KR100949995B1 - Automatic welding machine - Google Patents

Abstract

An unmanned automatic welder is disclosed. Unmanned automatic welding machine of the present invention, the welding main body provided with a welding portion for welding the welded object; An endless track coupled to one side of the welding body and movable along a predetermined working surface together with the welding body; A power generation unit coupled to the endless track and generating rotational power to the endless track so that the endless track moves along the work surface; A plurality of electromagnets coupled to the infinite track along the trajectory of the infinite track; And it characterized in that it comprises a control unit for controlling the power generating unit and the electromagnet. According to the present invention, it is possible to improve the safety of the operator while increasing the efficiency of the welding operation by moving up and down the vertical work surface or hanging upside down on the ceiling work surface for unattended automatic welding in a simpler and simpler way than in the prior art.

Welding, Robot, Track, Unmanned, Automatic, Electromagnet, Permanent Magnet

Description

Unmanned Automatic Welding Machine {Automatic welding machine}

The present invention relates to an unmanned automatic welding machine, and more particularly, to improve the efficiency of the welding operation by allowing the vertical work surface to be moved up and down or hanging upside down on the ceiling work surface for unattended automatic welding in a simpler and simpler manner than the prior art. The present invention relates to an unmanned automatic welding machine capable of increasing worker safety while increasing.

Welding is a method of joining metals of the same or different types by applying heat and pressure to bond them directly between solids. As a method of joining the same kind or different kinds of metal materials, there are largely divided welding methods and welding methods.

The welding method is a method of heating and melting a metal material at a joint to rearrange and bond atomic bonds of two different materials. There are arc welding, gas welding, and thermite welding. The pressure welding method is a method in which a joint is applied by applying strong external physical pressure to a joint, and a method of simultaneously applying pressure such as gas welding or single welding is called heating welding or high temperature welding. In general, a material that uses pressure welding is made of a material having high ductility, such as aluminum and copper, and is called cold welding because welding is possible only by pressing at room temperature.

Good and bad welding results are called weldability, which affects all of the base materials, welding rods and working conditions. New welding technology is developed, such as the electroslag method, which is a welding method that uses the resistance heat of slag, which is used for welding a very thick plate these days, or the electron-beam method, which enables the welding of high melting point materials. It is becoming. In addition, there are ultrasonic welding for applying ultrasonic vibration and laser welding for precise welding and cutting.

This welding technique is widely used throughout the industry, especially in the manufacture of automobiles and ships can be said to have high utilization.

Conventional welding usually relies on the manual labor of the operator. But in partly welding large structures such as ships, it is virtually difficult to rely on all the welding work manually. That is, it is inconvenient for the worker to move toward the object to be welded, install a simple workbench in front of the object to be welded, and then proceed with the welding work by moving the welding machine.

Therefore, in recent years, the trend of using the unmanned automatic welding machine in parallel with the manual work in automobiles and ship manufacturing companies, accordingly, the technology for the unmanned automatic welding machine is also developed together. A well-known unmanned automatic welding machine is controlled to move a welded object at a welding position after moving to a predetermined welding position on a plane by remote control.

By the way, in the conventional unmanned automatic welding machine, it is designed to simply move the flat work surface only in the horizontal direction through rolling means such as wheels, so that the vertical work surface can be raised or lowered substantially on the ceiling work surface. Because it has a structure that can not move upside down practically its utilization is not very high. In practice, field workers often have many difficulties in welding work such as vertical work surfaces or ceiling work surfaces, and in particular, it is known that the problem of safety accidents of workers increases due to welding work in such difficult environmental conditions.

Of course, although some unmanned automatic welders have been disclosed that are designed to move up and down along a vertical work plane, such unmanned automatic welders are capable of lifting up and down not depending on their structural features but on the operation of substantially complex surrounding structures. Therefore, there is a problem in that it is not enough to be applied to the field in practical use and costly.

Therefore, by using a simpler and simpler method than the conventional method, it is possible to move the vertical work surface up and down or hang upside down on the ceiling work surface for the unmanned automatic welding. Development is required.

An object of the present invention is to increase the efficiency of the welding operation to improve the safety of the operator by allowing the vertical work surface to move up and down or hanging upside down on the ceiling work surface for unmanned automatic welding in a simpler and simpler way than the prior art It is to provide an unmanned automatic welding machine.

The above object, according to the present invention, the welding main body provided with a welding portion for welding the welded object; An endless track coupled to one side of the welding base body and movable along a predetermined working surface together with the welding base body; A power generation unit coupled to the endless track and generating rotational power to the endless track so that the endless track moves along the work surface; A plurality of electromagnets spaced apart from each other along the trajectory of the infinite track; And a control unit for controlling the power generator and the electromagnet.

Here, when the predetermined working surface is a vertical working surface made of a conductive metal material or a ceiling working surface, the controller moves the power generating unit on indefinitely so that the endless track moves along the working surface. On / off operation of the electromagnets arranged along the direction in which the trajectory proceeds may be sequentially controlled.

The plurality of electromagnets may be coupled to the caterpillar in a regular arrangement, the electromagnet comprises: a coil unit coupled to an iron core forming the caterpillar; An electrode connected to the coil unit and including an anode (+) and a cathode (−); And it may include an electrode support for supporting the electrode.

The caterpillar may further include an electrode induction bar in which electrodes provided in the plurality of electromagnets are selectively contacted sequentially according to the rotation of the caterpillar.

A camera for photographing a welding position of the welded object; And a camera driving unit controlled by the controller and supporting the camera with respect to the welding body, and selectively changing an imaging position of the camera.

The camera drive unit, the actuator for approaching and spaced apart from the camera relative to the welding base; And an angle adjusting unit coupled between any one side of the actuator and the camera to adjust the angle of the camera with respect to the actuator.

The angle adjusting unit, the first adjusting unit for adjusting the angle of the actuator and the camera as a whole relative to the welding main body; And a second adjustment unit that independently adjusts the angle of the camera with respect to the actuator.

A foreign material removing unit for removing foreign substances remaining at the welding position of the welded object; And a foreign material removing unit driving unit controlled by the controller and supporting the foreign material removing unit with respect to the welding main body, and changing the position of the foreign material removing unit with respect to the welding main body.

It may further include a sensing unit provided in the welding main body for detecting a foreign matter, the control unit may control the operation of the foreign material removing unit driving unit based on the signal of the sensing unit.

A welding part controlled by the control unit, the welding part supporting the welding part with respect to the welding main body and varying a position of the welding part with respect to the welding main body to at least one axis among the X axis, the Y axis, and the Z axis with respect to the working surface. It may further include a drive unit.

The welding main body may further be provided with a welding rod supply for supplying a welding rod to the welding portion.

The welding main body may be further provided with a safety rope ring for mounting the safety rope.

According to the present invention, it is possible to improve the safety of the operator while improving the efficiency of the welding operation by allowing the vertical work surface to move up and down or to hang upside down on the ceiling work surface for unattended automatic welding in a simpler and simpler manner than the prior art.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

1 is a schematic side structure diagram of an unmanned automatic welding machine according to an embodiment of the present invention, Figure 2 is an enlarged view of the main portion of the caterpillar shown in Figure 1, Figure 3 is an unmanned automatic according to an embodiment of the present invention Control block diagram for a welder.

As shown in these drawings, the unmanned automatic welding machine according to the present embodiment is coupled to a welding main body 10 having a welding part 11 for welding a welded object (not shown) and one side of the welding main body 10. And the endless track 20, which is movable along a predetermined working surface with the welding main body 10, and the endless track 20, and the endless track 20 allows the endless track 20 to move while rotating along the working surface. A power generating unit 21 for generating a rotational power in), a plurality of electromagnets 30 are coupled to the endless track 20 to be spaced apart from each other along the trajectory of the endless track 20, the power generating unit 21 and It includes a control unit 40 for controlling the electromagnet 30.

The welding body 10 is a portion in which most mechanical and electronic devices are mounted in the unmanned automatic welding machine according to the present embodiment. Referring to FIG. 1 schematically, the weld body 10 is shown as if having a rectangular box shape, but this is only one embodiment. Therefore, the shape of the welding main body 10 may be manufactured in various shapes different from the illustrated.

The welded portion 11 coupled to one side of the welded body 10 is a welding tool for welding the welded object substantially. The welding main body 10 is further provided with a welding rod supply part 12 for supplying a welding rod to the welding portion 11 so that the welding operation can be performed through the welding portion 11. The welding part 11 welds the to-be-welded object through the welding rod supplied by the electrode supply part 12. At this time, the welding method, function, and shape may be applied to any of the above-described welding method and welding method.

The welding part driving unit which is controlled by the controller 40 in the welding part 11 and supports the welding part 11 with respect to the welding main body 10, but changes the position of the welding part 11 with respect to the welding main body 10. (13) is further combined. At this time, the welding unit driving unit 13 serves to vary the welding unit 11 to at least one of the X-axis, Y-axis and Z-axis with respect to the working surface.

In the present embodiment, the weld 11 may be varied in all of the X-axis, Y-axis, and Z-axis by the welder driving unit 13. Although schematically shown, movement in the X-axis, Y-axis, and Z-axis is performed by the X-axis motor 13a, Y-axis motor 13b, and Z-axis motor 13c coupled to the weld drive unit 13, respectively. It can be performed by. Here, the X-axis motor 13a, the Y-axis motor 13b, and the Z-axis motor 13c do not simply refer to a single piece of a motor that performs only rotational movement, but rather peripheral components thereof, such as gears and links. It is defined as a concept that includes all of them.

The tail of the welding base 10 is further provided with a safety rope ring 14 for mounting a safety rope (not shown) on the welding base 10. For reference, the unmanned automatic welding machine according to the present embodiment may be moved to both the vertical work surface and the ceiling work surface as well as the work surface in a horizontal state. When the unmanned automatic welding machine moves to the vertical work surface or the ceiling work surface, it is safer to mount a safety rope to prevent a safety accident. At this time, the safety rope can be hung on the safety rope hook 14. Therefore, the safety rope ring 14 is a simple ring type (type) is enough, but may be applied as a removable hook type, if necessary.

On the other hand, the crawler 20 is coupled to the lower region of the weld body (10). This crawler 20 substantially corresponds to the wheel for moving the welder of this embodiment. Due to the caterpillar 20, the welder of the present embodiment may move to both the vertical work surface and the ceiling work surface as well as the work surface in the horizontal state. When the caterpillar 20 moves to the work plane in a horizontal state, only the caterpillar 20 itself operates, but if the caterpillar 20 moves to the vertical work surface or the ceiling work plane, in addition to the motion of the caterpillar 20 The electromagnet 30 is operated. This will be described later.

For reference, the caterpillar 20 also referred to as caterpillar (caterpillar) refers to connecting a plurality of pieces of steel sheet like a belt to use as a wheel. In other words, the caterpillar 20 is a device that connects the plate made of steel plate in the shape of a chain, which is driven like a belt on the front and rear wheels to rotate by power. Compared with ordinary wheels, the ground area is large and friction with the ground is also great, so that the road and mud can be freely driven. In addition, it is possible to freely change the direction by changing the left and right rotation speed, and the rotation radius can be minimized.

The power generating unit 21 is coupled to the endless track 20. The power generator 21 is coupled to the endless track 20 to generate rotational power in the endless track 20. Usually it can be applied to a motor or the like. On the opposite side of the power generating section 21, a gear 22 as a means for organically rotating the closed loop endless track 20 is engaged. In addition, a plurality of auxiliary rollers 23 are provided in an area between the power generator 21 and the gear 22. The plurality of auxiliary rollers 23 serves to prevent the crawler 20 from sagging arbitrarily and to give tension to the crawler 20. Therefore, the plurality of auxiliary rollers 23 may be further formed in other positions in addition to the positions shown.

The structure of the caterpillar 20 as shown in FIG. 1 can be easily observed from a tank wheel or a heavy equipment wheel. The welding machine of this embodiment is further provided with a plurality of electromagnets 30 in the caterpillar 20.

Ordinary crawler 20 is a good way to move the horizontal plane or the inclined plane constantly. However, in the present embodiment, by providing a plurality of electromagnets 30 in the track 20, the control unit 40 controls the tracks 20 by the force of the magnetic force to the vertical work surface or ceiling working surface It is to be able to move. Of course, both the vertical work surface and the ceiling work surface should be made of a conductive metal material in order for the magnetic force to be applied.

In the present embodiment, in order to control the electromagnet 30 in a simpler and more effective manner, a plurality of electromagnets 30 are regularly arranged on the track 20. Of course, the electromagnets 30 are not necessarily arranged regularly, but when the electromagnets 30 are regularly arranged, there is an advantage in that the control becomes easier.

Each of the electromagnets 30 regularly arranged is connected to the coil portion 30a and the coil portion 30a, which is coupled to the iron core 31 forming the crawler 20, and has a positive electrode (+) and a negative electrode (−). It includes an electrode (30b) and an electrode support (30c) for supporting the electrode (30b). For reference, FIG. 2 is a schematic plan view of the caterpillar 20. Referring to this diagram, it can be seen that a plurality of electromagnets 30 are regularly arranged in the caterpillar 20. 2 schematically shows an electromagnet 30 coupled to the caterpillar 20, which may be regarded as regularly coupled throughout the entire caterpillar 20. As a method of providing 30, the portion enlarged in FIG. 2 may be attached to the iron core 31 as it is, or the electromagnet 30 may be inserted and coupled after drilling the inside of the iron core 31. In addition, after the iron core 31 is partially reduced in size, the remainder may be replaced with the electromagnet 30.

Accordingly, by applying a current to the coil unit 30a through the electrode 30b, a magnetic force can be formed in the iron core 31. Due to this magnetic force, the endless track 20 is a vertical work surface made of a conductive metal material. Can be attached to the ceiling work surface.

According to this principle, the controller 40 turns on / off the on / off operation of the electromagnets 30 arranged along the direction in which the caterpillar 20 travels while the power generator 21 is turned on. When the control is sequentially, the track 20 is to be moved along the vertical work surface or the ceiling work surface. Of course, in order for the caterpillar 20 to move, it will be necessary to drive the power generator 21 with a torque that is relatively greater than the force of the magnetic force by the electromagnet 30.

On the other hand, as described above, it is possible to individually control all the electromagnets 30 provided along the trajectory of the endless track 20 according to the conditions and circumstances in which the endless track 20 moves, but in the case of this embodiment the endless track An electrode induction bar 25 is provided at 20 to control the electromagnet 30 more easily. That is, in the present exemplary embodiment, after the electrode induction bar 25 to which power is applied is provided at a predetermined section of the endless track 20, the electrodes 30b provided in the plurality of electromagnets 30 each of the endless track 20 As the rotation is sequentially made in contact with the electrode induction bar 25 to form a magnetic force.

For example, the meaning that the crawler 20 is attached without falling from the vertical work plane means that the electromagnet 30 provided in the lower region of the crawler 20 that is substantially in contact with the work plane when referring to the drawing of FIG. 1. Only power is applied to them, which means that magnetic forces are formed in them. In this case, power may not be substantially applied to the remaining electromagnets 30 around the working surface. That is, since the caterpillar 20 continues to rotate, the electromagnets 30 are energized only when the electromagnets 30 are disposed in the vertical work area, and then magnetically attached to the vertical work plane through the magnetic force. You can do that. Thus, in the present embodiment, the electrode induction bar 25 is provided in this area, and when the electromagnets 30 are positioned in the vertical work surface area, they are connected to the electrode induction bar 25 to receive power to form a magnetic force. It is. However, since the scope of the present invention is not limited thereto, all electromagnets 30 may continue to form magnetic force while the crawler 20 moves.

On the other hand, in addition to the above-described structural features, the unmanned automatic welding machine of this embodiment is further provided with a camera 50 for imaging the welding position of the welded object. For the sake of efficiency, the camera 50 is positioned in front of the welding base body 10 with respect to the advancing direction of the welder to image the welding position in advance. Although one such camera 50 is normally provided, two or more cameras may be provided at different positions as necessary.

In installing the camera 50, if the camera 50 is fixed at the corresponding position, the range of the imaging is restricted, so the efficiency thereof may be lowered. In order to prevent this, in this embodiment, the imaging position of the camera 50 is selectively varied through the camera drive unit 60. That is, the camera driving unit 60 is controlled by the control unit 40 and supports the camera 50 with respect to the welding base 10, and serves to selectively change the imaging position of the camera 50.

The camera driving unit 60 is coupled between any one side of the actuator 61 and the camera 50 and the actuator 61 to approach and space the camera 50 with respect to the welding base 10, the actuator 61 It includes an angle adjuster 62 for adjusting the angle of the camera 50 with respect to.

Actuator 61 may be applied as a pneumatic, hydraulic or hydraulic pneumatic cylinder. In addition, the angle adjuster 62 may include a first adjuster 62a for adjusting an angle of the actuator 61 and the entire camera 50 with respect to the welding body 10, and the camera 50 with respect to the actuator 61. And a second adjuster 62b for independently adjusting the angle.

As described above, the imaging position of the camera 50 may be changed through the camera driving unit 60 including the actuator 61 and the angle adjuster 62, so that the welding position may be more accurately captured. In particular, such a camera drive unit 60 contributes to making it easy to image the welding position even if the welding position is bent or hidden.

On the other hand, the unmanned automatic welding machine of the present embodiment is further provided with a foreign material removal unit 70 for removing the foreign matter remaining in the welding position of the welded object in addition to the above configurations. As described above, the conditions for improving the weldability may be various, but it is known that the weldability is deteriorated, especially when foreign matter is present at the welding position.

Thus, in the present embodiment, the foreign matter removing unit 70 is provided to remove foreign matter remaining in the welding position. The foreign material removing unit 70 may be variously applied as a foreign material removing cloth, a brush, or a sponge.

The foreign material removing unit driving unit 80 is provided for mounting the foreign material removing unit 70. The foreign material removing unit driving unit 80 is controlled by the control unit 40, and supports the foreign material removing unit 70 with respect to the welding main body 10, but the position of the foreign material removing unit 70 with respect to the welding main body 10. It serves to change. Therefore, the foreign material removing unit driving unit 80 preferably has a structure and operation that can change the foreign material removing unit 70 to all of the X-axis, Y-axis and Z-axis like the welding unit driving unit 13 described above. . Structure and description of the foreign material removal unit driving unit 80 will be omitted.

The foreign material removing unit 70 is located in front of the welding unit 11. On the other hand, even if there is no foreign matter in the welding position, it is not preferable in terms of efficiency if the foreign matter removing unit 70 is continuously in contact with the working surface. Thus, in the present embodiment, after further providing a sensing unit 75 for detecting a foreign material in the welding main body 10, the control unit 40 of the foreign material removing unit driving unit 80 based on the signal of the sensing unit 75. To control the operation. That is, the foreign material removing unit 70 is operated by the foreign material removing unit driving unit 80 only when it is detected that foreign matter is present at the welding position through the detection unit 75.

Referring to the operation of the unmanned automatic welding machine having such a configuration as follows.

Assuming that the unmanned automatic welding machine of the present embodiment moves up and down the vertical working surface made of a conductive metal material, the control unit 40 may include a power generating unit (1) in order to move the crawler 20 of the unmanned automatic welding machine to the vertical working surface. 21 to rotate the caterpillar 20.

At the same time, power is applied to the electrode induction bar 25. The electromagnets 30 provided in the orbit 20 by rotation of the orbit 20 are connected to the electrode induction bar 25 to receive power when the electromagnets 30 are positioned in the vertical work surface area. That is, by applying a current to the coil portion 30a through the electrode 30b, a magnetic force can be formed in the iron core 31 at the corresponding position. Due to this magnetic force, the endless track 20 can be attached to the vertical work surface. have.

In the state where the lower end of the crawler 20 is attached to the vertical work surface, the power generator 21 is rotated with a torque greater than the magnetic force of the electromagnet 30, so that the crawler 20 moves up the vertical work surface. You can get off. The same applies to the ceiling work surface.

The unmanned automatic welding machine that is moved along the vertical work surface is operated by the control unit 40 to improve the welding position. The camera 50 is operated by the camera drive unit 60, so that even if the curved portion is not a straight line can be easily captured. When the camera 50 picks up the welding position, the camera 50 is usually arranged in an inclined direction.

When the welding position is confirmed, the power generating part 21 is turned off by the control part 40, and the welding part 11 is moved to the welding position of a to-be-welded object by the welding part drive unit 13 in that position. Then the welding operation proceeds.

If the detection unit 75 detects that there are many foreign objects in the welding position, the control unit 40 which receives this signal drives the foreign material removing unit driving unit 80 before the welding operation to remove the foreign material through the foreign material removing unit 70. After removal, the welding operation is then performed.

As described above, according to the unmanned automatic welding machine of the present embodiment, it is possible to move the vertical work surface up and down or hang upside down on the ceiling work surface for the unmanned automatic welding in a simpler and simpler manner than before, while increasing the efficiency of the welding work. Safety can be achieved.

As described above, if the welding device of the present embodiment is provided with a camera 50 operated by the camera driving unit 60, the welding position can be easily captured even if the welding position is bent or hidden. Can contribute.

In addition, as described above, when the foreign matter removing unit 70 operated by the foreign material removing unit driving unit 80 is provided in the welding machine of the present embodiment, the welding operation may be performed after removing the foreign matter remaining at the welding position. It is possible to improve the weldability.

In the above-described embodiment, the description is simplified, but if the camera 50 is provided, the welder has an advantage of being capable of remote control. That is, according to a preset program, the welder may move not only the corresponding position but any desired welding position, in particular, the dangerous position. Of course, this operation requires a technique for receiving and monitoring the image information captured from the camera 50 in real time, if this is implemented, it will be able to operate the caterpillar 20 in various directions based on the monitored content There must be.

As described above, the present invention is not limited to the described embodiments, and various modifications and changes can be made without departing from the spirit and scope of the present invention, which will be apparent to those skilled in the art. Therefore, such modifications or variations will have to be belong to the claims of the present invention.

1 is a schematic side structure diagram of an unmanned automatic welding machine according to an embodiment of the present invention.

FIG. 2 is an enlarged view illustrating main parts of the caterpillar of FIG. 1.

3 is a control block diagram for an unmanned automatic welding machine according to an embodiment of the present invention.

* Explanation of symbols for the main parts of the drawings

10: welding base body 11: welding part

12: welding rod supply unit 13: welding unit drive unit

20: caterpillar 21: power generating unit

25: electrode induction bar 30: electromagnet

40: control unit 50: camera

60: camera drive unit 70: foreign material removal unit

80: drive unit

Claims (12)

A welding main body provided with a welding unit for welding a welded object; An endless track coupled to one side of the welding base and movable along a working surface with the welding base; A power generation unit coupled to the endless track and generating rotational power to the endless track so that the endless track moves along the work surface; A plurality of electromagnets spaced apart from each other along the trajectory of the infinite track; And A control unit for controlling the power generating unit and the electromagnet, The controller may be configured such that the endless track is turned on while the power generating unit is turned on so that the endless track moves along the work surface when the work surface is a vertical work surface made of a conductive metal or a ceiling work surface. And an on / off operation of the electromagnets so that the electromagnets arranged along the traveling direction are turned on / off alternately one by one. delete The method of claim 1, The plurality of electromagnets are coupled to the endless track at equal intervals, The electromagnet, A coil unit coupled to the iron core forming the endless track; An electrode connected to the coil unit and including an anode (+) and a cathode (−); And Unattended automatic welder comprising an electrode support for supporting the electrode. The method of claim 3, And the electrode induction bar further comprises an electrode induction bar in which the electrodes provided in the plurality of electromagnets are selectively in contact with the rotation of the caterpillar. The method of claim 1, A camera for photographing a welding position of the welded object; And And a camera driving unit controlled by the control unit, the camera driving unit supporting the camera with respect to the welding main body and selectively changing an imaging position of the camera. The method of claim 5, The camera driving unit, An actuator approaching and spaced apart from the camera with respect to the weld body; And And an angle adjuster coupled between any one side of the actuator and the camera to adjust an angle of the camera with respect to the actuator. The method of claim 6, The angle adjustment unit, A first adjusting unit adjusting an angle of the actuator and the camera as a whole with respect to the welding main body; And And a second adjustment unit for independently adjusting the angle of the camera with respect to the actuator. The method of claim 1, A foreign material removing unit for removing foreign substances remaining at the welding position of the welded object; And And a foreign material removal unit driving unit controlled by the controller and supporting the foreign material removing unit with respect to the welding main body, and changing the position of the foreign material removing unit with respect to the welding main body. The method of claim 8, It is provided on the welding main body further includes a sensing unit for detecting a foreign matter, The control unit, the unmanned automatic welding machine, characterized in that for controlling the operation of the foreign material removing unit driving unit based on the signal of the detection unit. The method of claim 1, A welding part controlled by the control unit, the welding part supporting the welding part with respect to the welding main body and varying a position of the welding part with respect to the welding main body to at least one axis among the X axis, the Y axis, and the Z axis with respect to the working surface. Unmanned automatic welding machine further comprises a drive unit. The method of claim 1, The welding main body is an unmanned automatic welding machine, characterized in that the welding rod supply unit is further provided for supplying the welding rod to the welding portion. The method of claim 1, The welding main body is an unmanned automatic welding machine, characterized in that the safety rope further provided for mounting the safety rope.

Images