| 摘要 |
<p>According to an embodiment of the present invention, a welding apparatus comprises: a welding unit having a torch; a sensing unit sensing the position and size of a molten pool formed by the torch; and a control unit controlling a moving position, current, or voltage of the torch according to the position and size of the molten pool sensed by the sensing unit. According to another embodiment of the present invention, an automatic welding method comprises: a step of setting an initial welding path; a step of performing welding by using a torch along the initial welding path; a step of calculating the position and size of the initial molten pool formed by the welding torch; a step of calculating the position and size of the present molten pool formed by the moving torch; a step of comparing an error range of the position and size of the present calculated molten pool with predetermined value; a step of controlling height and moving direction or current/voltage of the torch in accordance with the compared value; and a step of performing welding by using the torch wherein the height and moving direction or current/voltage of the torch are controlled. According to the present invention, the welding device can easily figure out the position and size of the molten pool formed in a welding section during automatic welding and improve welding quality of the automatic welding as the torch can be controlled.</p> |
