JP2000153356A - Inner face monitoring device and automatic welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To monitor a state of the rear face side of a portion to be welded and to weld the portion to be welded based on the monitored result by arranging a monitoring means to the rear face side of a portion to be welded and outputting a monitored result. SOLUTION: Pipings 10, 12 are arranged, based on a command in accordance with a welding condition automatically corrected, after a welding machine 16 and a monitoring sensor 34 of a constituting element of an inner face monitoring device 18 arranged to a groove 14 rear face side are positioned, etc., when the condition of initial layer welding is set, the initial layer welding is done to a groove 14 surface side by the welding machine 16. At this time, the fused state of a groove 14 rear face side is picked up by a monitoring camera, the picked up image information is displayed on the screen of the monitor 38. Based on the image, by remotely operating the welding machine with a remote operation board 22, reliability of the initial layer welding is improved as well as the work of an operator is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inner surface monitoring device and an automatic welding device, and more particularly, to a piping object to be welded.
The present invention relates to an inner surface monitoring device and an automatic welding device suitable for monitoring a welding state of a pipe and performing welding on the pipe according to the monitoring result.

[0002]

2. Description of the Related Art Conventionally, in a nuclear power plant,
To connect piping that contains coolant (reactor water), etc.
Pipes are welded to each other. Work for welding this type of pipe is often performed under radiation, the construction period is limited, and the quality and reliability of the welded joint are required to be the highest priority. When welding the pipe, the setting of the pipe (fit-up) and the deformation (gap, misalignment, etc.) of the groove due to the welding heat are visually measured, and based on the measurement, the welding conditions are set and the welding torch is set. Mainly, manual welding is performed while fine-tuning the aiming positioning, etc., and the installation is limited to only welders who have passed a specified test.

In addition, since high quality and highly reliable welding is required for welding in a nuclear power plant or the like, an overall inspection by nondestructive inspection (RT) is performed at the time of final welding completion to check for welding defects. Have confirmed. In particular,
Poor penetration of insert ring during first layer welding,
For those with a high probability of occurrence of defects, such as the oxidation of back waves, a non-destructive inspection (RT) should be performed after the first layer welding to avoid performing repair work after the completion of welding. , The presence or absence of defects is confirmed.

[0004] As described above, in the conventional pipe welding, nondestructive inspection (RT) is performed after welding in order to ensure high quality. Considering the impact of this, it is urgently necessary to improve the construction process by inspection. Also, if there is a welding defect in the Uranami weld (inner pipe surface) during the first layer welding, or if a welding defect is found after the final layer welding, the defect in the weld is removed by grinding and machining,
Repair welding is required. For this reason, it is necessary to improve the effect on the body of the worker and the securing of the process by repair welding.

Therefore, as described in JP-A-59-92178 and JP-A-2-104468, the welding status of a pipe is monitored by a camera, and based on the monitoring result, automatic welding to the pipe is performed. What to do has been suggested.

[0006]

In the prior art,
A camera is placed on the front side of the welded part of the pipe and the welding status is monitored by the camera, so it is possible to monitor the status of welding on the front side of the welded part of the pipe. It is not possible to monitor the welding status, the status of the Uranami molten pool or the Uranami bead formed on the inner surface of the pipe during the first layer welding.

SUMMARY OF THE INVENTION An object of the present invention is to provide an inner surface monitoring device capable of monitoring the state of the back side of a welding portion of an object to be welded, and an automatic welding device capable of performing welding on the object to be welded in accordance with the monitoring result of the inner surface monitoring device. Is to do.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides monitoring means arranged on the back side of a welding portion to be welded and monitoring the welding condition on the back side of the welding portion, and And an output means for outputting a monitoring result.

When configuring the inner surface monitoring device, the monitoring means is arranged on the back side of the welding portion to be welded and has a function of monitoring the molten state at the time of initial layer welding as the welding state on the back side of the welding portion. Can be configured. Further, instead of the monitoring means, an imaging means arranged on the back side of the welding part to be welded and imaging the back side of the welding part; and A groove information detecting means for detecting information related to the position of the groove of the welding target, and detecting information related to the position of the molten material as a state of the back side of the welding region, which is arranged on the back side of the welding region of the welding target. Melting material information detecting means can be used. In this case, the output unit may be configured to have a function of outputting the detection information of the analysis information detection unit and the detection information of the molten material information detection unit as monitoring information.

The following elements can be added when configuring each of the inner surface monitoring devices.

(1) A transport means for transporting the monitoring means along a portion corresponding to a welding line on the welding object on the back surface side of the welding portion of the welding object is provided.

(2) It is provided with a conveying means for conveying the groove information detecting means and the molten material information detecting means along a portion corresponding to a welding line on the welding object on the back side of the welding portion of the welding object. .

(3) The output means includes image display means for displaying the monitor information as an image, and audio signal output means for outputting the monitor information as an audio signal.

(4) A closing means for closing an area on the back side of the welding portion to be welded, and a purge gas supply means for supplying a purge gas into the area closed by the closing means.

Further, according to the present invention, there is provided any one of the above-mentioned inner surface monitoring devices, welding means for welding the object to be welded in accordance with an output of an output means, and adjusting welding conditions of the welding means in accordance with an output of the output means. And an automatic welding apparatus including a welding condition adjusting means.

In configuring the automatic welding apparatus,
The following elements can be added: Gas concentration detecting means for detecting the gas concentration on the back side of the welding portion of the welding object, and necessity of welding by the welding means is determined based on the detection output of the gas concentration detecting means. It is provided with welding control means for controlling start and continuation of welding.

According to the above-mentioned means, since the welding condition on the back side of the welding portion is monitored and this monitoring result is output, the state of the back portion of the welding portion to be welded is notified to the welding operator. Can be. And if the molten state at the time of initial layer welding is monitored by the monitoring means, at the time of initial layer welding, the operator is notified of the state of the Uranami molten pool and the state of the Uranami bead formed on the back side of the welding part to be welded. be able to. For this reason, even if welding failure occurs in the initial layer welding, the defect removing operation can be performed during the initial layer welding, and the defect removing operation by grinder grinding after the welding is completed can be omitted.

Further, as the state of the back side of the welding portion, information relating to the position of the groove to be welded, such as a groove gap and misalignment, is quantitatively detected as groove information. As the state on the back side of the part, the information related to the position of the molten material, for example, the amount of protrusion of the molten material (insert ring) is quantitatively detected as the molten material information, and the detected information is output as monitoring information, thereby sequentially changing. It is possible to accurately inform the worker of the groove information and the welding material information to be made, which can contribute to improvement of welding quality and reliability.

Furthermore, the area on the back side of the welding portion to be welded is closed as a purge area, and gas is supplied into the purge area, whereby a purge dam can be formed locally, thereby reducing the purge gas and reducing the purge gas. Supply time can be shortened.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of an automatic welding apparatus having an inner surface monitoring function according to an embodiment of the present invention, FIG. 2 is a configuration diagram of the inner surface monitoring device, and FIG. 3 is an enlarged view of a main part of the inner surface monitoring device. 1 to 3, a pair of pipes 10 and 12 are arranged as welding targets. Piping 10, 12
Is formed in a cylindrical shape as a stainless steel pipe containing a coolant (reactor water) used in a nuclear power plant, for example, and an annular groove 14 is provided at one axial end of each of the pipes 10 and 12. Are formed. The groove 14 is used as a welding portion (welding line), and a welding machine 16 is disposed on the surface side of the welding portion, that is, on the outer peripheral side of the pipes 10 and 12, and on the back side of the welding portion, that is, the pipe 1
One element of the inner surface monitoring device 18 is disposed on the inner peripheral side of 0 and 12.

The welding machine 16 includes the traveling carriage 2 as welding means.
0, a remote control panel (welding condition adjusting means) 22 and a welding power source 24 constitute an automatic welding apparatus, and a traveling carriage 20 is arranged on a traveling rail 26 so as to be able to travel freely. The traveling rail 26 is arranged on the outer peripheral surface of the pipe 12 along the groove 14, and the traveling vehicle 20 can travel on the traveling rail 26 in response to a command from the remote control panel 22. A direct-view camera 28 for capturing an image of the surface side of the groove 14 and a welding head 30 are fixed to the traveling vehicle 20.
2 are arranged. A welding wire (not shown) is sequentially supplied near the welding cheek 32.
That is, when the welding current, the welding voltage, the welding speed, the welding position, the wire supply speed, and the like are set as the welding conditions by the operator operating the remote control panel 22 by the operator, the welding machine 16 In accordance with a command from the remote control panel 22 in response to the operation, the robot moves sequentially on the traveling rail 26 and sequentially welds the groove 14.

On the other hand, the inner surface monitoring device 18
4, a video / audio output adjusting device 36, a monitor 38, and the like. The monitoring sensor 34 is arranged on the back side of the groove 14 and is connected to a monitor 38 via a video / audio output adjusting device 36 outside the pipes 10 and 12. The monitoring sensor 34 is constituted by integrating a monitoring camera using a light and small CCD camera and a laser sensor, for example. The surveillance camera is configured as an imaging unit that captures an image of the back side of the groove 14.
The groove information detecting means for detecting information related to the position of the molten metal and the molten material information detecting means for detecting information relating to the position of the molten material. Specifically, the laser sensor sequentially emits slit light to the groove surface, receives the beam image obtained at this time, and calculates the beam angle and beam position by scanning to detect the shape of the groove 14 and the like. It is supposed to. For example, as shown in FIG.
0, when the pipe 12 is arranged with the insert ring (melt material) 40 therebetween, the groove 14
As information on the position of the insert ring 40, a gap 42 between the insert ring 40 and the groove surface, a misalignment amount 44 indicating a radial deviation between the pipe 10 and the pipe 12 are detected, and information related to the position of the insert ring 40 is also detected. The protrusion amount 46
Is to be detected. These pieces of detection information are transferred to the monitor 38 as digital measurement data, and displayed on the screen of the monitor 38 together with an image captured by the monitoring camera. Further, the detection information of the laser sensor is notified by a voice signal from a speaker. That is, the monitor 38 is configured to include, as output means, a CRT as an image display means for displaying a monitor image as an image, and a speaker as an audio output means for outputting the monitor information as sound.

Further, the groove 14 is formed using the monitoring sensor 30.
In order to monitor the back side, the monitoring sensor 34 detects the groove 1 before and after welding, that is, when there is no arc light due to welding.
4. Main shaft 5 together with halogen lamp 48 irradiating the back side
It is fixed to 0. The main shaft 50 is supported by a vertical axis adjusting mechanism 52 so as to be vertically movable, that is, movably along the radial direction of the pipes 10 and 12, and the vertical axis adjusting mechanism 52 is supported by the horizontal axis adjusting mechanism 54 and the pipes 10, 12 Are supported so as to be movable along the axial direction. The left and right axis adjustment mechanism 54 is supported by a rotation mechanism 56 so as to be rotatable about a shaft 58. That is, the vertical axis adjusting mechanism 52 includes the motor 60, and is configured so that the main shaft 50 can be moved up and down by driving the motor 60. The left and right axis adjustment mechanism 54 includes a motor 6
And a vertical axis adjusting mechanism 5 driven by a motor 62.
2 can be driven back and forth along the axis 58. The rotation mechanism 56 is connected to the clamp mechanism 64 so as to be movable in the pipes 10 and 12, and can rotate about the shaft 58 by driving the motor 66. That is, the vertical axis adjustment mechanism 52, the left and right axis adjustment mechanism 54, and the rotation mechanism 56
4 It is configured as a conveying means for sequentially conveying along a groove line (welding line) on the back surface side.

The clamp mechanism 64 has a shaft 58 disposed along the axial direction of the pipes 10 and 12, and support plates 68 and 70 are fixed to both ends of the shaft 58. Rings 70 are fixed to both ends of the support plate 68, and three clampers 74 and three rollers 76 are alternately arranged on the ring 72. The clamper 74 is connected to a cylinder 78, and the roller 76 is connected to a cylinder 80. The support plate 70
A clamper 74 and a roller 76 are arranged at both ends of the roller 7.
6 are connected to the cylinders 80, respectively. Each of the cylinders 78, 80 is driven by hydraulic or pneumatic pressure, respectively, and each of the cylinders 78, 80 is connected to a hydraulic or pneumatic source (not shown), respectively. Each roller 76 is movable in the horizontal and vertical directions in the pipes 10 and 12 by driving the cylinder 80. That is, the clamp mechanism 64 is connected to the pipe 1
It is able to pass through the elbows or joints 0,12. Each clamper 74 is configured to be movable in the radial direction of the pipes 10 and 12 by driving a cylinder 78. When the clampers 74 are fixed to the inner peripheral surfaces of the pipes 10 and 12, respectively, the clamp mechanism 64 is activated. Piping 10, 1
2, the pipe 10 and the pipe 12 are arranged concentrically. Further, since the region on the back side of the groove 14 is covered with the support plates 68 and 70, the clamper 74, and the roller 76, it is possible to prevent foreign matters such as oil from entering into this region due to liquid leakage. Note that an argon gas is supplied from the argon gas cylinder 82 to the inner peripheral side of the pipe 12.

In the above configuration, when the clamp mechanism 64 is inserted into the pipes 10 and 12 and the pipes 10 and 12 are arranged with the insert ring 40 interposed therebetween, the gap 42, The amount of misalignment 44 and the amount of protrusion 46 are detected, an image based on the detected information is displayed on the monitor 38, and the detected information is output as voice. Further, based on the detection information of the laser sensor, the welding conditions preset in the remote control panel 22 are automatically corrected by a sensor / welding control device built in the remote control panel 22, and a command according to the corrected welding conditions is issued. Output to the welding machine 16 and the clamp mechanism 64, the positioning of the welding machine 16, the positioning of the monitoring sensor 34, and the like are performed. After this, when the conditions for the first layer welding are in place, the welding machine 1
6, the first layer welding is performed on the groove 14 surface side. At this time, the molten state on the back side of the groove 14 is imaged by the monitoring camera, and the imaged information is displayed on the screen of the monitor 38. That is, the state of the back-side molten pool on the back side of the groove 14 and the back-side bead state during the first layer welding are displayed as images. By remotely controlling the welding machine 16 on the basis of this image, the reliability of the first layer welding can be improved and the operation of the operator can be reduced. In this case, the situation of the molten pool can be observed in detail by enlarging the image of the monitoring camera. Further, the operator can immediately determine that a welding defect has occurred during the first layer welding by judging the molten state displayed on the image of the monitor 38,
It can contribute to improvement of welding quality and reliability.

On the other hand, when the first layer welding is completed,
As shown in (1), the width 84 and the height 86 of the inner surface weld bead are detected, and the detection status is displayed on the screen of the monitor 38. For this reason, based on this image, as the appearance judgment of the weld bead, it is possible to confirm the irregularity of the weld bead and the undissolved portion of the insert ring 40, and to analogize whether or not the molten state tends to be difficult to melt. However, welding conditions can be adjusted based on the analogy result.

According to this embodiment, at the time of the first layer welding, the condition of the backside bead on the inner peripheral side of the pipes 10 and 12 is monitored, so that the welding conditions are adjusted based on the monitoring result. Therefore, the defect detection work by the nondestructive inspection can be omitted. For this reason, the influence on the body of the inspector working in a high-dose environment can be reduced, the construction process can be shortened, and high-quality welding can be performed.

Next, a second embodiment of the inner surface monitoring device is shown in FIG.
It is explained according to.

The inner surface monitoring device 88 in this embodiment is
It is configured with a local backpurge function. That is, in the inner surface monitoring device 88, a purging box 98 is connected to the outer peripheral side of the bogie main body 90 via the bearing 92, the motor 94, and the bracket 96, and the monitoring sensor 34 is fixed to the outer peripheral side of the box 98. I have. Argon gas is supplied into the box 98 from an argon gas cylinder 82, and the argon gas is directly blown to the back side of the groove 14. That is, the box 98 is configured as a closing unit that covers only a specific purge region of the region on the back side of the groove 14, and in this box 98, argon gas is supplied from the argon gas cylinder 82 via a pipe as a purge gas supply unit. Supplied. For this reason, since argon gas is directly blown to the back side of the groove 14, it is possible to prevent oxidation of the welded portion. Furthermore, it is possible to omit the sticking operation of purging the inner peripheral side of the pipe entirely using water-soluble Toslon, shorten the time required for argon purging, and to affect the worker's body during the operation. Giving can be suppressed.

Further, the inner surface monitoring device 8 in the present embodiment
Numeral 8 is provided with a pneumatic or hydraulic double cylinder 102 as one element of the clamp mechanism 100. The cylinder 102 includes cylinders 104 and 106 fixed to both sides of the bogie main body 90.
06, a cylindrical body 10 having a smaller diameter than each of the cylindrical bodies 104 and 106.
8, 110 are reciprocally accommodated. Each cylinder 10
A plurality of rods 112, 114 are fixed to the distal ends of the rods 8, 110, and the distal ends of the rods 112, 114 are connected to legs 116, 118, respectively. Leg 116,
Numeral 118 is arranged so as to be able to reciprocate along the radial direction of the pipes 10 and 12 by driving the cylinder 102.
Rollers 120 and 122 are rotatably fixed to the distal ends of the rollers 6 and 118.

The clamp mechanism 100 according to the present embodiment
Moves the legs 116 and 118 along the radial direction of the pipes 10 and 12 by driving the cylinder 102, thereby fixing the rollers 120 and 122 to the inner peripheral sides of the pipes 10 and 12, respectively, so that the pipes 10 and 12 are concentric. Can be constrained.

In this embodiment, the cylinder 1
Since the capacity of No. 02 can be increased, the amount of clamping can be increased, the number of cylinders can be reduced, and the structure can be simplified.

Next, a second embodiment of the inner surface monitoring device is shown in FIG.
It is explained according to.

The inner surface monitoring device 124 in this embodiment
Is provided with a function for back-purging an area wider than the inner surface monitoring device 88. Specifically, a cylindrical bogie main body 126 is provided, into which the argon gas is supplied from the argon gas cylinder 82 via a gas supply hose 128. A plurality of argon gas blowing holes 130 are formed in the bogie main body 126 so that argon gas is injected around the bogie main body 126. The argon gas is stored in a purge area surrounded by the argon gas purge dams 132 and 134. The argon gas purge dams 132 and 134 are each formed in a substantially conical shape so that the outer peripheral side is in close contact with the inner peripheral surfaces of the pipes 10 and 12, and is configured as closing means for covering the purge area on the back side of the groove 14. I have. The argon gas purge dam 132 is connected to the bogie main body 126 via a joint 136 and a shaft 138, and the argon gas purge dam 134 is connected to one end of the bogie main body 126. The axis 138 is
It rotates by driving a motor housed in the bogie main body 126 and reciprocates along the axial direction of the pipes 10 and 12. A support 140 is provided on the shaft 138, and the monitoring sensor 34 is fixed to a tip end of the support 140. The monitoring sensor 34 is driven by a motor built in the support 140 to
2 can be moved along the radial direction. A gas detection sensor 142 for detecting the concentration of argon gas is fixed on the outer peripheral side of the shaft 138, and an output signal of the sensor 142 is transmitted through an open pipe 144 to the atmosphere gas measuring device 14.
6 is displayed. The open pipe 14
4. The gas supply hose 128 is brought into close contact with the argon gas purge dam 134 by the argon gas.
A plurality of legs 148 are fixed to the outer peripheral side of the bogie main body 136, and a roller 150 is rotatably fixed to the tip side of each leg 148. That is, the carriage main body 126 can move in the pipes 10 and 12 according to the rotation of the roller 150.

According to the present embodiment, the argon gas atmosphere in the region surrounded by the argon gas purge dams 132 and 134 can be replaced with an argon gas atmosphere. Further, argon gas purge dams 132 and 134 are connected to the pipe 10,
By pressurizing the inner peripheral surface of the inner surface 12, the argon purge dams 132 and 134 can be used as a clamp mechanism.

In the present embodiment, the gas concentration in the region on the back side of the groove 14, that is, the argon gas concentration can be adjusted according to the gas concentration detected by the gas detection sensor 142. Further, the measured value of the atmosphere gas measuring device 136 is output to a control device built in the remote control panel 22, and it is determined whether or not welding by the welding machine 16 is necessary based on the concentration detected by the sensor 142. Welding machine 1
6 can control the start and continuation of welding. In this case, the control device constitutes welding control means.

According to the present embodiment, the argon gas purge dams 132 and 134 can locally blow the argon gas as the purge gas to the purge area on the back side of the groove 14, thereby preventing the oxidation of the weld bead. In addition, the purging operation can be reduced, and the reliability of welding can be improved.

[0038]

As described above, according to the present invention,
Since the welding state on the back side of the welding portion to be welded is monitored and this monitoring result is output, it is possible to visually monitor the welding state on the back side of the welded portion. In particular, by monitoring the molten state at the time of initial layer welding and outputting this monitoring result, the situation of the Uranami molten pool and the bead state of the Uranami on the back side of the welding part to be welded at the time of initial layer welding can be visually observed. It becomes possible to monitor. Further, by applying this monitoring result to the welding operation, the defect detection operation by the nondestructive inspection can be omitted. Thus, the influence on the body of the inspector working in a high-dose environment can be reduced, the construction process can be shortened, and high-quality welding can be performed.

Further, since the information relating to the position of the groove which affects the welding conditions and the information relating to the position of the molten material are detected and output as monitoring information, the information affecting the welding conditions is monitored visually. By using this monitoring information in actual welding work, welding conditions can be adjusted to an appropriate state, which can reduce the work of workers and improve welding reliability. Can be contributed to.

Further, by blocking the region on the back side of the welding portion to be welded and supplying a purge gas into the closed region, oxidation of the weld bead can be prevented, the purging operation can be reduced, and the welding operation can be reduced. Reliability can be improved.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an automatic welding apparatus having an inner surface monitoring function according to an embodiment of the present invention.

FIGS. 2A and 2B are diagrams for explaining the configuration of the inner surface monitoring device, wherein FIG. (B) is a side view.

FIG. 3 is a configuration diagram for explaining a configuration of a welding machine and an inner surface monitoring device.

FIG. 4 is a sectional view for explaining a groove shape of a pipe.

FIG. 5 is a view for explaining a state of an inner surface weld bead.

FIG. 6 is a front view showing a second embodiment of the inner surface monitoring device.

FIG. 7 is a main part front view showing a third embodiment of the inner surface monitoring device.

[Explanation of symbols]

 10, 12 Piping 14 Groove 16 Welding machine 18 Inner surface monitoring device 20 Traveling trolley 22 Remote control panel 28 Direct view camera 30 Welding head 32 Welding torch 34 Monitoring sensor 38 Monitor 40 Insert ring 42 Gap 44 Misalignment amount 46 Projection amount 52 Vertical axis Adjusting mechanism 54 Left and right axis adjusting mechanism 56 Rotating mechanism 64 Clamp mechanism 98 Box 102 Cylinder 124 Inner surface monitoring device 126 Bogie main body 128 Gas supply hose 130 Argon gas outlet 132, 134 Argon gas purge dam 142 Gas detection sensor 146 Atmospheric gas measuring instrument

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Isao Nemezawa 3-1-1, Sachimachi, Hitachi-shi, Ibaraki Pref. Hitachi, Ltd. Hitachi Plant (72) Inventor Bin Bunakutsu Sachimachi, Hitachi-shi, Ibaraki Hitachi 1-1, Hitachi, Ltd., Hitachi Plant (72) Inventor Eiichiro Ohata 3-1-1, Sakaicho, Hitachi, Ibaraki Prefecture, Hitachi, Ltd. Hitachi Plant, Hitachi, Ltd. (72) Tomohiko Motoki, Inventor Ibaraki Prefecture Hitachi, Ltd. Hitachi Plant, Hitachi, Ltd. (71) Inventor Toshiaki Nakahira 3-1-1, Saikomachi, Hitachi, Ibaraki Prefecture Hitachi, Ltd. Hitachi Plant, Hitachi Plant (72) Invention Person Kazuhiko Mizuguchi 3-1-1, Sachimachi, Hitachi-shi, Ibaraki Pref. Hitachi, Ltd. Hitachi Plant (72) Inventor Kazuto Yasushi 3-1-1, Sachimachi, Hitachi-shi, Hitachi, Ltd.Hitachi, Ltd. Inside the factory (72) Inventor Hiroyuki Inoue 5-5-1 Kita Shinagawa, Shinagawa-ku, Tokyo Aichi Sangyo Co., Ltd. F-term (reference) 4E081 AA01 AA12 BA03 BA19 BA23 BA27 BB08 BB15 CA07 DA05 DA23 DA38 EA06 EA14 EA29 EA32 EA54 EA56 FA01 FA03 FA17 YS10 YY11 YY15

Claims (9)

[Claims] 1. An inner surface monitoring device, comprising: a monitoring unit disposed on a back side of a welding portion to be welded, for monitoring a welding state on the back side of the welding portion; and an output unit for outputting a monitoring result of the monitoring unit. 2. A monitoring means disposed on the back side of a welding portion to be welded and monitoring a molten state at the time of initial layer welding as a welding state on the back side of the welding portion, and outputs a monitoring result of the monitoring means as monitoring information. An inner surface monitoring device comprising output means. 3. An image pickup means arranged on the back side of the welding part to be welded and imaging the back side of the welding part, and an imaging means arranged on the back side of the welding part to be welded and in the state of the back side of the welding part, Groove information detecting means for detecting information related to the position of the groove, and molten metal information detection arranged on the back side of the welding part to be welded and detecting information relating to the position of the molten metal as the state of the back side of the welding part. And an output means for outputting, as monitoring information, detection information of the groove information detection means, the detection information of the melting material information detection means, and information obtained by imaging by the imaging means. 4. The apparatus according to claim 1, further comprising a transport unit that transports the monitoring unit along a portion corresponding to a welding line on the welding target on the back side of the welding portion of the welding target. An internal surface monitoring device as described. 5. A transporting means for transporting the groove information detecting means and the molten material information detecting means along a portion corresponding to a welding line on the welding target on the back side of the welding portion of the welding target. 4. The inner surface monitoring device according to claim 3, wherein: 6. The apparatus according to claim 1, wherein said output means includes image display means for displaying said monitor information as an image, and audio signal output means for outputting said monitor information as an audio signal. The inner surface monitoring device according to 4 or 5. 7. A system according to claim 1, further comprising a closing means for closing a region on the back side of the welding portion to be welded, and a purge gas supply means for supplying a purge gas into the region closed by the closing means. Item 6. The internal surface monitoring device according to item 1, 2, 3, 4, or 5. 8. An inner surface monitoring apparatus according to claim 1, a welding means for performing welding on said welding target according to an operation, and welding for adjusting welding conditions of said welding means according to said operation. An automatic welding device comprising condition adjusting means. 9. A gas concentration detecting means for detecting a gas concentration on the back side of a welding portion of the welding object, and necessity of welding by said welding means is determined based on a detection output of said gas concentration detecting means. 9. The automatic welding apparatus according to claim 8, further comprising: welding control means for controlling start and continuation of welding by said welding means in accordance with the following.