Welding carriage system with automatic weld-seam tracking and adaptive controlling of weld condition

摘要

PURPOSE: A welding carriage system is provided which is moved by having a weld line tracking function and calculating its moving directions for itself, adaptively controls welding conditions corresponding to weld line gap information, and has a function automatically detecting welding starting and finishing points using a vision sensor. CONSTITUTION: In an ordinary welding carriage system comprising a welding carriage body(1) which is moved by left and right driving wheels so as to weld a working member(50) along a weld line(6), a horizontally moving Y-axis slide(3) and a vertically moving Z-axis slide(4) which are adhered to the welding carriage body(1), and a welding torch(5) which is adhered to the Z-axis slide(4), the welding carriage system for automatically tracking a weld line and adaptively controlling welding conditions comprises a vision sensor(7) which is installed at the Z-axis slide(4) in front of the welding torch(5) so as to grasp vision information of the weld line, detect welding starting and finishing points and enable multi-layer welding by scanning a laser beam(8); and a controller for controlling each of the units so that the weld line is automatically tracked, and the welding conditions are adaptively controlled.