JP2013132652A - Copying welding apparatus and copying welding method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce man-hours compared with manual teaching and to reduce faults caused by a teaching error in the case of applying a conventional measuring method in fillet welding or end (edge) welding.SOLUTION: In measuring operation, while a radial moving part 4 moves a welded member 100 in an R-axis direction, a displacement gage 3 measures the amount of displacement in a Z-axis direction to detect the outer peripheral edge of a large diameter member 101. A control part 8 adds a predetermined offset amount to the position coordinates of the radial moving part 4 when detecting the outer peripheral edge, to obtain the weld part position of the welded member 100. In welding operation, the control part 8 controls the R-axis direction position of the radial moving part 4 following the weld part position while rotating a rotary table 1, and keeps constant a distance from a welding torch 2 to the weld part of the welded member 100 to perform welding.

Description

  The present invention relates to a copy welding apparatus and a copy welding method for welding according to the shape of a member to be welded measured with a displacement meter.

  When performing copy welding using a robot, the operator manually moves the welding torch to the welded part of the member to be welded and visually confirms that the electrode of the welding torch is properly installed on the welded part. By doing so, the robot was taught the position of the weld. When the electrode position of the welding torch is shifted, a defective product may be produced. Therefore, each time the member to be welded is replaced, the operator has to teach the position of the welded portion by manual operation.

  Also, if the welded part of the member to be welded and the electrode of the welding torch are too close or too far apart, the welding arc may become unstable, resulting in poor welding, so the distance between the welded part and the electrode is always constant. Had to keep on. Conventionally, for example, when circular members having the same outer diameter are butted together in the axial direction and the outer periphery thereof is welded, the amount of radial displacement is measured by a displacement meter while rotating these circular members, and the amount of radial displacement is determined according to the amount of radial displacement. Thus, the electrode position of the welding torch was moved in the radial direction to keep the distance from the welded portion on the outer periphery of the circular member constant (see, for example, Patent Documents 1 to 3).

JP-A-9-103880 Japanese Patent Laid-Open No. 10-156538 JP-A-6-645

  However, with respect to the case where two circular members having different outer diameters are fillet welded or end welded (edge) welded, the displacement measurement as in Patent Documents 1 to 3 is unsuitable, and there is a teaching error in the position of the weld. It may occur. Hereinafter, this problem will be described with reference to FIG.

FIG. 8 is a diagram for explaining a method of measuring the position of a weld using a conventional profiling welding apparatus, and shows an example of fillet welding. The member to be welded is formed by superimposing a cylindrical large-diameter member 101 and a disk-shaped small-diameter member 102 in the Z-axis direction, and the welded portion position R is a predetermined offset from the outer peripheral end position R ′ of the large-diameter member 101. It is located inside by an amount ΔR. In the profiling welding apparatus according to Patent Documents 1 to 3, when the outer peripheral end position R ′ is measured by the displacement meter 102 while rotating around the Z axis, the outer peripheral end position R ′ and the height in the Z axis direction are displacement in the vicinity of the height position Z _a comprising the same is difficult to measure directly because it does not stabilize, indirectly it is necessary to measure near the height position Z _B away from the outer end position R '.
Further, since the distance from the displacement meter 103 to the large-diameter member 101 is measured, it is easily influenced by the measurement accuracy and mounting accuracy of the displacement meter 103, and the measurement error tends to increase. For this reason, a teaching error in the position of the welded portion is likely to occur, resulting in welding failure.

  The present invention has been made to solve the above-described problems, and reduces defects in welding due to teaching errors in fillet welding or edge (edge) welding that could not be handled by conventional measurement methods. The purpose is to reduce man-hours compared to manual teaching.

  The copying welding apparatus according to the present invention includes a rotary table that rotates a member to be welded formed by concentrically arranging two circular members having different outer diameters around a central axis of the member to be welded, and an outermost periphery of the member to be welded. A welding torch that welds near the boundary between the two circular members, and a displacement amount in the axial direction while moving in a radial direction with respect to the member to be welded, and the displacement amount becomes equal to or greater than a predetermined threshold value. A displacement meter that outputs a detection signal at the time, a radial moving portion that changes the radial position of the welded member relative to the welding torch and the displacement meter, and a radial movement portion when the detection signal is output from the displacement meter The position of the welded portion of the member to be welded is obtained based on the position of the radial direction of the welding member, and the position of the radial direction of the radially moving portion is controlled to follow the position of the welded portion while rotating the rotary table to Distance to the weld In which a control unit for performing welding kept constant.

  According to the present invention, when a member to be welded consisting of two circular members having different outer diameters, which cannot be handled by the conventional measuring method, is welded by fillet welding or end (edge) welding, the amount of axial displacement Since the position of the welded portion is obtained based on the position of the radially moving portion when becomes equal to or greater than the threshold value, it is possible to reduce welding defects due to teaching errors. Further, the man-hour can be reduced as compared with manual teaching.

FIG. 1 (a) is a plan view and FIG. 1 (b) is a front view showing a measurement state of the profile welding apparatus according to Embodiment 1 of the present invention. FIG. 2A is a plan view and FIG. 2B is a front view showing a welding state of the profile welding apparatus according to the first embodiment. It is a figure explaining the measurement operation | movement of the profile welding apparatus which concerns on Embodiment 1, and shows the case of fillet welding. It is a figure which shows the measurement result of the outer peripheral end position by the profiling welding apparatus which concerns on Embodiment 1. FIG. It is a figure which shows the calculation result of the welding part position by the profiling welding apparatus which concerns on Embodiment 1. FIG. 6 is a graph for explaining an interpolation operation of the profile welding apparatus according to the first embodiment. It is a figure explaining the measurement operation | movement of the copying welding apparatus which concerns on Embodiment 1, and shows the case of edge part (edge) welding. It is a figure explaining the measuring method of the welding position using the conventional copying welding apparatus.

Embodiment 1 FIG.
1A and 2A are plan views showing the profile welding apparatus according to the first embodiment of the present invention, and FIGS. 1B and 2B are front views. 1 shows a state in which the shape of the member to be welded 100 is being measured, and FIG. 2 shows a state in which the member to be welded 100 is welded.
In this copying welding apparatus, a rotating table 1 that mounts a member to be welded 100 and rotates in the θ direction around a Z axis that is a central axis of the member to be welded 100, a welding torch 2, and a Z of the member to be welded 100 A displacement meter 3 for detecting displacement in the axial direction, a radial moving part 4 for moving the rotary table 1 in the R-axis direction (radial direction) with respect to the welding torch 2 and the displacement meter 3, a welding torch 2 and a displacement meter 3 Is moved in the Z-axis direction, the torch rotating unit 6 that changes the attitude of the welding torch 2, and the displacement meter 3 is moved in the X-axis direction orthogonal to the Z and R axes to be measured or retracted And a control unit 8 for controlling the operation of each part and performing copying welding.

1 and 2 includes a cylindrical large-diameter member 101 and a disk-shaped small-diameter member 102 whose outer diameter is smaller than that of the large-diameter member 101. The small diameter member 102 is overlapped on the large diameter member 101 in the axial direction, and the outer periphery of the small diameter member 102 is welded to the upper end surface of the large diameter member 101 (so-called fillet welding) to be integrated.
In addition to the illustrated example, for example, a combination of a disk-shaped large-diameter member 101 and a small-diameter member 102 may be used.

In the profiling welding apparatus, the rotary table 1 positions and holds the large-diameter member 101 and the small-diameter member 102 and rotates them in the θ direction around the Z axis that is the central axis of these members. The turntable 1 is installed on the radial direction moving unit 4 and can move in the R-axis direction.
When measuring the shape of the member to be welded 100, the radial direction moving unit 4 moves the rotary table 1 to the measurement position shown in FIG. 1 and enters the welded part of the member to be welded 100 into the sensing region of the displacement meter 3. On the other hand, when welding, the rotary table 1 is moved to the welding position shown in FIG. 2, and the welded portion of the member to be welded 100 is arranged at a predetermined distance from the welding torch 2.

The welding torch 2 is for arc welding such as TIG welding, and includes a welding electrode 2a on the tip side. The other electrode is not shown.
The torch rotating part 6 can rotate the angle θ ′ around the tip of the electrode 2 a of the welding torch 2 to adjust the angle of the welding torch 2 with respect to the welded part of the welded member 100. In the example of FIGS. 1 and 2, the welding torch 2 is inclined by θ ′ = 45 ° with respect to the surface of the turntable 1 for fillet welding. In the case of end (edge) welding described later, the welding torch 2 is set to θ ′ = 90 ° with respect to the surface of the turntable 1.

The displacement meter 3 irradiates a spot light such as a laser beam toward the member to be welded 100 on the rotary table 1 from the upper side, measures the amount of displacement in the Z-axis direction of the member to be welded 100 based on the reflected light, It is a sensor that detects the outer peripheral end of the large-diameter member 101 or the small-diameter member 102. The displacement meter 3 outputs a signal indicating that the outer peripheral edge has been detected to the control unit 8 when the amount of displacement in the Z-axis direction exceeds a predetermined threshold value.
The displacement meter moving unit 7 can move the displacement meter 3 in the X-axis direction. When measuring the shape of the welded member 100, the displacement meter moving unit 7 holds the displacement meter 3 at the measurement position shown in FIG. Retracts the displacement meter 3 to the retracted position shown in FIG.

  A torch rotating unit 6 that holds the welding torch 2 and a displacement meter moving unit 7 that holds the displacement meter 3 are fixed to the axially moving unit 5. These welding torch 2, torch rotating unit 6, and displacement meter 3 and the displacement meter moving unit 7 can be moved in the Z-axis direction.

  The control unit 8 controls the entire copying welding apparatus according to a program given in advance. The rotation amount of the rotating means (the rotary table 1 and the torch rotating unit 6), the moving means (the radial direction moving unit 4, the axial movement) The movement amounts of the unit 5 and the displacement meter moving unit 7) are respectively controlled. Further, an outer peripheral end detection signal is input from the displacement meter 3 to the control unit 8.

  For example, in TIG welding, the welding torch 2 needs to be positioned at about ± 0.1 mm with respect to the welded portion of the member to be welded 100. Since there are variations in the shape of the member to be welded 100, positioning errors when the member to be welded 100 is installed on the turntable 1, etc., each time a new member to be welded 100 is welded, the position of the welded portion is measured and welded. Sometimes it needs to be reproduced.

First, the measurement operation of the copying welding apparatus will be described.
FIG. 3 is a diagram for explaining the measurement operation, and the rotating means and moving means are not shown. In FIG. 3, the welded portion position R is a position coordinate in the R-axis direction where the large diameter member 101 and the small diameter member 102 are welded, the outer peripheral end position R ′ is the position coordinate of the outer peripheral end of the large diameter member 101, and the offset amount ΔR is the outer peripheral end. This is the distance in the R-axis direction from the position R ′ to the weld position R. The offset amount Δr is a distance in the R-axis direction from the projection spot of the displacement meter 3 to the electrode 2a of the welding torch 2, and is a fixed value. The offset amount ΔZ is a distance in the Z-axis direction from the welded portion position R to the electrode 2a of the welding torch 2.

  In the case of fillet welding, a position inside the outer peripheral end position R ′ of the large-diameter member 101 by an offset amount ΔR is the weld position R. Since welding conditions vary depending on the diameter of the member to be welded 100 and the like, offset values ΔR and ΔZ are given in advance to the control unit 8 for each member 100 to be welded.

At the start of measurement, the large-diameter member 101 and the small-diameter member 102 are installed on the rotary table 1 in an aligned state. As shown in FIGS. 1 and 3, the control unit 8 controls the displacement meter moving unit 7 to move the displacement meter 3 to the measurement position, and also controls the radial direction moving unit 4 to control the rotary table 1 and the member to be welded. 100 is moved to the measurement position, and the member to be welded 100 is arranged in the sensing area of the displacement meter 3.
Further, the control unit 8 controls the torch rotating unit 6 to incline the welding torch 2 to θ ′ = 45 ° and also controls the axial direction moving unit 5 to control the Z axis from the electrode 2a to the welded part position R. The direction distance is set to the offset amount ΔZ.

Subsequently, the control unit 8 controls the rotary table 1 and welds at 8 points of 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, and 315 ° every θ = 45 °. The rotation of the member 100 is stopped, and the measurement by the displacement meter 3 is performed at each angle.
For example, when θ = 0 °, the control unit 8 controls the radial direction moving unit 4 to move the member to be welded 100 in the R-axis direction. During this movement, the displacement meter 3 measures the height in the Z-axis direction while relatively moving from the outer peripheral side to the inner peripheral side of the welded member 100, and when the measured value exceeds a predetermined threshold value, it is determined as the outer peripheral end. And outputs an outer edge detection signal.
Then, the control unit 8 sets the position coordinates of the R-axis direction of the radial movement unit 4 when the displacement meter 3 has output peripheral end detection signal to the outer circumferential end position R _'0 of θ = 0 °.

In this way, the control unit 8 has eight outer peripheral end positions R ′ ₀ , R ′ ₄₅ , R ′ ₉₀ , R ′ ₁₃₅ , R ′ ₁₈₀ , R ′ ₂₂₅ , R ′ ₂₇₀ of θ = 0 ° to 315 °. , R ′ ₃₁₅ is acquired. FIG. 4 shows the measurement result of the outer peripheral end position R ′. For the ideal perfect circle-shaped large-diameter member 101 and small-diameter member 102, the eight outer peripheral end positions R ′ are actually measured values.

Further, the control unit 8 calculates a welded portion position R = (R ′ + ΔR) from the measured outer peripheral end position R ′ and the offset amount ΔR given in advance, so that eight welded portion positions R ₀ , R ₄₅ , The coordinates of R ₉₀ , R ₁₃₅ , R ₁₈₀ , R ₂₂₅ , R ₂₇₀ , and R ₃₁₅ are obtained. FIG. 5 shows the calculation result of the weld position R. Incidentally, during the welding portion position _{R 0} and _{R 45,} between _{R 45} and _{R 90,} between _{R 90} and _{R 135,} between _{R 135} and _{R 180,} between _{R 180} and _{R 225, R 225} and _{R 270} For the track between R ₂₇₀ and R ₃₁₅ , the controller 8 may perform an interpolation operation during welding. This interpolation operation will be described later.

4 and 5, the outer peripheral end position R ′ and the welded part position R are expressed more seriously than actual in order to explain the operation of the copying welding apparatus.
In the first embodiment, it is not necessary to measure the exact distance in the R-axis direction from the displacement meter 3 to the outer peripheral end position R ′, and it is only necessary to detect the outer peripheral end position R ′. Can be low. In addition, since the outer peripheral end position R ′ can be obtained directly from the detection timing of the outer peripheral end position R ′, the position measurement accuracy is approximately the same as the positional accuracy of the radial movement unit 4.

Next, the welding operation based on the measurement result will be described.
At the start of welding, as shown in FIG. 2, the control unit 8 controls the displacement meter moving unit 7 to move the displacement meter 3 to the retracted position. Further, the control unit 8 controls the radial direction moving unit 4 to move the rotary table 1 and the member to be welded 100 by the offset amount Δr (FIG. 3), and also controls the axial direction moving unit 5 to control the welding torch 2. The electrode 2a of the welding torch 2 is arranged so as to have a predetermined positional relationship with respect to the welded portion of the member to be welded 100 by moving a predetermined amount downward in the Z-axis direction.

  Subsequently, the control unit 8 causes a current to flow between the electrode 2a of the welding torch 2 and the other electrode (not shown) to cause arc discharge between the electrode 2a and the member to be welded 100, and thereby the large diameter member 101 and the small diameter member 102. Start fillet welding. While rotating the rotary table 1 in the θ direction, the control unit 8 moves the radial direction moving unit 4 in the R-axis direction based on the welded portion position R so as to synchronize with the rotation. Thereby, the electrode 2a of the welding torch 2 can be favorably welded while maintaining a constant distance with respect to the welded portion of the member 100 to be welded.

Here, the trajectory interpolation operation between the eight weld positions R will be described with reference to FIG.
The horizontal axis of the graph represents the rotation angle θ of the turntable 1 = 0 ° to 315 °, and the vertical axis represents the positional relationship corresponding to the welded portion positions R _{0 to} R ₃₁₅ of the welded member 100 at each rotation angle θ.
For example θ = 0 ° ~45 ° period, the control unit 8 is rotated at a constant speed rotary table 1 in the theta direction, the radial movement unit 4 in synchronization with the rotation from the weld location R ₀ to R ₄₅ Move at constant speed. Thus, the trajectory of the weld position R ₀ to R ₄₅ is circular interpolation, the welding torch 2 can be welded along the bold line shown in FIG.
In this way, the control unit 8 has θ = 0 ° to 45 °, 45 ° to 90 °, 90 ° to 135 °, 135 ° to 180 °, 180 ° to 225 °, 225 ° to 270 °, 270 ° to Welding is performed while circularly interpolating the tracks of 315 °, 315 ° to 360 ° (0 °).
The interpolation operation is not limited to circular interpolation, and may be linear interpolation or the like.

  In the above description, the outer peripheral end position R ′ is measured at eight points every θ = 45 °. However, the present invention is not limited to this, and a plurality of outer peripheral end positions R ′ may be measured at an arbitrary angle θ. By reducing the number of measurement points, the measurement time can be reduced and the measurement data can be reduced.

  In the above description, the welded portion position R is obtained based on the outer peripheral end position R ′ of the large-diameter member 101. However, the present invention is not limited to this. For example, the outer peripheral end of the small-diameter member 102 (that is, the large diameter member It is also possible to obtain the welded portion position R outside the outer peripheral end position by a predetermined offset amount by detecting the boundary between the member 101 and the small diameter member 102).

Next, end (edge) welding will be described.
FIG. 7 is a diagram for explaining the measurement operation during end (edge) welding, and the rotating means and moving means are not shown. In the case of end (edge) welding, the welding torch 2 is set to θ ′ = 90 °. In FIG. 7, a member to be welded 100 is formed by nesting a cylindrical large-diameter member 101 and a cylindrical small-diameter member 102 having an outer diameter smaller than that of the large-diameter member 101. In this case, the welded portion position R is positioned at an inner side than the outer peripheral end position R ′ of the large-diameter member 101 by an offset amount ΔR (that is, the thickness of the large-diameter member 101).

The displacement meter 3 detects the outer peripheral end of the large-diameter member 101 while relatively moving in the R-axis direction, and the control unit 8 detects the position coordinates (outer peripheral end position R in the R-axis direction of the radial moving unit 4 at the time of detection. '), The weld position R is determined inward by a predetermined offset amount ΔR.
Alternatively, the displacement meter 3 detects a dip (a position corresponding to R in FIG. 7) after detecting the outer peripheral end position R ′ of the large-diameter member 101, and the control unit 8 directly changes the dip position to the welded part position R. It may be used. In this case, this is equivalent to the offset amount ΔR = 0.
Alternatively, the displacement meter 3 detects the inner peripheral end of the small-diameter member 102, and the control unit 8 moves the welded portion position R outward by a predetermined offset amount from the position coordinate in the R-axis direction of the radial movement unit 4 at the time of detection. You may ask for.

  As described above, according to the first embodiment, the profiling welding apparatus performs fillet welding on a member to be welded 100 formed by concentrically stacking a cylindrical large-diameter member 101 and a disk-shaped small-diameter member 102. With respect to the member to be welded 100, a rotary table 1 that rotates the member to be welded 100 about the Z axis, a welding torch 2 that is welded near the boundary between the outer peripheral end of the large-diameter member 101 and the small-diameter member 102. The displacement meter 3 which measures the amount of displacement in the Z-axis direction while moving in the R-axis direction, detects the outer peripheral end of the large-diameter member 101 and outputs an outer peripheral end detection signal, and the welding torch 2 and the displacement meter 3 to be welded A predetermined offset in the position coordinate (outer end position R ′) of the radial direction moving unit 4 that changes the position of the member 100 in the R-axis direction and the outer peripheral end detection signal output from the displacement meter 3 Add the amount ΔR to be welded The welded part position R of the material 100 is obtained, the position of the radial movement part 4 in the R-axis direction is controlled following the welded part position R while rotating the turntable 1, and the welded member 100 is welded from the welding torch 2. And a control unit 8 that performs welding while maintaining a constant distance to the unit. For this reason, in the case of fillet welding that could not be handled by the measurement methods of Patent Documents 1 to 3, welding can be performed while keeping the distance between the welding torch 2 and the welded portion position R constant according to the measurement result of the displacement meter 3. As a result, it is possible to reduce welding defects due to teaching errors. Further, the man-hour can be reduced as compared with manual teaching.

  In addition, according to the first embodiment, the profiling welding apparatus also uses the displacement meter 3 even when the welded member 100 formed by nesting the cylindrical large-diameter member 101 and the small-diameter member 102 is end (edge) welded. A predetermined offset amount ΔR is added to the position coordinates (outer peripheral end position R ′) of the radial direction moving part 4 when the outer peripheral end detection signal is output from the rotary table 1 to obtain the welded part position R of the member 100 to be welded. The position in the R-axis direction of the radial direction moving part 4 is controlled following the welded part position R while rotating, so that the distance from the welding torch 2 to the welded part of the welded member 100 is kept constant. Configured. For this reason, the distance between the welding torch 2 and the welded portion position R is kept constant according to the measurement result of the displacement meter 3 in the case of edge (edge) welding that cannot be handled by the measurement methods of Patent Documents 1 to 3 above. Welding can be reduced, and welding defects due to teaching errors can be reduced. Further, the man-hour can be reduced as compared with manual teaching.

  Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to the configuration of the above-described embodiment, and the design does not depart from the gist of the present invention. Needless to say, changes and the like are included in the present invention.

  For example, in Embodiment 1 described above, a circular member is taken as an example of the member to be welded 100, but the present invention is not limited to this. For example, a polygonal cylindrical member with rounded corners, It may be a member to be welded composed of a square plate-shaped member, or a member to be welded composed of a polygonal cylindrical member having rounded corners and a polygonal cylindrical member having a homologous and small diameter. Good. In the case of a polygon, in order to perform good welding, it is preferable to increase the number of measurement points at the outer peripheral end of the corner portion compared to the outer peripheral end of the side portion.

  Further, during the measurement operation, the displacement meter 3 is configured to detect the outer peripheral edge while relatively moving from the outer peripheral side to the inner peripheral side of the member to be welded 100. Conversely, the displacement meter 3 is configured to move from the inner peripheral side to the outer peripheral side. May be.

  Moreover, although the radial direction moving part 4 moved the turntable 1 to the R-axis direction, it was set as the structure which changes the position of the R direction of the radial direction moving part 4 with respect to the torch 2 to be welded and the displacement meter 3, but the opposite Alternatively, the rotary table 1 may be fixed, and the radial movement unit 4 may move the welding torch 2 and the displacement meter 3 in the R-axis direction.

DESCRIPTION OF SYMBOLS 1 Rotary table 2 Welding torch 2a Electrode 3 Displacement meter 4 Radial direction moving part 5 Axial direction moving part 6 Torch rotating part 7 Displacement meter moving part 8 Control part 100 To-be-welded member 101 Large diameter member 102 Small diameter member 103 Displacement meter

Claims (8)

A rotating table that rotates a member to be welded formed by concentrically arranging two circular members having different outer diameters around the central axis of the member to be welded;
A welding torch for welding the vicinity of the boundary between the two circular members inside the outermost periphery of the member to be welded;
A displacement meter that measures an axial displacement amount while moving in a radial direction with respect to the welded member, and outputs a detection signal when the displacement amount is equal to or greater than a predetermined threshold;
A radial direction moving part for changing a radial position of the welded member with respect to the welding torch and the displacement meter;
Based on the radial position of the radial movement part when the detection signal is output from the displacement meter, the welded part position of the welded member is obtained, and the position of the welded part is followed while rotating the rotary table. A copying welding apparatus comprising: a control unit configured to perform welding while controlling a radial position of the radial moving unit to maintain a constant distance from the welding torch to a welded part of the welded member. The member to be welded is composed of a cylindrical large-diameter member and a disk-shaped small-diameter member whose outer diameter is smaller than that of the large-diameter member.
The profiling welding apparatus according to claim 1, wherein the control unit sets a position near a boundary with the small-diameter member inside the outer peripheral end of the large-diameter member. The member to be welded is formed by nesting a cylindrical large-diameter member and a cylindrical small-diameter member having an outer diameter smaller than that of the large-diameter member,
The profiling welding apparatus according to claim 1, wherein the control unit sets a position near a boundary with the small-diameter member inside the outer peripheral end of the large-diameter member. The displacement meter detects the outer peripheral edge of the large-diameter member and outputs a detection signal.
The control unit obtains a welded part position by adding a predetermined offset amount to a radial position of the radial direction moving part when a detection signal is output from the displacement meter. 3. The copying welding apparatus according to 3. The displacement meter detects the boundary between the small diameter member and the large diameter member, and outputs a detection signal.
The control unit obtains a welded part position by adding a predetermined offset amount to a radial position of the radial direction moving part when a detection signal is output from the displacement meter. 3. The copying welding apparatus according to 3. The displacement meter detects the inner peripheral edge of the small diameter member and outputs a detection signal,
4. The copying apparatus according to claim 3, wherein the control unit obtains a welded portion position by adding a predetermined offset amount to a radial position of the radial moving portion when a detection signal is output from the displacement meter. Welding equipment.   The radial direction moving part changes the position so that the displacement meter measures the amount of axial displacement while moving inward from the outermost peripheral side of the member to be welded. The copying welding apparatus according to any one of the above.   8. The control unit according to claim 1, wherein the control unit obtains a welded part position at each of a plurality of rotation angles in the member to be welded, and interpolates a trajectory between the welded part positions. Copying welding equipment.

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