Abstract: The present disclosure relates to a weld groove forming method and a hollow article. The weld groove forming method may include: (S110) determining whether a side end of a pipe may be processed into a form of a true circle by using a sensor robot; and (S220) forming a weld groove in a form of a true circle at the side end of the pipe by using an automatic beveling machine when the sensor robot determines that the side end of the pipe may be processed into a form of a true circle in the step (S110).

Abstract: The automatic welding method includes: carrying a pipe on which a true circle weld groove and settling the pipe at a fit-up position in the welding station and carrying a hollow connection member on which a true circle weld groove is formed to a position near the fit-up position in the welding station by using the material transport robot; measuring the alignment state of the hollow connection member with respect to the fit-up position by using a gap sensor robot, and according to the results, moving the position of the hollow connection member to align the weld groove of the pipe with the weld groove of the hollow connection member; performing a root welding on the aligned weld grooves by using a GT welding robot; and performing a filling and cap welding on the aligned weld grooves by using a GM welding robot to manufacture a 2D spool.