METHOD FOR AUTOMATICALLY TRACKING WELD LINE AND PREVENTING COLLISION OF WELDING TORCH

摘要

PURPOSE: A method for automatically tracking weld line and preventing collision of a welding torch is provided in which the welding torch automatically recognizes rotation position of the welding line, and collision between the welding torch and a welding member is prevented using a maximum current difference during rotation of the torch. CONSTITUTION: The method for automatically tracking weld line of a welding torch comprises the processes of obtaining a maximum current difference and peak position at the starting point when starting welding (S120); continuously moving the welding torch to one side until a maximum current difference per one revolution becomes a constant value to sense the peak position (S130); setting the peak position by obtaining standard deviation of peak pulses when certain number of peaks are sensed in the state that the welding torch is biased to one side and obtaining an average value of the peak pulses positioned within the deviation (S140-S160); and tracking the welding line by moving the welding torch to the initial position after setting direction of the peak position by comparing a peak position at the starting point with a final peak position (S170-S190).