Welding control method and welding control device for portable welding robot, portable welding robot, and welding system

A welding control device configured to weld a workpiece having a groove using a portable welding robot that moves along a guide rail, the welding control device comprising:

• a groove shape information calculation unit that calculates groove shape information based on detection data obtained in a sensing step of
• setting two or more groove shape detection positions in a welding section from a welding start point to a welding end point, and
• sensing groove shapes at the groove shape detection positions via a detection unit provided in the portable welding robot moving on the guide rail;
• and
• a welding condition acquisition unit that acquires a welding condition based on the groove shape information,
• wherein the welding condition is controlled so as to change in at least one of a linear manner, a stepwise manner, and a curved manner between the groove shape detection positions in accordance with a value of the welding condition acquired for each of the groove shape detection positions in a case where a change in the welding condition occurs between the groove shape detection positions.

A welding system of a portable welding robot, the welding system comprising:

• a portable welding robot that welds a workpiece having a groove while moving on a guide rail;
• and
• a welding control device that is capable of controlling an operation of the portable welding robot,
• wherein the portable welding robot comprises a detection unit that sets two or more groove shape detection positions in a welding section from a welding start point to a welding end point, and that senses groove shapes at the groove shape detection positions, and
• wherein the welding control device comprises
• a groove shape information calculation unit that calculates groove shape information based on detection data obtained by the sensing, and
• a welding condition acquisition unit that acquires a welding condition based on the groove shape information,
• wherein the welding condition is controlled so as to change in at least one of a linear manner, a stepwise manner, and a curved manner between the groove shape detection positions in accordance with a value of the welding condition acquired for each of the groove shape detection positions in a case where a change in the welding condition occurs between the groove shape detection positions.