WELDING TORCH ANGLE CONTROL METHOD AND DEVICE OF ARC WELDING ROBOT IN RELATION TO ANGLE CORRECTION OF WELDING TORCH IN WELDING CIRCULAR ARC

摘要

PURPOSE: A welding torch angle control method and a device of an arc welding robot are provided to sense the angle of the welding torch per each sample and automatically keeping a welding angle approximate to the optimum value. CONSTITUTION: A welding torch angle control method of an arc welding robot comprises steps of receiving a control signal of a work and determining arc interpolation welding(S1); initializing a variable to zero(S2); moving the welding torch to a point A, if the welding point is a first quadrant and setting the advancing direction of the robot to a clockwise direction(S3¯S5); moving the welding torch to a point G, if the welding point is a second quadrant and setting the advancing direction of the robot to a clockwise direction(S6¯S8); moving the welding torch to the point G, if the welding point is a third quadrant and setting the advancing direction of the robot to a counterclockwise direction(S9¯S10); moving the welding torch to a point F, if the welding point is a fourth quadrant and setting the advancing direction of the robot to the counterclockwise direction(S12¯S14); detecting the angle of the welding torch of the current position points after one quadrant is selected(S15); moving the robot to position points to be welded next(S16); calculating a correction angle via the position points through a microprocessor(S17); determining the correction angle is a value between 5 degrees under zero and 5 degrees(S18); changing the posture of the robot to make the welding torch angle become 45 degrees to correct the next welding position if the correction angle is not the value between the 5 degrees under zero and 5 degrees(S19); and determining the correction angle corresponds to the finish point of a quadrant(S20); and increasing the variable(S21).