| 摘要 |
<p>The present invention comprises: a propulsion unit which moves in contact with the surface of a welding object by using magnetic force; a welding unit which is provided on one side of the propulsion unit and carries out welding work while moving together therewith; welding-position guide units which are provided on both the left and the right side of the welding unit, emit laser lines onto the welding object, and check the welding position by checking the emitted laser lines; and a control unit which controls the propulsion unit and the welding unit by using the welding position as checked by means of the welding-position guide units. The welding-position guide unit comprises: a line information collecting means which incorporates a laser-emitting device that continuously emits a laser line onto the welding object, a line-collecting module that is mounted on the same vertical axis but at a different height to the laser-emitting device, checks the continuing trajectory of the laser line emitted from the laser-emitting device at a different angle from the angle of the emission from the laser-emitting device, and senses changes in the height of the emitted laser line, and a laser line information processing unit that converts changes in the height of the laser line as checked by the line-collecting module and the laser line emitted by the laser-emitting device into two dimensional data which it transmits to the control unit, such that the line information collecting means is adapted to emit a laser line onto the welding object, sense changes in the movement distance and height of the emitted laser line, convert the sensing results into two dimensional data, and supply the converted two dimensional data to the control unit; and a mounting plates for fitting the line information collecting means onto both the left and the right side of the propulsion unit.</p> |
