| 摘要 |
<p>The present invention relates to a rail-less automatic steel pipe welding apparatus, which includes: an enclosure-shaped main body (10); a driving unit (20) disposed on the bottom surface of the main body (10) and transported in close contact with the surface of a steel pipe by magnetic force; a welding torch (30) provided in the main body (10) and disposed on the upper portion of a joint; a sensing unit (40) provided in the driving unit (20) and obtaining a welding area (w) by obtaining the respective positions of x1_1 and x2_1 by means of detecting both edges of the steel pipe and connecting same with a straight line; a data processing unit (50) that divides the width (w) of the welding area obtained by the sensing unit (40) equally in order to obtain a welding trajectory (c); and a travel control unit (60) that adjusts the travel direction by controlling the driving unit (20) so that the central areas of the welding trajectory (c) and the sensing unit (40) match. Due to the above-described configuration, even when pipe joints are welded using a rail-less automatic welding apparatus, the present invention does not allow the welding area to drift to one side and welds while precisely following the trajectory.</p> |
