CN106238864A - A kind of fillet weld seam method based on arc welding robot - Google Patents

A kind of fillet weld seam method based on arc welding robot Download PDF

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Publication number
CN106238864A
CN106238864A CN201610683002.4A CN201610683002A CN106238864A CN 106238864 A CN106238864 A CN 106238864A CN 201610683002 A CN201610683002 A CN 201610683002A CN 106238864 A CN106238864 A CN 106238864A
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China
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welding
bead
welding bead
layer
weld
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CN106238864B (en
Inventor
高兵
王法斌
周冬
石善祥
陈彬
华霖
蒋新标
董诚
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Wuhan Marine Machinery Plant Co Ltd
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Wuhan Marine Machinery Plant Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/0216—Seam profiling, e.g. weaving, multilayer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K33/00—Specially-profiled edge portions of workpieces for making soldering or welding connections; Filling the seams formed thereby
    • B23K33/004—Filling of continuous seams

Abstract

The invention discloses a kind of fillet weld seam method based on arc welding robot, belong to welding technology field.The method includes weld width and the bead height determining welding bead, determine weld width and the weld bead height of angle welding, determine the welding number of plies, determine the welding bead quantity of n-th layer, determine the different vertical side-play amount of layer welding bead, determine the same vertical side-play amount of layer welding bead, determine same layer welding bead transversal displacement, it is determined by weld width a and bead height b, and determine weld width and the weld bead height of angle welding, further according to weld width, bead height, weld width and weld bead height determine the welding number of plies, the welding bead quantity of each layer, the different vertical side-play amount of layer welding bead, with the vertical side-play amount of layer welding bead with layer welding bead transversal displacement, thus improve the quality of the weld seam ultimately formed, the stress reducing material is concentrated, decrease the polishing of weld seam.

Description

A kind of fillet weld seam method based on arc welding robot
Technical field
The present invention relates to welding technology field, particularly to a kind of fillet weld seam method based on arc welding robot.
Background technology
Welding is a kind of common connected mode, and be usually used between various steel is fixing, and angle welding is in welding one Plant weld seam form more typically, can be individually used for welding two pieces of mother metals, it is also possible to be common with butt weld composition composite welds Connect two pieces of mother metals.
In welding process, the stress of material can be reduced by welding angle welding between two orthogonal surfaces Concentrate, in existing fillet weld seam, mostly have employed the welding method of multilamellar multiple tracks, be i.e. welded with multilamellar welding bead, every layer In have again an a plurality of welding bead, wherein, for the choosing of side-play amount of the number of plies, the quantity of each layer of welding bead and the adjacent welding bead of welding bead Select, the most rule of thumb depending on, ultimately result in weld seam coarse, poor welding quality so that cannot fully reduce the stress collection of material In, also increase the workload of the weld grinding in later stage.
Summary of the invention
In order to improve the welding quality of angle welding, embodiments provide a kind of angle welding based on arc welding robot Welding method.Described technical scheme is as follows:
Embodiments provide a kind of fillet weld seam method based on arc welding robot, it is adaptable to welding first is female First solder side of material and the second solder side of the second mother metal, described first solder side and described second solder side are mutually perpendicular to, Described method includes:
Determine the weld width a and bead height b of welding bead；
Determine the weld width H of described angle welding1With weld bead height H2；
Determining welding number of plies N, described welding number of plies N meets formula:
Determining the welding bead amount R of n-th layer, n is integer and 0 ＜ n≤N, and described welding bead amount R meets formula:
R = nH 1 H 2 ;
Determine the in adjacent two layers welding bead the 1st article of welding bead on the direction being perpendicular to described first solder side to away from described Different vertical offset Δ Y of layer welding bead of the first solder side side skew0, described different vertical offset Δ Y of layer welding bead0=b；
Determine the r article welding bead in n-th layer relative to the r-1 article welding bead on the direction being perpendicular to described first solder side To same vertical offset Δ Y of layer welding bead near described first solder side side skewn, 2≤r≤R, the vertical skew of described welding bead Amount Δ YnMeet formula:
ΔY n = b ( n - 1 ) R - 1 ;
Determine that the described the r article welding bead in n-th layer is being parallel to described first solder side relative to described the r-1 article welding bead Direction on to away from described second solder side side skew same layer welding bead transversal displacement Δ X, described same layer welding bead is horizontal Offset Δ X meets formula:
Δ X = ( 1 2 ~ 2 3 ) a ;
According to described different vertical offset Δ Y of layer welding bead0, described same layer welding bead transversal displacement Δ X and described same layer weldering Vertical offset Δ Y in roadnControl described arc welding robot and on described first solder side, weld the 1st layer of welding bead successively to n-th layer The 1st article of welding bead in welding bead, and the described welding bead of each layer is close to described second solder side.
Preferably, the described weld width a and bead height b determining welding bead, including:
The welding condition determined is used to carry out test weld, to obtain testing welding bead；
Measure described test welding bead, to obtain described weld width a and described bead height b.
Further, described welding condition include the diameter of welding wire, the kind of welding wire, welding current, weldingvoltage, Speed of welding, protective gas composition and shield gas flow rate.
Further, a diameter of 1.2mm of described welding wire, described welding wire is ER50-6 welding wire, and described welding current is 260～280A, described weldingvoltage is 28～32V, and described speed of welding is 35～45cm/min, and described protective gas composition is Ar and CO2, and Ar and CO2Volume ratio be 41:9, described shield gas flow rate is 20～25L/min.
Alternatively, at least one in described first mother metal and described second mother metal offers groove, and described groove passes through Butt weld connects, described weld width H1Identical with the width of described butt weld, described weld bead height H2For 0.3H1~ 0.7H1。
Preferably, described groove is monolateral J-type groove, and the angle between the both sides of described groove is 28 °～32 °.
Alternatively, when welding described butt weld, on described first mother metal and the most described slope of described second mother metal The side of mouth is provided with liner, and the position of the corresponding described groove of described liner is arranged.
Preferably, described first mother metal and described second mother metal all do not offer groove, described weld bead height H2For described In first mother metal and described second mother metal 0.7～0.8 times of the thickness of the mother metal that thickness is less, described weld width H1For 1.0H2 ～2.0H2。
Alternatively, when welding described 1st layer of welding bead to described n-th layer welding bead, control described arc welding robot to set Attitude is welded, and described setting attitude includes:
Controlling the angle between the nozzle of the welding gun of described arc welding robot and described second solder side is 40 °～50 °, institute The electrode extension of the welding gun stating arc welding robot is 17-19mm, the minimum between described welding wire and described second solder side Spacing is 1～2mm.
Preferably, after having welded described n-th layer welding bead, described method also includes:
Described angle welding is polished.
The technical scheme that the embodiment of the present invention provides has the benefit that and is determined by weld width a and welding bead height Degree b, and determine the weld width H of angle welding1With weld bead height H2, further according to weld width a, bead height b, weld width H1 With weld bead height H2Determine welding number of plies N, the welding bead quantity of each layer, different vertical offset Δ Y of layer welding bead0, with layer welding bead hang down To offset Δ YnWith same layer welding bead transversal displacement Δ X, thus improve the quality of the weld seam ultimately formed, reduce material Stress concentrate, decrease the polishing of weld seam.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing.
Fig. 1 is the flow chart of a kind of based on arc welding robot the fillet weld seam method that the embodiment of the present invention provides；
Fig. 2 is the flow chart of another kind fillet weld seam based on the arc welding robot method that the embodiment of the present invention provides；
Fig. 3 is a kind of weld seam schematic diagram that the embodiment of the present invention provides；
Fig. 4 is the welding posture schematic diagram of a kind of arc welding robot that the embodiment of the present invention provides；
Fig. 5 is the schematic diagram of a kind of welding gun that the embodiment of the present invention provides；
Fig. 6 is a kind of leg seam sectional view that the embodiment of the present invention provides.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention Formula is described in further detail.
Fig. 1 is the flow chart of a kind of based on arc welding robot the fillet weld seam method that the embodiment of the present invention provides, should Method is applicable to weld the second solder side of the first solder side of the first mother metal and the second mother metal, the first solder side and the second welding Face is mutually perpendicular to, as it is shown in figure 1, the method includes:
S11: determine the weld width a and bead height b of welding bead.
S12: determine the weld width H of angle welding1With weld bead height H2。
S13: determine welding number of plies N.
Wherein, welding number of plies N meets formula:
S14: determine the welding bead amount R of n-th layer, n are integer and 0 ＜ n≤N.
Wherein, welding bead amount R meets formula:
R = nH 1 H 2 .
S15: determine the 1st article of welding bead in adjacent two layers welding bead on the direction being perpendicular to the first solder side to away from first Different vertical offset Δ Y of layer welding bead of solder side side skew0。
This different vertical offset Δ Y of layer welding bead0=b.
S16: determine the r article welding bead in n-th layer relative to the r-1 article welding bead on the direction being perpendicular to the first solder side To same vertical offset Δ Y of layer welding bead near the first solder side side skewn, 2≤r≤R.
Wherein, vertical offset Δ Y of welding beadnMeet formula:
ΔY n = b ( n - 1 ) R - 1 .
S17: determine the r article welding bead in every n-layer relative to the r-1 article welding bead on the direction being parallel to the first solder side To the same layer welding bead transversal displacement Δ X away from the second solder side side skew.
Wherein, formula is met with layer welding bead transversal displacement Δ X:
Δ X = ( 1 2 ~ 2 3 ) a .
S18: according to different vertical offset Δ Y of layer welding bead0, with layer welding bead transversal displacement Δ X and vertical partially with layer welding bead Shifting amount Δ YnControl arc welding robot and on the first solder side, weld the 1st layer of welding bead successively to n-th layer welding bead, and in each layer welding bead The 1st article of welding bead be close to the second solder side.
The technical scheme that the embodiment of the present invention provides has the benefit that and is determined by weld width a and welding bead height Degree b, and determine the weld width H of angle welding1With weld bead height H2, further according to weld width a, bead height b, weld width H1 With weld bead height H2Determine welding number of plies N, the welding bead quantity of each layer, different vertical offset Δ Y of layer welding bead0, with layer welding bead hang down To offset Δ YnWith same layer welding bead transversal displacement Δ X, thus improve the quality of the weld seam ultimately formed, reduce material Stress concentrate, decrease the polishing of weld seam.
Fig. 2 is the flow chart of another kind fillet weld seam based on the arc welding robot method that the embodiment of the present invention provides, As in figure 2 it is shown, the method includes:
S21: determine welding condition.
Specifically, welding condition can include the diameter of welding wire, the kind of welding wire, welding current, weldingvoltage, weldering Connect speed, protective gas composition and shield gas flow rate.
In the present embodiment, a diameter of 1.2mm of welding wire, welding wire is ER50-6 welding wire, and welding current is 260～280A, Weldingvoltage is 28～32V, and speed of welding is 35～45cm/min, and protective gas composition is Ar and CO2, and Ar and CO2Volume Ratio is 41:9, and shield gas flow rate is 20～25L/min, uses the welding bead beautiful outline form that this welding condition is formed when welding Seeing, polishing amount is little.
S22: determine the weld width a and bead height b of welding bead.
Specifically, S22 may include that
S221: use the welding condition determined to carry out test weld, to obtain testing welding bead.
S222: measure test welding bead, to obtain weld width a and bead height b.
Wherein, test weld i.e. welds on one block of material identical with quality of parent material to be welded, to form at least one Bar welding bead.
During owing to using different welding conditions to weld, the welding bead of formation is likely to difference, can by test weld Accurately to determine the size of the welding bead formed when actual welding, in the present embodiment, weld width a is 8mm, and welding bead is high Degree b is 4.5mm.
S23: determine the weld width H of angle welding1With weld bead height H2。
Alternatively, at least one in the first mother metal and the second mother metal offers groove, and groove is connected by butt weld, Between the groove face of weldment or the groove face of a weldment and the weld seam welded between another weldment end (table) face, referred to as butt weld, Fig. 3 is a kind of weld seam schematic diagram that the embodiment of the present invention provides, as it is shown on figure 3, in the present embodiment, two pieces of mother metals to be welded Offering groove 6 between 3, the both sides of groove 6 are connected by butt weld 4, the weld width H of angle welding 71With butt weld 4 Width identical, weld bead height H of angle welding 72For 0.3H1～0.7H1。
In the present embodiment, the width of butt weld 4 is 38mm, weld width H1Take 38mm, weld bead height H2Take 16mm.
After welding completes, the stress at groove 6 is concentrated bigger, by being possible not only at groove 6 additional leg weld seam 7 Increase weld strength, can effectively reduce the stress at groove 6 simultaneously and concentrate.
Further, groove 6 is monolateral J-type groove, and the angle between the both sides of groove 6 is 28 °～32 °, monolateral J-type slope Mouth is generally used for butt weld.
Additionally, when butt welding weld seam 4, be provided with liner 5 in the side of two pieces of mother metals 3 groove 6 dorsad to be welded, The position of the corresponding groove 6 of liner 5 is arranged, and guarantees groove 6 through welding, the most beneficially molding of weld seam by arranging liner 5.
S24: determine welding number of plies N.
Wherein, welding number of plies N meets formula:
When realizing, use and determine welding number of plies N, the most in the present embodiment, weld bead height H into a mode rounded2For 16mm, bead height b are 4.5mm, obtain welding number of plies N and should take 4 (calculating N=3.56, enter one rounding is 4).
S25: determine the welding bead amount R of n-th layer, n are integer and 0 ＜ n≤N.
Wherein, welding bead amount R meets formula:
R = nH 1 H 2 .
When realizing, welding bead amount R can be determined in the way of employing rounds up, in the present embodiment, have 4 layers of welding bead, The welding bead quantity of the 1st layer of welding bead is 2, and the welding bead quantity of the 2nd layer of welding bead is 6, and the welding bead quantity of the 3rd layer of welding bead is 8, the 4th layer of weldering The welding bead quantity in road is 10.
S26: determine the 1st article of welding bead in adjacent two layers welding bead on the direction being perpendicular to the first solder side to away from first Different vertical offset Δ Y of layer welding bead of solder side side skew0。
This different vertical offset Δ Y of layer welding bead0=b.
In the present embodiment, different vertical offset Δ Y of layer welding bead0=4.5mm.
S27: determine the r article welding bead in n-th layer relative to the r-1 article welding bead on the direction being perpendicular to the first solder side To same vertical offset Δ Y of layer welding bead near the first solder side side skewn, 2≤r≤R.
Wherein, vertical offset Δ Y of welding beadnMeet formula:
ΔY n = b ( n - 1 ) R - 1 .
By arranging same vertical offset Δ Y of layer welding beadnSo that adjacent two-layer welding bead can fully fuse, and is conducive to Promote weldquality.
Specifically, in the 1st layer of welding bead, with vertical offset Δ Y of layer welding bead1It is 0, in the 2nd layer of welding bead, with layer welding bead Vertical offset Δ Y2For 1.5mm, in the 3rd layer of welding bead, with vertical offset Δ Y of layer welding bead3For 1.8mm, at the 4th layer of welding bead In, with vertical offset Δ Y of layer welding bead4For 1.9mm, during calculating, retain a decimal.
S28: determine the r article welding bead in every n-layer relative to the r-1 article welding bead on the direction being parallel to the first solder side To the same layer welding bead transversal displacement Δ X away from the second solder side side skew.
Wherein, formula is met with layer welding bead transversal displacement Δ X:
Δ X = ( 1 2 ~ 2 3 ) a .
By arranging same layer welding bead transversal displacement Δ X so that twice welding bead adjacent in same layer can fully fuse, Be conducive to promoting weldquality.
In the present embodiment, Δ X is 4.5mm.
S29: according to different vertical offset Δ Y of layer welding bead0, with layer welding bead transversal displacement Δ X and vertical partially with layer welding bead Shifting amount Δ YnControl arc welding robot and on the first solder side, weld the 1st layer of welding bead successively to n-th layer welding bead, and in each layer welding bead The 1st article of welding bead be close to the second solder side.
Specifically, when welding the 1st layer of welding bead to n-th layer welding bead, control arc welding robot and weld to set attitude, Set attitude to include: control arc welding robot welding gun nozzle and the second solder side between angle as 40 °～50 °, arc-welding The electrode extension of the welding gun of robot is 17-19mm, and the minimum spacing between welding wire and the second solder side is 1～2mm.
Fig. 4 is the welding posture schematic diagram of a kind of arc welding robot that the embodiment of the present invention provides, and as shown in Figure 4, controls Included angle A between nozzle and second solder side of the welding gun 1 of arc welding robot is 45 °, and the welding wire of the welding gun 1 of arc welding robot is stretched Going out length L is 18mm, and minimum spacing C between welding wire 2 and the second solder side is 1～2mm, and welding gun 1 can be avoided to go out with mother metal 3 Now collide.
Fig. 5 is the schematic diagram of a kind of welding gun that the embodiment of the present invention provides, as it is shown in figure 5, in actual welding, welding gun 1 On be provided with ignition tip 11, ignition tip 11 is outer is the most also covered with protection mouth 12, and welding wire 2 is stretched out by ignition tip 11, at the present embodiment In, welding wire 2 extension elongation L refers to that welding wire 2 stretches out the length of ignition tip 11, i.e. includes between ignition tip 11 and protection mouth 12 Welding wire 2 and stretch out the total length of welding wire 2 of protection mouth 12.
Fig. 6 is a kind of leg seam sectional view that the embodiment of the present invention provides, as shown in Figure 6, in embodiments of the present invention, the 1 layer of welding bead includes that welding bead 11～12, the 2nd layer of welding bead include that welding bead 21～24, the 3rd layer of welding bead include welding bead 31～36, the 4th layer of weldering Road includes welding bead 41～48, it is achieved time, controlling arc welding robot and keep setting attitude, welding wire is opened at the second solder side 1～2mm Begin the 1st layer of welding bead of welding, when welding in adjacent two welding beads a welding bead after relatively, according to same layer welding bead transversal displacement Δ X, moves Δ X to the direction away from the second solder side 3b on the basis of controlling welding wire position in welding during a welding bead, as This is sequentially completed the welding of each welding bead in the 1st layer of welding bead；When welding the 1st article of welding bead of the 2nd layer of welding bead, according to different layer welding bead Vertical offset Δ Y0, controlling welding wire at the 1st article of welding bead of welding last layer welding bead (is now the 1st article of weldering of the 1st layer of welding bead Road) time position on the basis of move Δ Y to the direction away from the first solder side 3a0, at adjacent two articles of the 2nd layer of welding bead of welding In welding bead relatively after a welding bead time, according to same vertical offset Δ Y of layer welding bead2, control welding wire welding on a welding bead time Position on the basis of move Δ Y near the direction of the first solder side 3a2, according to same layer welding bead transversal displacement Δ X, control Welding wire welding on a welding bead time position on the basis of move Δ X to the direction away from the second solder side 3b, the most successively Complete the welding of each welding bead in the 2nd layer of welding bead, afterwards when welding the 1st article of welding bead of any one layer of welding bead, all control welding wire Δ Y is moved to the direction away from the first solder side 3a on the basis of position when welding the 1st article of welding bead of last layer welding bead0, In adjacent two welding beads welded in this layer of welding bead relatively after a welding bead time, according to same vertical offset Δ Y of layer welding beadn, Δ Y is moved to the direction near the first solder side 3a on the basis of controlling welding wire position in welding during a welding beadn, according to With layer welding bead transversal displacement Δ X, weld to away from second on the basis of controlling welding wire position in welding during a welding bead Δ X is moved in the direction of face 3b, so completes the 1st layer of welding bead to the welding of n-th layer welding bead.
Preferably, after completing n-th layer welding bead, the method can also include:
S30: angle welding is polished.
Welding slag can be removed by polishing, reduce the roughness of face of weld, make weld seam more attractive in appearance.
In another embodiment of the invention, the first mother metal and the second mother metal all do not offer groove, weld bead height H2 It is in the first mother metal and the second mother metal 0.7～0.8 times of the thickness of the mother metal that thickness is less, weld width H1For 1.0H2~ 2.0H2, so that when directly using angle welding to connect mother metal, can have enough weld strengths.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims (10)

1. a fillet weld seam method based on arc welding robot, it is adaptable to weld first solder side and second of the first mother metal Second solder side of mother metal, described first solder side and described second solder side are mutually perpendicular to, it is characterised in that described method bag Include:
Determine the weld width a and bead height b of welding bead；
Determine the weld width H of described angle welding1With weld bead height H2；
Determining welding number of plies N, described welding number of plies N meets formula:
Determining the welding bead amount R of n-th layer, n is integer and 0 ＜ n≤N, and described welding bead amount R meets formula:
R = nH 1 H 2 ;
Determine the in adjacent two layers welding bead the 1st article of welding bead on the direction being perpendicular to described first solder side to away from described first Different vertical offset Δ Y of layer welding bead of solder side side skew0, described different vertical offset Δ Y of layer welding bead0=b；
Determine the r article welding bead in n-th layer relative to the r-1 article welding bead on the direction being perpendicular to described first solder side to leaning on Same vertical offset Δ Y of layer welding bead of the most described first solder side side skewn, 2≤r≤R, the vertical offset Δ of described welding bead YnMeet formula:
ΔY n = b ( n - 1 ) R - 1 ;
Determine the described the r article welding bead in n-th layer relative to described the r-1 article welding bead in the side being parallel to described first solder side Upwards to the same layer welding bead transversal displacement Δ X away from described second solder side side skew, described same layer welding bead lateral shift Amount Δ X meets formula:
Δ X = ( 1 2 ~ 2 3 ) a ;
According to described different vertical offset Δ Y of layer welding bead0, described same layer welding bead transversal displacement Δ X and described same layer welding bead vertical Offset Δ YnControl described arc welding robot and on described first solder side, weld the 1st layer of welding bead successively to n-th layer welding bead, and The 1st article of welding bead in the described welding bead of each layer is close to described second solder side.
Method the most according to claim 1, it is characterised in that the described weld width a and bead height b determining welding bead, Including:
The welding condition determined is used to carry out test weld, to obtain testing welding bead；
Measure described test welding bead, to obtain described weld width a and described bead height b.
Method the most according to claim 2, it is characterised in that described welding condition includes the diameter of welding wire, welding wire Kind, welding current, weldingvoltage, speed of welding, protective gas composition and shield gas flow rate.
Method the most according to claim 3, it is characterised in that a diameter of 1.2mm of described welding wire, described welding wire is ER50-6 welding wire, described welding current is 260～280A, and described weldingvoltage is 28～32V, described speed of welding be 35～ 45cm/min, described protective gas composition is Ar and CO2, and Ar and CO2Volume ratio be 41:9, described shield gas flow rate is 20～25L/min.
5. according to the method described in any one of claim 1-4, it is characterised in that in described first mother metal and described second mother metal At least one offer groove, described groove is connected by butt weld, described weld width H1With described butt weld Width is identical, described weld bead height H2For 0.3H1～0.7H1。
Method the most according to claim 5, it is characterised in that described groove is monolateral J-type groove, the both sides of described groove Between angle be 28 °～32 °.
Method the most according to claim 5, it is characterised in that when welding described butt weld, at described first mother metal The side of the most described groove of described second mother metal is provided with liner, and the position of the corresponding described groove of described liner is arranged.
8. according to the method described in any one of claim 1-4, it is characterised in that described first mother metal and described second mother metal are equal Do not offer groove, described weld bead height H2Thickness for the less mother metal of thickness in described first mother metal and described second mother metal 0.7～0.8 times, described weld width H1For 1.0H2～2.0H2。
9. according to the method described in any one of claim 1-4, it is characterised in that welding described 1st layer of welding bead extremely described N During layer welding bead, controlling described arc welding robot and weld to set attitude, described setting attitude includes:
Controlling the angle between the nozzle of the welding gun of described arc welding robot and described second solder side is 40 °～50 °, described arc The electrode extension of the welding gun of weldering robot is 17-19mm, the minimum spacing between described welding wire and described second solder side It is 1～2mm.
10. according to the method described in any one of Claims 1 to 4, it is characterised in that after having welded described n-th layer welding bead, institute Method of stating also includes:
Described angle welding is polished.
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CN109014504A (en) * 2018-06-27 2018-12-18 武汉船用机械有限责任公司 The welding method of main cable saddle of suspension bridge partition
CN110064816A (en) * 2018-01-24 2019-07-30 日铁住金溶接工业株式会社 Groove welding method and groove welder
CN110681951A (en) * 2019-10-31 2020-01-14 广船国际有限公司 Automatic welding method and welding device for ship body curved plate
CN110977101A (en) * 2019-12-13 2020-04-10 哈尔滨电机厂有限责任公司 Method for automatically pulse MIG surfacing welding of aluminum bronze on upstream and downstream flanges
CN111975166A (en) * 2020-08-26 2020-11-24 广船国际有限公司 Connection structure of topside strake and deck and installation method of topside strake and deck
JP2021127833A (en) * 2019-12-03 2021-09-02 株式会社クボタ Method for forming insertion port protrusion
CN114473155A (en) * 2022-03-07 2022-05-13 深圳市雅鑫智能房屋有限公司 Welding process of assembly type building assembly

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CN107558275A (en) * 2017-09-04 2018-01-09 湖北三江航天江北机械工程有限公司 Large-scale double twisting device frame and its processing method
CN110064816A (en) * 2018-01-24 2019-07-30 日铁住金溶接工业株式会社 Groove welding method and groove welder
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CN110681951A (en) * 2019-10-31 2020-01-14 广船国际有限公司 Automatic welding method and welding device for ship body curved plate
CN110681951B (en) * 2019-10-31 2022-04-05 广船国际有限公司 Automatic welding method and welding device for ship body curved plate
JP2021127833A (en) * 2019-12-03 2021-09-02 株式会社クボタ Method for forming insertion port protrusion
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CN110977101A (en) * 2019-12-13 2020-04-10 哈尔滨电机厂有限责任公司 Method for automatically pulse MIG surfacing welding of aluminum bronze on upstream and downstream flanges
CN111975166A (en) * 2020-08-26 2020-11-24 广船国际有限公司 Connection structure of topside strake and deck and installation method of topside strake and deck
CN114473155A (en) * 2022-03-07 2022-05-13 深圳市雅鑫智能房屋有限公司 Welding process of assembly type building assembly

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