Apparatus and method for automation of weld seams machining

An apparatus for automation of weld seams machining of adjacent shells of a wind turbine tower, the apparatus comprising:

• an automated arm;
• a machining tool joined to the automated arm;
• a compensator system fixed to the machining tool or being part of the automated arm;
• a joint visor that identifies and locates a weld seam to be machined detecting an exact location, measure and form;
• and
• a control unit to coordinate a movement of the machining tool with the compensator system and the joint visor such that the joint visor detects the exact location, measure and form of the weld seam and the compensator system displaces the machining tool to the exact location of the weld seam and adapts a position of the machining tool to a measure and a form of the weld seam.