboratory (72) Inventor Junichiro Morisawa 3-1-1, Sachimachi, Hitachi City, Ibaraki Prefecture Inside the Hitachi Plant, Hitachi, Ltd. (72) Eiji Hino Inventor 3-1-1, Sachimachi, Hitachi City, Ibaraki Stock Inside Hitachi, Ltd. Hitachi Plant (72) Inventor Kazuhiko Mizuguchi 3-1-1, Sachimachi, Hitachi-shi, Ibaraki Prefecture Inside Hitachi, Ltd. Hitachi Plant

Claims (5)

[Claims] 1. A welding control head capable of moving a welding torch up and down and right and left and reciprocating in a welding line direction, a welding power supply capable of supplying power and a wire to the welding torch, drive control of the welding control head, and welding. Using a power output control, information processing of welding conditions and position data, detection instructions and detection information processing of welding sensors and defect detection sensors, and a welding control device capable of comprehensively managing the components, a cylinder or cylinder In a method for performing automatic welding and defect repair of a groove joint formed of a member of a shape or a flat plate, based on detection information of displacement and a groove shape by the welding sensor, based on reference information of welding conditions and position data, 1
A first step of performing position control of a welding torch or correction control of welding conditions for each pass welding, and welding by a defect detection sensor when the welding control head is reversed during the welding process of the first step or after the end of welding. Performing a quality inspection of each part for each one-pass welding, processing the detected information to determine and record the presence / absence, type, size, and position of the defect; and repair welding based on the defect determination result. A third step of deciding whether or not to perform automatic repair or manual repair when necessary and repair, and at the time of the automatic repair, drive control of a welding control head and welding power supply so as to repair and weld a defective portion and its periphery. An automatic welding and defect repair method comprising: a fourth step of performing output control; and a fifth step of displaying a repair request by manual operation during the manual repair. 2. The method according to claim 1, wherein when repair is unnecessary and when repair welding is completed in the fourth step or the fifth step, a sixth step of updating the welding operation to the next pass is provided. An automatic welding and defect repairing method, comprising: a step of returning the welding control head and the automatic operation screen to an initial position and an initial screen when all the defect repairs are completed or are forcibly terminated halfway. 3. A welding control head capable of moving the welding torch up and down, left and right and reciprocating in a welding line direction, a welding power supply capable of supplying power to the welding torch and supplying wires, and drive control of the welding control head. Output control of welding power supply, information processing of welding condition and position data, detection information processing of welding sensor,
And an automatic welding apparatus including a welding control device that performs overall management of constituent devices, including a defect detection sensor, detection information of a displacement and a groove shape by the welding sensor, and reference information of welding conditions and position data. A first welding control processing means for performing position tracking control of a welding torch, correction control of welding conditions for each one-pass welding, and when the welding control head is reversely moved during or after the one-pass welding, First defect detection processing means for performing information processing of the detection output of the defect detection sensor, and defect determination recording means for determining and recording the presence / absence, type, size, and position of the defect based on the detection result of the first defect processing means And a repair method determining means for determining whether repair welding is necessary or not and whether to perform automatic repair or manual repair when necessary, based on the defect determination result, and the welding at the time of the automatic repair. An automatic welding apparatus comprising: first repair control processing means for performing drive control of a control head and output control of a welding power source; and manual repair request means for displaying a repair request by manual operation during manual repair. 4. A welding control head capable of moving a welding torch up and down, left and right and reciprocating in a welding line direction, a welding power supply capable of supplying power to the welding torch and supplying wires, drive control of the welding control head, and welding. An automatic welding apparatus comprising: a power supply output control; information processing of welding conditions and position data; detection information processing of a welding sensor; and a welding control device that performs overall management of constituent devices. Welding control process for performing position tracking control of a welding torch and correction control of welding conditions for each one-pass welding using detection information of a positional deviation and a groove shape by a sensor for welding, and reference information of welding conditions and position data. Means and a first defect detection processing means for performing information processing of the detection output of the defect detection sensor when reversing the welding control head after or after the one-pass welding process. Steps and
From the output of the first defect detection processing means, the presence / absence, type,
Defect determination recording means for determining and recording the size and position;
A repair method determining means for determining whether repair welding is necessary or not and whether to perform automatic repair or manual repair when necessary based on the defect determination result, and drive control of the welding control head and welding power supply during the automatic repair. First repair control processing means for performing output control; manual repair request means for displaying a repair request by manual operation during the manual repair; welding for the next pass when repair is unnecessary and when repair of a defective portion is completed. Welding update processing means for updating to operation, and welding initial processing means for returning the welding control head and the automatic operation screen to the initial position and the initial screen when all the multi-pass welding and defect repair are completed or forcibly terminated in the middle. Automatic welding equipment characterized by having a. 5. A welding control head capable of moving a welding torch up and down, left and right and reciprocating in a welding line direction, a welding power supply capable of supplying power to the welding torch and supplying a wire, driving control of the welding control head, and welding. An automatic welding apparatus including a power supply output control, information processing of welding conditions and position data, detection information processing of a welding sensor, and a welding control device that performs overall management of constituent devices, comprising: a defect detection sensor; The welding sensor and the defect detection sensor are a laser projector that irradiates a slit-shaped light to the surface with the groove joint or the weld bead or an oscillating laser projector that irradiates and oscillates a spot-shaped light, and its laser. An optical sensor equipped with a camera that captures a reflection image, and an optical cutting image obtained from this optical sensor located at a position near a welding torch where a groove joint or welding bead is located. From the image, a welding detection program to extract the detection information such as groove shape and misalignment and an image processing apparatus incorporating both a defect detection program to extract and process the defect information of the weld bead surface, further comprising Correction calculation of welding torch position, scanning control, welding speed and welding speed for each pass welding based on the reference information of welding conditions and position data, and the detection information of groove shape and positional deviation by the optical sensor and image processing device. Second welding control processing means for performing correction calculation of the welding current and the weaving width and performing the condition correction control in real time;
When the welding control head is reversely moved after the completion of the pass welding, a detection command of the optical sensor and the image processing device, a second defect detection processing unit that performs information processing of defect detection in real time, and A defect discrimination recording means for discriminating and recording the presence / absence, type, size, and position of a defect, and, based on the result of the defect discrimination, whether repair welding is required and whether repair should be performed automatically or manually when necessary. Repair method determining means, first repair control processing means for performing drive control of the welding control head and output control of a welding power source so as to repair and weld a defective portion and its periphery at the time of the automatic repair, and manually at the time of the manual repair. An automatic welding apparatus comprising a manual repair request means for displaying a repair request by an operation.