Automatic groove copy welder and welding method

摘要: An automatic groove copy welder in which welding, especially weaving can be carried out without requiring any monitoring even if the conditions do not conform to design conditions. A video signal at a part (52) under including position of forward end wire (1), is captured from CCD camera (2) and information on welding torch controller (43) robot (4). Position then detected image positional relation determined torch. Subsequently, correction for locating advancing track intermediate transmitted (43). When performed, an processor (3) receives indicative phase (43), calculates between based transmits correcting width