METHOD FOR REALIZING WEAVING MOTION OF WELDING ROBOT FOR OBTAINING WELDING TORCH POSTURE BY CALCULATING NUMBER OF MOVABLE-CROSSING POINTS

摘要

PURPOSE: A weaving motion securing method of a welding robot is provided to compute a movable-crossing point of the robot for rectilinear-weaving by using a starting point, an end point, and a reference point of a welding range and to secure a welding weaving motion by changing a welding torch posture by using the number of the movable-crossing points. CONSTITUTION: A weaving motion securing method of a welding robot for a welding automatization system is composed of steps for reading reference points(ref1,ref2) positioned in a vertical direction of a straight line connecting a starting point(tp1) and an end point(tp2) as a welding initial value to obtain the starting point, end point, and movable-crossing points(a1,a2,b1,b2,c1,c2) of a welding range; calculating vectors for obtaining the movable-crossing points by using initial points; computing the movable-crossing points by the welding data and the calculated vectors and computing the number of the movable-crossing points; calculating a weaving movement angle to obtain a welding torch posture changed by a weaving motion by using the number of the movable-crossing points; and executing a weaving motion along the movable-crossing points with changing the welding torch posture for each calculated weaving movement angle.