| 摘要 |
PURPOSE: A method and an apparatus for welding curved pipes having various shapes using a laser vision sensor are provided. CONSTITUTION: In an apparatus for performing welding by sensing position of a part to be welded during fabrication of curved pipes, and controlling position of a welding torch(5) installed at a torch displacement device(10) by the sensed position, the apparatus for welding the curved pipes using a laser vision sensor(4) comprises a rotation driving device(20) on which the curved pipes to be welded are stationed, and which rotates the curved pipes at their places by an external driving source(3); a laser vision sensor(4) which is installed at the torch displacement device(10) to take a photograph of a part to be welded(2) by scanning laser onto the part to be welded oppositely directed to the welding torch(5); a video processing part(30) for converting coordinates for the part to be welded(2) into three-dimensional coordinates to control driving displacement of the welding torch(5) by receiving video signals by the laser vision sensor(4); and a displacement control part(40) for outputting control signals for driving the torch displacement device(10) according to the three-dimensional coordinates of the video processing part(30).
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