JP6560873B2 - Welding system and welding method - Google Patents

Description

  The present invention relates to a welding system and a welding method.

  Radioactive waste generated in a nuclear power plant nuclear reactor or the like is stored in, for example, a radioactive substance storage container described in Patent Document 1. Such a radioactive substance storage container has the trunk | drum formed in the cylindrical shape, for example. Each part is fixed to the bottom part, the outer peripheral part, and the like by welding.

  The surface of one end portion of such a body portion is covered with a weld layer such as stainless steel. Conventionally, this weld layer is formed by performing overlay welding on one end of the body. For example, with the barrel rotated in the circumferential direction, the welding torch is first opposed to the radial outer circumference at one end, a welding wire is supplied from the nozzle at the tip, and the circumference of the circumference is rotated by rotation of the barrel. A bead is formed over. Thereafter, the welding torch is moved by a predetermined distance to the radially inner peripheral side, and a new bead is formed so as to partially overlap the already formed outer bead. Thereafter, the welding torch is moved to the radially inner peripheral side by the set distance, and a new bead is similarly formed. In this way, the bead is formed by moving the welding torch at equal pitches from the radially outer peripheral side of the one end portion to the inner peripheral side in a state where the trunk body is rotated.

JP 2007-205931 A

  However, when the welding torch moves, a part of the welding torch may interfere with other members. Depending on the force from the outside, a part of the welding torch may be deformed and the direction of the nozzle at the tip may change. In this case, the welding wire is supplied in a direction shifted from the welding center position. In this case, the position of the bead is shifted despite the normal control of the position and orientation of the welding torch. In such a case, since the welding operation is temporarily stopped and the operator manually corrects the position and posture of the welding torch, the operation time becomes long and the burden on the operator increases.

  The present invention has been made in view of the above, and an object of the present invention is to provide a welding system and a welding method that can shorten the work time and reduce the burden on the operator.

  A welding system according to the present invention includes a welding torch that forms a welded portion by supplying a welding wire toward a welding center position, the welding device capable of changing the position and posture of the welding torch, and the welding wire A measuring device capable of measuring the positional relationship between the tip and the welding center position; and causing the measuring device to measure the positional relationship between the tip of the welding wire and the welding center position. Control for determining whether or not there is a displacement between the tip and the welding center position, and correcting the displacement by changing at least one of the position and orientation of the welding torch when it is determined that there is the displacement. An apparatus.

  According to the present invention, the positional relationship between the tip of the welding wire and the welding center position is measured, and when it is determined that there is a positional deviation, at least one of the position and orientation of the welding torch is changed to automatically correct the positional deviation. Therefore, it is possible to save time and labor for manually correcting the position and posture of the welding torch. Thereby, work time can be shortened and a burden on an operator can be reduced.

  In the above-described welding system, the control device causes the positional relationship to be measured when the welding device is activated, every predetermined period, or when an external force is applied to the welding wire.

  According to the present invention, the positional relationship can be measured in a timely manner.

  In the above welding system, the measurement device includes an imaging unit capable of imaging the welding torch and the welding wire from a plurality of directions, and the control device is configured to perform the imaging based on image data captured by the imaging unit. Causes the positional relationship to be measured.

  According to the present invention, since the positional relationship is measured using the captured image data, it is possible to efficiently detect and correct misalignment.

  The welding system includes an output unit that outputs at least information related to the welding device, and the control device calculates a displacement amount of the positional displacement based on a measurement result of the measurement device, and the displacement amount is predetermined. When the threshold value is exceeded, guide information for guiding the welding torch to be replaced is output to the output unit.

  If the position, posture, etc. of the welding torch are significantly changed, there is a possibility of interference with other parts when the welding torch is moved. In this case, it takes time to restore the welding torch. According to the present invention, when the displacement amount exceeds a predetermined threshold value, the welding torch is guided instead of moving the position, posture, etc. of the welding torch, so that interference of the welding torch can be prevented. Therefore, it is possible to prevent the operator from taking time and effort.

  The above welding system further includes a rotation support device that supports a cylindrical body formed to be rotatable in a circumferential direction, and the welding portion is a part of the body.

  According to the present invention, since the welded portion is formed as a part of the trunk body while the trunk body is rotated in the circumferential direction, it is possible to easily form the welded portion along the circumferential direction of the trunk body. it can.

  In the above welding system, the rotation support device supports the trunk body so that an end face in the axial direction of the trunk body is disposed in a state of standing with respect to a horizontal plane.

  ADVANTAGE OF THE INVENTION According to this invention, when arrange | positioning in the state in which the end surface stood with respect to the horizontal surface, it becomes possible to form a welding part efficiently.

  In the welding method according to the present invention, a welding wire is supplied from a welding torch toward a welding center position to form a welded portion, and a positional relationship between the tip of the welding wire and the welding center position is measured by a measuring device. A step of determining whether or not there is a positional deviation between the tip of the welding wire and the welding center position based on a measurement result by the measuring device, and the welding torch when it is determined that there is a positional deviation. And correcting the positional deviation by changing at least one of the position and orientation.

  According to the present invention, the positional relationship between the tip of the welding wire and the welding center position is measured, and when it is determined that there is a positional deviation, at least one of the position and orientation of the welding torch is changed to automatically correct the positional deviation. Therefore, it is possible to save time and labor for manually correcting the position and posture of the welding torch. Thereby, work time can be shortened and a burden on an operator can be reduced.

  According to the welding system and the welding method of the present invention, the work time can be shortened and the burden on the operator can be reduced.

FIG. 1 is a perspective view showing an example of a welding system according to the present embodiment. FIG. 2 is a longitudinal sectional view showing the radioactive substance storage container. FIG. 3 is a block diagram illustrating an example of a control device of the welding system. FIG. 4 is a flowchart showing an example of a welding method. FIG. 5 is a diagram showing a positional relationship between the tip of the welding wire and the welding center position. FIG. 6 is a diagram illustrating an example of a measurement operation performed by the measurement device. FIG. 7 is a diagram illustrating an example of a measurement operation performed by the measurement apparatus. FIG. 8 is a diagram showing the positional relationship between the tip of the welding wire and the welding center position.

  Hereinafter, an embodiment of a welding system according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a perspective view showing an example of a welding system 100 according to the present embodiment. As shown in FIG. 1, the welding system 100 includes a rotation support device 101, a measurement device 103, a welding device 102, and a control device 104.

  The welding system 100 performs, for example, build-up welding on the axial end portion 21a of the trunk body 21 formed in a cylindrical shape, so that the first step portion 41, the second step portion 42, and the third step are welded. The step 43 is formed. Here, before explaining the configuration of each device of the welding system 100, the trunk body 21 will be explained. This trunk body 21 constitutes a part of the cask 11 as a radioactive substance storage container. FIG. 2 is a longitudinal sectional view showing an example of the cask 11.

  As shown in FIG. 2, the cask 11 has a trunk portion 12, a lid portion 13, and a basket 14. The trunk portion 12 includes the trunk body 21, the outer cylinder 25, and the bottom plate 28. The trunk body 21 is formed in a cylindrical shape, and has an opening 22 at one end in the axial direction of the central axis AX, and a bottom 23 at the other end. Hereinafter, the end on the side where the opening 22 is formed in the trunk body 21 will be referred to as an opening end 21a, and the end on the side where the bottom 23 is formed will be referred to as a bottom end 21b. A cavity 24 is formed inside the trunk body 21. The inner surface of the trunk body 21 has a shape that matches the outer peripheral shape of the basket 14. The basket 14 has, for example, a plurality of cells that individually store radioactive materials (not shown) that are spent fuel assemblies. The trunk body 21 including the bottom 23 is a forged product made of carbon steel having a γ-ray shielding function.

  The outer cylinder 25 is provided on the outer peripheral side of the trunk body 21. The outer cylinder 25 is disposed with a predetermined gap between the outer cylinder 25 and the outer peripheral surface of the trunk body 21. A plurality of heat transfer fins (not shown) that conduct heat are welded at predetermined intervals in the circumferential direction between the outer peripheral surface of the trunk body 21 and the inner peripheral surface of the outer cylinder 25. The gap is filled with a resin (neutron shield) 27. As the resin 27, for example, a polymer material containing a large amount of hydrogen is used. Such a polymer material may contain, for example, boron or a boron compound having a neutron shielding function.

  Further, the bottom plate 28 is connected to the bottom side end portion 21 b of the trunk body 21. The bottom plate 28 is disposed with a predetermined gap between the bottom plate 28 and the bottom portion 23. A resin (neutron shield) 29 is provided in the gap between the bottom 23 and the bottom plate 28. A trunnion 30 is fixed to the side surface of the body portion 12.

  A first step portion 41, a second step portion 42, and a third step portion 43 are formed on the opening side end portion 21 a of the trunk body 21. The first step portion 41 has an annular first end surface 41a perpendicular to the axial direction of the central axis AX. A plurality of screw holes 41 b are formed in the first end surface 41 a at equal intervals in the circumferential direction of the trunk body 21. The second step portion 42 is formed on the outer side of the opening 22 than the first step portion 41. The second step portion 42 has an annular second end surface 42a parallel to the first end surface 41a. A plurality of screw holes 42 b are formed in the second end surface 42 a at equal intervals in the circumferential direction of the trunk body 21. The third step portion 43 has an annular third end surface 43a parallel to the first end surface 41a and the second end surface 42a. A plurality of screw holes 43 b are formed in the third end surface 43 a at equal intervals in the circumferential direction of the trunk body 21.

  The lid portion 13 includes a primary lid 31, a secondary lid 32, and a tertiary lid 33. The primary lid 31 is detachably attached to the first step portion 41 of the trunk body 21. The primary lid 31 is fitted to the first step portion 41 and is in close contact with the first end surface 41a. The primary lid 31 is fastened to the first step portion 41 by a bolt 71. The primary lid 31 maintains the negative pressure on the cavity 24 side and prevents leakage of gas filled in the cavity 24. Further, the primary lid 31 shields radiation (γ rays) emitted from the radioactive substance stored in the cavity 24. A resin (neutron shield) is provided outside the primary lid 31 (on the secondary lid 32 side). A pressure monitoring boundary pressurized against the atmosphere is formed between the primary lid 31 and the secondary lid 32.

  The secondary lid 32 is detachably attached to the second step portion 42 of the trunk body 21. The secondary lid 32 is fitted to the second step portion 42 and is in close contact with the second end surface 42a. The secondary lid 32 is fastened to the second step portion 42 by a bolt 72. The secondary lid 32 prevents gas leakage from the primary lid 31. Further, the secondary lid 32 ensures the pressure on the cavity 24 side.

  The tertiary lid 33 is detachably attached to the third step portion 43 of the trunk body 21. The tertiary lid 33 is fitted to the third step portion 43 and is in close contact with the third end surface 43a. The tertiary lid 33 is fastened to the third step portion 43 by a bolt 73. The tertiary lid 33 is fixed to the third step 43 in the opening 22 of the trunk body 21. The tertiary lid 33 protects the secondary lid 32 from external impacts.

  Then, the structure of each apparatus of the welding system 100 is demonstrated. As shown in FIG. 1, the rotation support device 101 supports the trunk body 21 in a laid state so that the end surface 21r of the opening-side end portion 21a is disposed in a state standing in a direction perpendicular to the floor surface 113, for example. To do. In addition, when rotating the trunk | drum main body 21 with the rotation support apparatus 101, it is easier to control rotation by arrange | positioning and rotating so that it may receive a load in one edge part (for example, bottom part side edge part 21b) of an axial direction. There are cases where it can be done. In this case, the end surface 21r is disposed to be inclined with respect to a state perpendicular to the floor surface 113. The inclination angle at this time is preferably set to 1 ° or less, for example.

  The rotation support device 101 can rotate in the circumferential direction while supporting the trunk body 21. For example, a turning roller is used as the rotation support device 101. In addition, in FIG. 1, the state before a welding part is formed in the opening side edge part 21a is shown. Therefore, the opening-side end portion 21a shown in FIG. 1 is in a state where the end surface 21r corresponding to the third end surface 43a is exposed. Note that an end surface corresponding to the first end surface 41a and an end surface corresponding to the second end surface 42a are not shown.

  The rotation support device 101 includes a support base 111 and a pair of support rollers 114 and 115. The support base 111 is installed on the floor surface 113 by a plurality of leg portions (not shown). The floor surface 113 is formed, for example, parallel to the horizontal plane. The pair of support rollers 114 and 115 are rotatably provided. The support rollers 114 and 115 are arranged at two locations in the axial direction of the central axis AX so as to support the opening side end 21a and the bottom side end 21b of the trunk body 21 respectively. A driving device (not shown) is connected to each of the support rollers 114 and 115. The driving device rotationally drives the support rollers 114 and 115 in one circumferential direction and the other.

  The welding apparatus 102 has a welding torch 122. For example, the welding torch 122 is attached to the arm 151 of the six-axis articulated robot 105. The welding torch 122 is movable along the surface of the trunk body 21. Moreover, the welding torch 122 is provided so that a position and an attitude | position can be changed. The welding torch 122 supplies welding current and shielding gas. A neck 124 and a nozzle 126 are provided on the distal end side of the welding torch 122. The welding torch 122 supplies the welding wire 128 toward the welding center position 130 through the neck 124 and the nozzle 126. The welding torch 122 is equipped with a sensor (not shown) that detects that an external force has acted, such as when it interferes with another member. The articulated robot 105 is connected to an output unit 152. The output unit 152 outputs information related to the welding apparatus 102. As the output unit 152, for example, a display device such as a display, an audio output device such as a speaker, or the like can be used. The output unit 152 is not limited to the configuration connected to the articulated robot 105, and may be directly connected to the welding apparatus 102.

  The measuring device 103 measures the positional relationship between the tip of the welding wire 128 and the welding center position 130. As the measuring device 103, for example, a CCD camera is used. The measuring device 103 is attached to an arm such as a 6-axis articulated robot (not shown) provided separately from the articulated robot 105, for example. The measuring device 103 is movable along the surface of the trunk main body 21. The measuring device 103 photographs the surface of the trunk body 21. The measuring device 103 transmits the captured image data to the control device 104.

  FIG. 3 is a block diagram illustrating an example of the control device 104. The control device 104 comprehensively controls each of the rotation support device 101, the welding device 102, and the measurement device 103. For example, the control device 104 controls the driving device of the rotation support device 101 to rotate the support rollers 114 and 115. Further, the control device 104 moves the welding torch 122 according to the welding target position and adjusts the attitude of the welding torch 122.

  As illustrated in FIG. 3, the control device 104 includes a calculation unit 141 and a storage unit 142. The calculation unit 141 performs various calculations. The calculation unit 141 includes, for example, an image processing unit 143 and a positional deviation detection unit 144. The image processing unit 143 performs image processing such as binarization processing on the image data transmitted from the measurement apparatus 103. Based on the image data processed by the image processing unit 143, the position shift detection unit 144 obtains the position of the tip of the welding wire 128 and the welding center position 130, and calculates the amount of shift when there is a position shift. .

  The storage unit 142 includes an image data storage unit 146 and a movement posture data storage unit 147. The image data storage unit 146 stores image data photographed by the measurement device 103. The movement attitude data storage unit 147 stores data related to movement control and attitude control of the welding torch 122.

  Next, a method for forming a welded portion using the welding system 100 according to the present embodiment will be briefly described. The case where the third stepped portion 43 is formed by forming a welded portion on the end surface 21r of the trunk body 21 will be described as an example. However, when the first stepped portion 41 is formed, the second stepped portion is also described. The same description can be applied to the case of forming 42. First, the trunk body 21 is transported using a crane or the like (not shown), and the trunk body 21 is placed on the support rollers 114 and 115 of the rotation support device 101 in a lying state. Thereafter, the control device 104 rotates the trunk body 21 by driving and controlling the rotation support device 101.

  Next, the control apparatus 104 arrange | positions the welding torch 122 in the outer peripheral part of the end surface 21r in the state which rotated the trunk | drum main body 21, and forms a bead over the surroundings of the circumferential direction of the end surface 21r. Thereafter, the welding torch 122 is moved to the inner periphery, and a new bead is formed over the entire circumference of the end surface 21r in the same manner so as to partially overlap the already formed bead. By repeating this operation and forming a bead up to the inner peripheral side of the end face 21r, a weld is formed.

  In such an operation, when the welding torch 122 moves, for example, the nozzle 126 or the like may interfere with other members. In this case, the neck 124 or the like may be deformed by an impact caused by interference. When the neck 124 or the like is deformed, the direction of the nozzle 126 is changed, and the welding wire 128 is supplied in a direction shifted from the welding center position 130. In this case, the position of the bead is shifted even though the position and orientation of the welding torch 122 are normally controlled by the control device 104.

  On the other hand, in this embodiment, when the neck 124 or the like is deformed, the displacement of the welding wire 128 is automatically corrected. Hereinafter, an operation related to the correction of the displacement will be described. FIG. 4 is a flowchart showing an example of a welding method, and shows an operation related to correction of misalignment.

  First, when starting the welding, the control device 104 causes the measuring device 103 to photograph the state of the welding torch 122 when the welding device 102 is activated (step S11). In step S <b> 11, an image of the welding torch 122 without deformation in the initial state is taken by the measuring device 103. FIG. 5 is a diagram showing the positional relationship between the tip of the welding wire 128 and the welding center position 130. As shown in FIG. 5, this image shows a state in which the welding wire 128 is supplied in a direction toward the welding center position 130. The image data is transmitted to the control device 104. The control device 104 processes the received image data by the image processing unit 143 and stores it in the image data storage unit 146 of the storage unit 142. Note that image data of the welding torch 122 without deformation may be stored in the image data storage unit 146 in advance. In this case, step S11 may be omitted.

  Next, the control device 104 determines the presence or absence of a predetermined flag for measuring the positional deviation between the tip of the welding wire 128 and the welding center position 130 (step S12). In step S <b> 12, the control device 104 determines that there is a predetermined flag, for example, after a predetermined time has elapsed since the start of the welding device 102 or when an external force is applied to the welding torch 122. The control device 104 waits for processing until such a flag is present (No in step S12).

  When the control device 104 determines that there is a flag (Yes in step S12), the control device 104 causes the measurement device 103 to photograph the state of the welding torch 122. 6 and 7 are diagrams illustrating an example of a measurement operation performed by the measurement apparatus 103. FIG. As shown in FIGS. 6 and 7, the control device 104 causes the measurement device 103 to perform photographing from different directions (step S13).

  For example, FIG. 6 shows a state where the image is taken in the horizontal direction from the side of the trunk body 21. In the state shown in FIG. 6, the neck 124 of the welding torch 122 is deformed so as to curve downward in FIG. 6, and the tip of the welding wire 128 is downward with respect to the welding center position 130 and away from the end surface 21r. It is shifted to.

  FIG. 7 shows a state where the image is taken vertically downward from above the trunk body 21. In the state shown in FIG. 7, the neck 124 of the welding torch 122 is deformed so as to curve to the left in FIG. 7, and the tip of the welding wire 128 is shifted to the left with respect to the welding center position 130.

  The position shift detection unit 145 detects a position shift between the tip of the welding wire 128 and the welding center position 130 based on such image data (step S14). For example, when the images shown in FIGS. 6 and 7 are taken, the misregistration detection unit 145 calculates the misalignment amount based on the image data. The positional deviation detection unit 145 calculates the deviation amount as a vector amount including the distance and the direction. As shown in FIGS. 6 and 7, by taking images from different directions, it is possible to more accurately measure the positional deviation and the deviation amount between the tip of the welding wire 128 and the welding center position 130.

  Next, the control device 104 determines whether or not the deviation amount is greater than or equal to a predetermined threshold (step S15). This threshold value can be set in a range that does not interfere with other members when the welding torch 122 moves. When it is determined that the deviation amount is less than the threshold (No in Step S15), the control device 104 adjusts at least one of the position and posture of the welding torch 122 (Step S16). FIG. 8 is a diagram showing the positional relationship between the tip of the welding wire 128 and the welding center position 130. In step S15, as shown in FIG. 8, the control device 104 determines at least one of the position and posture of the welding torch 122 while the neck 124 is curved so that the tip of the welding wire 128 reaches the welding center position 130. Change one. The control device 104 calculates the amount of change in the position and orientation of the welding torch 122 as a vector amount.

  By changing at least one of the position and posture of the welding torch 122, the position and posture for welding the welding torch 122 to the same place are different from those in the initial state. Therefore, unlike the control in the initial state, the subsequent control of the position and orientation of the welding torch 122 needs to be performed on the basis of the changed position and orientation. Therefore, the control device 104 changes the movement posture data (step S17).

  After changing the movement posture data, the control device 104 determines whether or not to end the welding (step S18). When welding is continued (No in step S18), the processes after step S12 are repeatedly performed. On the other hand, when it is judged that the control apparatus 104 complete | finishes welding (Yes of step S18), the said operation | movement is complete | finished. Further, when the deviation amount is equal to or larger than the predetermined threshold value in Step S15 (Yes in Step S15), the control device 104 causes the output unit 152 to output guidance information for guiding the welding torch 122 to be replaced (Step S15). S19) After that, the above operation is terminated.

  As described above, according to the present embodiment, when the positional relationship between the tip of the welding wire 128 and the welding center position 130 is measured and it is determined that there is a displacement, at least one of the position and orientation of the welding torch 122 is determined. Since the positional deviation can be automatically corrected by changing the position of the welding torch 122, it is possible to save time and labor for manually correcting the position and posture of the welding torch 122. Thereby, work time can be shortened and a burden on an operator can be reduced.

  It should be noted that the technical scope of the present invention is not limited to the above-described embodiment, and modifications can be made as appropriate without departing from the spirit of the present invention. For example, in the above-described embodiment, the case where the determination is made based on the image data by the measurement device 103 when determining the displacement between the tip of the welding wire 128 and the welding center position 130 has been described as an example. It is not limited. For example, when a portion of the welding torch 122 is deformed, the current value supplied from the welding torch 122 during welding may change. In such a case, by detecting that the current value of the welding torch 122 has changed, it is possible to detect that there has been a displacement. Therefore, the detection of this displacement may be used as a flag in step S12.

  Moreover, although the said embodiment gave and demonstrated as an example the case where a welding part was formed in the end surface 21r of the opening side edge part 21a of the trunk | drum main body 21 using the said welding system 100, it limited to this. It is possible to use the welding system 100 also when it welds to other parts rather than a thing, or when welding different from overlay welding. When welding is formed in another portion, the welding may be performed directly on the portion where the member is fixed without using the rotation support device 101.

DESCRIPTION OF SYMBOLS 11 Cask 12 trunk | drum 13 cover part 14 basket 21a opening side edge part 21b bottom part side edge part 21r end surface 21 trunk | drum main body 22 opening part 23 bottom part 24 cavity 25 outer cylinder 27 resin 28 bottom plate 30 trunnion 31 primary lid 32 secondary lid 33 tertiary Lids 41, 42, 43 Steps 41a, 42a, 43a End faces 41b, 42a, 43a Screw holes 71, 72, 73 Bolts 100 Protection member insertion system 100 Welding system 101 Rotation support device 102 Welding device 103 Measuring device 104 Control device 105 Joint robot 111 Support base 113 Floor 114, 115 Support roller 122 Welding torch 124 Neck 126 Nozzle 128 Welding wire 130 Welding center position 141 Calculation unit 142 Storage unit 143 Image processing unit 144 Detection unit 145 Detection unit 146 Image data storage unit 147 Movement posture Over data storage unit 151 the arm 152 output unit

Claims (6)

A welding torch for supplying a welding wire toward a welding center position to form a welded portion, and a welding apparatus capable of changing the position and posture of the welding torch;
A measuring device capable of measuring the positional relationship between the tip of the welding wire and the welding center position;
The measurement device measures the positional relationship between the tip of the welding wire and the welding center position, and determines whether or not there is a positional deviation between the tip of the welding wire and the welding center position based on the measurement result, A control device that corrects the positional shift by changing at least one of the position and orientation of the welding torch when it is determined that there is the positional shift;
Equipped with a,
A rotation support device that rotatably supports the cylinder body formed in a cylindrical shape in a circumferential direction;
The welding system , wherein the weld is a part of the trunk body . The welding system according to claim 1, wherein the control device causes the positional relationship to be measured when the welding device is activated, for each predetermined period, or when an external force is applied to the welding wire. The measuring device has a photographing unit capable of photographing the welding torch and the welding wire from a plurality of directions,
The welding system according to claim 1, wherein the control device causes the positional relationship to be measured based on image data captured by the imaging unit. An output unit that outputs at least information on the welding apparatus;
The control device calculates a displacement amount of the positional displacement based on a measurement result of the measurement device, and when the displacement amount exceeds a predetermined threshold, guide information for guiding the welding torch to be replaced is output. The welding system according to any one of claims 1 to 3, wherein the welding system is output to a part. Said rotary supporting device, claimed in any one of claims 1 to 5, wherein the end face of the inner axial direction of the cylinder body for supporting the cylinder body so as to be disposed in a state of standing to the horizontal plane Welding system. Supplying a welding wire from the welding torch toward the welding center position to form a weld, and
A step of causing a measuring device to measure the positional relationship between the tip of the welding wire and the welding center position;
Determining the presence or absence of misalignment between the tip of the welding wire and the welding center position based on the measurement result by the measuring device;
A step of correcting the position shift by changing at least one of the position and orientation of the welding torch when it is determined that there is the position shift;
Only including,
And further comprising a step of supporting the cylinder body formed in a cylindrical shape so as to be rotatable in the circumferential direction,
The welding method , wherein the weld is a part of the trunk body .

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