METHOD FOR ESCAPING FROM THE COLLISION IN STEP WELDING WITH WELDING ROBOT

摘要

A method for avoiding collision during the step welding of a welding robot is provided to conduct the step welding along a reset step welding path by predicting the collision of a welding torch and a screen of the welding robot with a step portion, and prevent flaws of welding quality by preventing generation of arc on a step path that is reset with being spaced from the step portion in a predetermined distance. A method for avoiding collision during the step welding of a welding robot controlled by a robot control part comprises: a step(S401) of determining the location and position of the welding robot at a step portion of a welding object; a step(S403) of setting a step welding path according to the step portion from the location and position of the welding robot; a step(S405) of determining whether the welding robot is collided with the step portion or not based on the step welding path; a step(S407) of resetting the step welding path if the collision of the welding robot with the step portion is predicted; and a step(S409) of performing the step welding using the reset step welding path.