JPH08267240A - Automatic welding equipment - Google Patents

Abstract

PURPOSE: To achieve the sound welding by turning a welding torch toward a horizontal joint in a horizontal plane by the prescribed angle by detecting the shape of the groove of the horizontal joint by a joint detecting means, and controlling the torch target position, the welding wire feeding speed, and the welding conditions by a control device. CONSTITUTION: The shape of the groove and the welding arc point are photographed by a joint detecting means 16, and the image processing is performed to calculate the torch target position, the wire feeding speed, and the welding conditions are calculated. When the torch targeting position moves in the longitudinal direction of the joint, the traveling position of a welding equipment main body 2, a longitudinal moving means 12, and a horizontal turning means 14 are controlled so that a welding torch 3 is always turned toward the horizontal joint in the horizontal plane by the prescribed angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for welding a thick plate such as a blast furnace iron skin, and more particularly to an automatic welding apparatus for automatically performing welding such as a sideways-positioned die groove or K-shaped groove. It is about.

[0002]

2. Description of the Related Art Since the strength of the furnace body of a blast furnace depends on the strength of the steel shell, it is desired to perform high-quality steel shell welding in the blast furnace repair work. However, in recent years, it is difficult to secure a skilled welder, and since the blast furnace iron shell is a thick plate, the steel shell welding is being automated in order to make the welding quality uniform and improve the welding efficiency.

Conventionally, as this type of automatic welding apparatus, "circumferential joint welding apparatus for blast furnace" disclosed in Japanese Patent Publication No. 6-81666 (hereinafter referred to as "reference example").
There is an invention related to.

In this reference, "a guide rail mounted substantially parallel to a joint welding line in the circumferential direction of a blast furnace for multi-layer welding, suspended from the guide rail, movable along the guide rail, and A welding head configured such that at least the welding torch trajectory during the final welding after the welding of the first layer is performed by manual copying, and the subsequent welding torch can be moved toward and away from the torch trajectory and the required angle can be adjusted. A machine part, a wire supply device that moves integrally with the weld head machine part while being guided by a guide rail, and supplies a welding wire to the welding torch, and a welding head machine part, a wire supply device, and a control cable. RA for storing the connected control unit, welding power supply device, remote control box, and welding torch locus at the time of final welding in the above-mentioned manual copying
The present invention is made up of "comprising M".

That is, the welding apparatus of the cited example stores the welding torch locus at the time of the final welding in the manual copying in the RAM, and performs the automatic welding construction using the previous layer data in the subsequent layers. As the data, the positional conditions of the plate thickness (front-back) direction, the vertical direction (direction perpendicular to the welding line), and the torch vertical angle (tilt angle) are stored in the RAM.

[0006]

By the way, in the automatic welding apparatus of the cited example, the welding torches of the next and subsequent layers are adjusted to the contact / separation / elevation and the angle based on the welding torch trajectory at the time of manual copying and final welding. ing. In this way, the angle adjustment of the welding torch is performed only at the vertical angle, that is, within the vertical plane, so if there is an error in the curvature between the blast furnace shell and the guide rail,
There is a problem that the welding torch is tilted in the horizontal plane and sound welding cannot be performed.

Therefore, when the iron shell diameter of the blast furnace to be refurbished differs, it is necessary to prepare several kinds of guide rails having different curvatures, and it is necessary to accurately attach the guide rails. Therefore, the repair work cost will increase.

In view of the above problems, an object of the present invention is to adjust the angle of the welding torch not only in the vertical plane but also in the horizontal plane, so that the welding torch is always kept in the horizontal plane with respect to the lateral joint of the workpiece. An object of the present invention is to provide an automatic welding device capable of performing sound welding at a predetermined angle.

[0009]

In order to achieve the above object,
The automatic welding apparatus according to the present invention includes a traveling rail installed along a lateral joint of a workpiece, a welding machine body that moves along the traveling rail while supporting a welding torch, before welding, and during welding. An automatic welding device comprising a joint detecting means for detecting a groove shape of the lateral joint and a control device for controlling one or more of a welding torch target position, a welding wire feeding speed and welding conditions. In the main body of the welding machine, there is a forward / backward moving means for moving the welding torch in the plate thickness direction of the object to be welded, a vertical moving means for moving the welding torch in the vertical direction, and the welding torch is rotated in a horizontal plane. There are provided a horizontal rotating means for rotating the welding torch and a vertical rotating means for rotating the welding torch within a vertical plane.

In the above structure, preferably, the joint detecting means irradiates a laser beam toward the joint groove, a laser light transmitter, a CCD camera for capturing a laser cut image of the groove, and the captured cut image. And an image processing apparatus that obtains a groove shape by image processing.

Further, preferably, the control device stores a groove shape detected by the joint detecting means before welding, and a groove shape stored by the memory means.
During welding, the groove shape detected by the joint detecting means is compared, and based on the comparison value, one or two or more kinds of control amounts of the welding torch target position, welding wire feeding speed and welding condition are calculated. And a calculation means.

Further, preferably, the traveling rail is
It is supported on a traveling rail mount so as to be vertically movable.

[0013] Preferably, the traveling rail mount includes a rail forward / backward moving means for moving a traveling rail supported on the traveling rail stand to and away from an object to be welded, a vertical rail moving means for vertically moving the rail, and a longitudinal direction thereof. And a rail advancing / retracting means for moving to.

[0014]

According to the above construction, the main body of the welding machine moves along the traveling rail, the joint detecting means detects the groove shape of the lateral joint before and during the welding, and the control device detects the detection result. Based on this, one or more of the torch target position, the welding wire feeding speed, and the welding conditions are controlled.

The torch aiming position is adjusted by adjusting the welding torch position in the groove depth direction by the front-rear moving means and adjusting the vertical welding torch position by the up-down moving means to horizontally tilt the welding torch in the horizontal plane. The tilting of the welding torch in the vertical plane is controlled by adjusting the moving means and adjusting the inclination of the welding torch in the vertical plane. The welding conditions include welding current, welding voltage, and welding speed (travel speed of the welding machine body).
Etc., and there is a relationship in which the welding wire feeding speed increases and decreases as these values increase and decrease.

Therefore, the control device controls one or more of the welding torch aiming position, the welding wire feeding speed, and the welding condition based on the detection result of the joint detecting means, so that these are properly controlled. It is a maintenance and sound welding that is done automatically.

In particular, if the joint detecting means is composed of a laser light transmitter, a CCD camera and an image processing device,
Laser light is emitted from the laser light transmitter toward the joint groove, and a laser cut image of the groove is taken by a CCD camera,
It is possible to accurately grasp the groove shape by performing image processing on the captured cut image by the image processing device to obtain the groove shape.

Further, the control device has a storage means and a calculation means. First, the joint detecting means detects the groove shape before welding and stores the groove shape in the storage means. Next, the computing means stores the stored groove shape before welding,
The groove shape during welding detected by the joint detecting means is compared, and based on the comparison value, one or more control amounts of the welding torch target position, the welding wire feeding speed, and the welding condition are calculated. Therefore, the control device appropriately controls the welding torch target position, the welding wire feeding speed, and the welding condition based on the calculated control amount, so that a healthy welding is automatically performed without being affected by the welding deformation. It is done.

Further, the traveling rail is supported by a traveling rail mount, and the traveling rail mount is moved vertically by rail front-rear moving means for bringing the traveling rail supported by the traveling rail into and out of contact with an object to be welded. It has rail up-and-down moving means for moving the rail and rail moving means for moving the rail in the longitudinal direction. Therefore, the traveling rail can be installed along the sideways joint of the object to be welded without temporarily attaching the traveling rail to the object to be welded, so that the occurrence of defects due to the temporary attachment can be prevented. Further, even when the traveling rail is temporarily attached to the object to be welded, it is possible to easily set the position of the traveling rail with respect to the lateral joint.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the automatic welding apparatus according to the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing the overall configuration of an embodiment of an automatic welding apparatus according to the present invention. Welder body 2 of this automatic welding device 1
Is configured to travel along the traveling rail 4 while supporting the welding torch 3.

The traveling rail 4 includes two rails 4a,
4b is connected and is installed substantially parallel to the lateral joint of the object to be welded (not shown). Therefore, the welder body 2
Will travel substantially horizontally along the longitudinal direction of the traveling rail 4. A straight traveling rail and an arcuate traveling rail can be used for the traveling rail 4, and an object to be welded having a curved surface can also be a welding target. Therefore, if the arcuate traveling rail is used, the automatic welding apparatus 1 of the present embodiment can be applied to the welding of the circumferential joint of the blast furnace iron shell.

Specifically, the traveling rail 4 is supported by a traveling rail base 5 so as to be vertically movable. That is, the traveling rail pedestal 5 includes a gantry-shaped pedestal base 5a installed on the ground, and a gantry arm 5b extending from the gantry base 5a toward the object to be welded in a hook shape and having a bifurcated distal end. It consists of

As shown in FIG.
As shown in (a), the traveling rail 4 is supported via the rail advancing / retreating means 6. The rail advancing / retreating means 6 is composed of an upper supporting roller 6a and a lower supporting roller 6b, and two rails 4a, 4b are respectively sandwiched between these supporting rollers 6a, 6b. Therefore, by rotating the support rollers 6a and 6b by a driving device (not shown), the traveling rail 4 can be moved forward and backward in the longitudinal direction thereof.

On the other hand, on the pedestal base 5a, as shown in FIG. 2 (b), a rail forward / backward moving means 7 for moving the pedestal arm 5b to / from the object to be welded and a vertical rail moving means for vertically moving it. And 8 are provided. The rail front-rear moving means 7 is composed of, for example, a rack and pinion, and thereby the traveling rail 4 supported by the gantry arm 5b moves in the front-rear direction (direction facing and approaching the object to be welded). . The rail up-and-down moving means 8 is composed of, for example, a ball screw and nut,
As a result, the traveling rail 4 supported by the gantry arm 5b moves in the vertical direction.

Therefore, the traveling rail 4 supported by the gantry arm 5b can be three-dimensionally moved by the rail front-rear moving means 7, the rail up-down moving means 8 and the rail advancing / retreating means 6, and the traveling rail 4 is covered. It can be installed at the optimum position for the weldment.

In this embodiment, the rail front-rear moving means 7 is composed of a rack and pinion and the rail up-and-down moving means 8 is composed of a ball screw and nut. However, the invention is not limited to this. Other moving means may be used.

Further, as shown in FIG. 3 (a), the welding machine main body 2 has an upper traveling roller 9 provided on its rear surface.
The traveling rail 4 is held by the traveling rail 4 by being sandwiched between the traveling rollers 4a and 9b and the lower traveling roller 9c. Specifically, the longitudinal section of the traveling rail 4 has a long hexagonal shape, and the lower traveling rollers 9c and 9d are supported from both sides by the chamfered portion of the lower portion thereof, and the chamfered portion of the upper portion thereof is supported by both sides. Upper traveling rollers 9a, 9
The welding machine main body 2 is held by biting b.

For the traveling movement of the welding machine main body 2, a rack gear 4c is attached in parallel along the traveling rail 4, and a motor-driven pinion gear 4d is attached to the main body side to control the rotation speed and position of the motor. By doing.

In the present embodiment, the welding machine main body 2 is configured to move and move by the rack and pinion, but the present invention is not limited to this, and the position control of the welding machine main body 2 is possible. Alternatively, the upper traveling rollers 9a, 9b or the lower traveling rollers 9c, 9d may be moved by other means such as rotationally driven.

Further, as shown in FIGS. 3 (a) and 3 (b),
A welding torch 3 is disposed below the welding machine body 2 and supported by the welding arm 10. This welding arm 1
Reference numeral 0 is a forward-backward moving means 1 arranged in the welder body 2.
2. The welding machine main body 2 is connected via the vertical movement means 13 and the horizontal rotation means 14.

The front-rear moving means 12 moves the welding torch 3 in the plate thickness direction of the object to be welded, the vertical moving means 13 moves the welding torch 3 up and down, and the horizontal rotating means 14 moves the welding torch 3 in a horizontal plane. Is a means for rotating the motor by means of a gear mechanism (not shown) driven by a motor in accordance with the rotational speed and position calculated by the control device 11, which will be described later. In particular, the horizontal rotation means 14 controls the rotational speed and position of the motor so that the axis of curvature of the workpiece and the axis of the welding torch 3 are always parallel.

That is, the welding torch 3 can be moved back and forth by the front-rear moving means 12, and the welding torch 3 can be moved up and down by the up-and-down moving means 13.
By controlling with 1, the aim of the welding torch 3 can be freely determined in the vertical and horizontal directions.

Further, the horizontal rotating means 14 can rotate the welding torch 3 in a horizontal plane. Therefore, when the traveling rail 4 and the object to be welded have different curvatures, the horizontal rotating means 14 is operated so that the direction of the welding torch 3 can always be kept in a constant direction with respect to the object to be welded. As a result, it is not necessary to prepare several types of traveling rails 4 according to the curvature of the object to be welded, and one type of traveling rail 4 can weld objects to be welded having different curvatures.

The torch mounting portion of the welding arm 10 is provided with vertical rotating means 15 having an arc shape. The vertical rotating means 15 is means for rotating the welding torch 3 in a vertical plane, and is operated by a gear mechanism (not shown) driven by a motor according to the rotation speed and position calculated by the control device 11. Made of Since the welding torch 3 rotates by drawing a circular arc around the welding wire tip (welding arc point) by the vertical rotating means 15, the welding arc does not swing and the inclination angle of the welding torch 3 in the vertical plane. Can be changed.

As shown in FIG. 3 (b), the welder body 2 is adjacent to a joint detecting means 16 for detecting the groove shape of the lateral joint. Specifically, the joint detection means 16 is a camera carriage 1 that is connected to the welding machine body 2.
7, a laser light transmitter 18 that irradiates an infrared laser beam toward the joint groove, two CCD cameras 19a and 19b that capture a laser cut image of the groove, and image processing of the captured cut image is performed. Image processing device (not shown) for obtaining groove shape
And consists of.

The traveling mechanism of the camera carriage 17 is constructed in the same manner as the welding machine main body 2, and travels along the traveling rail 4 together with the welding machine main body 2. The image processing device is built in the control device 11 described later.

The joint detecting means 16 detects the laser cut image of the groove using the CCD cameras 19a and 19b before and during welding, and detects the groove cross-sectional shape at the welding position by image processing. A laser displacement meter (not shown) is mounted on the welding torch 3, and the groove is vertically scanned to measure the displacement. A constant pitch (10 to 10)
The measurement is performed at 100 mm). The minimum pitch is set to 10 mm in order to improve the measurement accuracy when the deformation of the work piece in the joint direction is large. On the other hand, the reason why the maximum pitch is set to 100 mm is that there is a limit in accuracy when the main detection means 16 performs measurement.

That is, the laser transmitter 18 transmits infrared slit light onto the joint of the object to be welded, and this image is transferred to the CCD.
The image is taken by the camera 19a. The groove is recognized by the image processing board in which the image pickup screen is incorporated in the control device 11, and the welding torch 3 is controlled to be adjusted to the target joint position obtained as a result. As a result, welding line tracing is automatically performed, and sound welding can be performed without being affected by the assembly accuracy of the workpiece.

Furthermore, the welding arc is imaged by using another CCD camera 19a, and the image processing of this imaging screen is performed to recognize the arc point at the back of the groove. The welding torch 3 is controlled to adjust its position to the target joint position obtained as a result. As a result, the welding line following the groove is automatically performed, and sound welding can be performed without being affected by the assembly accuracy of the workpiece and the bending tendency of the welding wire.

Further, as shown in FIG. 1, a welding power source 20 is installed on the ground, and this welding power source 20 is connected to the welding torch 3. Further, the welding power source 20 is connected to the control device 11 which is placed on the ground, and further,
The control device 11 is connected to the operation pendant 22.

The welding torch 3 of the main body 2 of the welding machine is provided with a cooling water circulation device 21 to cool the heat generated by welding, thereby prolonging the life of the welding torch 3 and eliminating replacement.

The welding machine main body 2 is equipped with welding wire feeding means (not shown) for feeding the welding wire to the welding torch 3. As this welding wire feeding means, for example, a commercially available "semi-automatic arc welding machine" is adopted. The feeding speed of the welding wire is controlled by sending the result calculated by the controller 11 to the welding power source 20.

In this embodiment, the welding wire feeding means is mounted on the main body 2 of the welding machine. However, the present invention is not limited to this, and the welding wire feeding means is installed on the ground or the wheels are attached to the lower part of the welding machine. It may be formed so as to be able to follow the main body 2.

The control device 11 controls one or more of the torch aiming position, the wire feeding speed, and the welding conditions. That is, the control device 11 controls the forward / backward moving means 12, the vertical moving means 13, the horizontal rotating means 14, and the vertical rotating means 15 to change the target position, the inclination angle, etc. of the welding torch 3 for welding. be able to. The target position of the torch 3 means the locus of the welding torch 3, and is controlled by adjusting the front-back position, the vertical position, the horizontal rotation angle, and the vertical rotation angle of the welding torch 3. The above welding conditions include welding current / voltage and welding speed (welding machine body 2
Traveling speed) and the like are included.

The torch aiming position, the tilt angle and the like are stored in the RAM mounted in the control device 11. Also,
Based on the difference in groove shape obtained by the joint detecting means 16 before and during welding, the traveling speed of the welder main body 2, the wire feeding speed, the control amount of welding current / voltage, etc. are calculated.

In the automatic welding apparatus 1 of this embodiment, the lower portion of the groove (hereinafter referred to as "lower layer") having a groove depth of about 20 mm or more is welded by a weaving locus in the plate thickness direction as shown in FIG. Then, the upper groove portion (hereinafter, referred to as “finishing layer”) having a groove depth of less than about 20 mm is welded by a normal straight trace in the longitudinal direction, and the control device 11 performs the following two types of welding. Calculate with the calculation method.

First, the first calculation method is that the torch aiming position in each pass in the finishing layer, the wire feeding speed, and the welding conditions are constant, and the groove shape stored before welding and the groove during welding in the lower layer are constant. Welding conditions, etc. are calculated by performing a similarity comparison with the shape.

That is, in the lower layer, the following calculation is performed.
First, the stacking height A that can be welded on the weaving locus is obtained from the measured groove shape, and the ideal stacking height of one pass (4
mm) and weldable height A so that the number of laminated layers is an integer. Next, the moving distance in the longitudinal direction of the joint (usually 3 m
Increase or decrease m) based on the stacked database. Then, the stack height in each pass is calculated again.

Next, the groove depth in each pass is calculated, and the torch movement distance having the groove depth in each pass is calculated. Further, the moving speed / direction of the torch during welding is called from the stored moving speed / direction database to calculate the welding trajectory. At the same time, the wire feed speed / welding condition is called from the welding condition database and added to the welding trajectory.

On the other hand, in the finish layer, the welding database (torch target position, running speed, weaving speed, width, etc.) stored in advance is used as it is without performing any calculation.

The second calculation method is that each pass welding condition (target position of the welding torch 3, wire feeding speed, welding condition) is used for both the lower layer and the finishing layer to determine the groove shape before welding and the groove shape during welding. It is calculated by performing a similarity comparison with.

Further, since the operation pendant 22 as a remote control box is connected to the control device 11, the following items can be performed by button operation. First
In addition, the welding machine main body 2 travels, the welding torch 3 moves forward and backward, up and down,
The tilt angle (horizontal rotation / vertical rotation) can be operated. Second
In addition, it is possible to drive only the motor of the wire feeding device to perform inching for adjusting the wire in / out. Thirdly, the start or stop of the groove measurement before welding can be operated. Fourth,
It is possible to operate start, primary stop or stop of welding. Fifth,
Welding or idle operation (moving without welding and used, for example, to confirm the torch trajectory) can be selected. Sixth, the plate thickness (groove depth) of the object to be welded, the groove shape (recessed / K-shaped), the groove angle, the root gap (the gap between the upper plate and the lower plate), the seal bead, the backing plate. It is possible to set the presence or absence and the amount of misalignment (difference between upper plate and lower plate of joint).

Next, the operation of the above embodiment will be described. When welding the groove of blast furnace iron skin, 1 pass, 1 rare,
Welding is performed using the horizontal welding method with a change in the torch angle. At this time, when the aiming position of the torch acts in the longitudinal direction of the joint, the traveling position of the welder main body 2, the forward / backward moving means 12 and the horizontal rotating means 14 are controlled so that the welding torch 3 is always horizontal to the sideways joint. Operate to make an angle.

Further, when the aiming position of the torch moves in the groove back direction and in the groove front direction, the front-rear moving means 12, the horizontal rotating means 14 and the vertical rotating means 15 are controlled to The welding torch 3 is operated so that the inclination angle of the welding torch 3 is always parallel to the vertical cross section of the object to be welded and changes at a constant speed.

Further, when performing multi-layer heaping, when the torch aiming position moves upward, the forward / backward moving means 1 is used.
2. By controlling the horizontal rotation means 14 and the vertical rotation means 15 and simultaneously controlling the vertical movement means 13, the target height of each layer is determined.

On the other hand, when the lateral joint and the traveling rail 4 are not parallel to each other, these means 12, 13, 1
By controlling 4 and 15 at the same time, the set torch aiming position can always be maintained.

At the time of welding, the joint detecting means 16 including the laser transmitter 18 and the CCD cameras 19a and 19b picks up an image of the groove shape and the welding arc point for image processing, and further the torch. By calculating the target position, the wire feeding speed, and the welding condition, sound welding can be performed without being affected by the assembly accuracy of the workpiece.

The welding method applicable to the automatic welding apparatus 1 of this embodiment is the consumable electrode welding method and the shield arc welding method. Further, the applicable welding posture is a horizontal posture, but the weaving locus shown in FIG. 4 is microscopically a downward posture. Furthermore, the applicable groove shapes are mainly a laterally-oriented groove and a laterally K-shaped groove, but can also be applied to a laterally X-shaped groove.

[0059]

As described above, according to the automatic welding apparatus of the present invention, the angle of the welding torch can be adjusted not only in the vertical plane but also in the horizontal plane. , The excellent effect that the welding torch can always be directed to a constant angle in the horizontal plane to perform sound welding.

[Brief description of drawings]

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

FIG. 2 is a traveling rail mount in the automatic welding apparatus according to the present embodiment, in which (a) is a side view of a main portion showing the rail advancing / retreating means, and (b) shows the rail front-rear moving means and the rail up-down moving means. FIG.

FIG. 3 is a main part of the automatic welding apparatus of the present embodiment, (a)
Is a side view showing a welder body and a welding torch, and FIG. 7B is a front view showing the welder body and a joint detecting means.

FIG. 4 is a schematic view showing a welding situation by the automatic welding apparatus according to the present embodiment.

[Explanation of symbols]

 1 Automatic welding device 2 Welding machine main body 3 Welding torch 4 Rails 4a, 4b 2 rails 4c Rack gear 4d Pinion gear 5 Traveling rail mount 5a Mount base 5b Mount arm 6 Rail advancing means 6a Upper support roller 6b Lower support roller 7 Rail Forward / backward moving means 8 Rail up / down moving means 9a, 9b Upper running rollers 9c, 9d Lower running roller 10 Welding arm 11 Control device 12 Forward / backward moving means 13 Vertical moving means 14 Horizontal turning means 15 Vertical turning means 16 Joint detecting means 17 Camera Cart 18 Laser light transmitter 19a, 19b CCD camera 20 Welding power source 21 Cooling water circulation device 22 Operation pendant

Claims (5)

[Claims] 1. A traveling rail installed along a sideways joint of an object to be welded, a welder body which moves along the traveling rail while supporting a welding torch, and the sideways joint before and during welding. An automatic welding device comprising a joint detecting means for detecting the groove shape of the welding machine, and a control device for controlling one or more of the torch aiming position, the wire feeding speed, and the welding condition. The main body includes a back-and-forth moving means for moving the welding torch in the plate thickness direction of the object to be welded, a vertical moving means for moving the welding torch in the vertical direction, and a horizontal rotating means for rotating the welding torch in a horizontal plane. An automatic welding apparatus, which is provided with a vertical rotating means for rotating the welding torch within a vertical plane. 2. The joint detection means, a laser light transmitter for irradiating a laser beam toward the joint groove, a CCD camera for picking up a laser cut image of the groove, and image processing of the picked cut image. The automatic welding device according to claim 1, further comprising an image processing device that obtains a groove shape. 3. The control device stores a groove shape detected by a joint detection means before welding, a storage shape stored by the storage means, and a joint shape detected by the joint detection means during welding. A calculation means for comparing the groove shape with one or more control amounts of the torch target position, the wire feeding speed, and the welding condition based on the comparison value. Claim 2
The automatic welding device described in. 4. The automatic welding apparatus according to claim 1, wherein the traveling rail is supported by a traveling rail mount. 5. The rail mounting means for moving the rail supported by the rail rail forward and backward with respect to an object to be welded, rail vertical moving means for vertically moving the rail, and moving the rail vertically. The automatic welding device according to claim 4, further comprising a rail advancing / retreating means.