WELDING DEVICE, WELDING METHOD, WELDING PROGRAM AND TANK WELDING METHOD

To provide a technique by which a large-size structure can be welded with high quality by automation.SOLUTION: A first driving signal A for moving a first stage 41 on a first rail 31 arranged along a joint part 36 between two metallic base materials 35a and 35b is transmitted; a detection signal D in which a gap position xof the joint part 36 detected with a detector 45 fixed to a second stage 42 on a second rail 32 fixed to the first stage 41 is received; a deviation quantity Δxof the detected gap position xand a reference position xis calculated while moving the first stage 41, and the deviation quantity Δxand displacement information E on the first stage 41 corresponding to the deviation quantity Δxare registered associating the quantity with the information; a weld torch 46 fixed to the second stage 42 in exchange for the detector 45 is made to generate arc; second displacement information Xis generated based on the deviation quantity Δxassociated with the first displacement information E acquired while transmitting the first driving signal A; and a second driving signal B for moving the second stage 42 is transmitted on the basis of the second displacement information X.SELECTED DRAWING: Figure 2 【課題】大型構造物を自動化により高品質で溶接する技術を提供する。【解決手段】二つの金属母材３５ａ，３５ｂの接合部３６に沿って配置された第１レール３１上の第１ステージ４１を移動させる第１駆動信号Ａを送信し、この第１ステージ４１に固定された第２レール３２上の第２ステージ４２に固定された検出器４５により接合部３６のギャップ位置ｘnを検出した検出信号Ｄを受信し、第１ステージ４１を移動しながら検出されたギャップ位置ｘnと基準位置ｘ0との偏差量Δｘnを演算し偏差量Δｘnとこの偏差量Δｘnに対応する第１ステージ４１の第１変位情報Ｅとを関連付けて登録し、検出器４５と交換して第２ステージ４２に固定した溶接トーチ４６にアークを発生させ、第１駆動信号Ａを送信しながら取得した第１変位情報Ｅに関連付けられた偏差量Δｘnに基づいて第２変位情報Ｘnを生成し、第２変位情報Ｘnに基づいて第２ステージ４２を移動させる第２駆動信号Ｂを送信する。【選択図】図２