CN106238864B - 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 PDFInfo
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- CN106238864B CN106238864B CN201610683002.4A CN201610683002A CN106238864B CN 106238864 B CN106238864 B CN 106238864B CN 201610683002 A CN201610683002 A CN 201610683002A CN 106238864 B CN106238864 B CN 106238864B
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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
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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
- 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
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Abstract
The fillet weld seam method based on arc welding robot that the invention discloses a kind of, belongs to welding technology field.This method includes the weld width and bead height of determining welding bead, determine the weld width and weld bead height of fillet weld, determine the welding number of plies, determine the welding bead quantity of n-th layer, determine the different vertical offset of layer welding bead, determine the vertical offset of same layer welding bead, determine same layer welding bead transversal displacement, by determining weld width a and bead height b, and determine the weld width and weld bead height of fillet weld, further according to weld width, bead height, weld width and weld bead height determine the welding number of plies, each layer of welding bead quantity, the different vertical offset of layer welding bead, the vertical offset of same layer welding bead and same layer welding bead transversal displacement, to improve the quality of finally formed weld seam, the stress for reducing material is concentrated, reduce the polishing of weld seam.
Description
Technical field
The present invention relates to welding technology field, in particular to a kind of fillet weld seam method based on arc welding robot.
Background technique
Welding is a kind of common connection type, the fixation being usually used between various steel, and fillet weld is one in welding
The more typical weld seam form of kind can be individually used for two pieces of base materials of welding, and it is common can also to constitute composite welds with butt weld
Connect two pieces of base materials.
In the welding process, the stress of material can be reduced by welding fillet weld between two orthogonal surfaces
It concentrates, in existing fillet weld seam, mostly uses the welding method of multilayer multiple tracks, that is, be welded with multilayer welding bead, every layer
In have an a plurality of welding bead again, wherein the choosing for the offset of the number of plies of welding bead, the quantity of each layer of welding bead and adjacent welding bead
Select, mostly rule of thumb depending on, it is coarse to eventually lead to weld seam, poor welding quality, so that being unable to fully reduce the stress collection of material
In, also increase the workload of the weld grinding in later period.
Summary of the invention
In order to improve the welding quality of fillet weld, the embodiment of the invention provides a kind of fillet welds based on arc welding robot
Welding method.The technical solution is as follows:
It is female to be suitable for welding first for the fillet weld seam method based on arc welding robot that the embodiment of the invention provides a kind of
First welding surface of material and the second welding surface of the second base material, first welding surface and second welding surface are mutually perpendicular to,
The described method includes:
Determine the weld width a and bead height b of welding bead；
Determine the weld width H of the fillet weld1With weld bead height H2；
Determine that welding number of plies N, the welding number of plies N meet formula:
Determine the welding bead amount R of n-th layer, n is integer and 0 < n≤N, the welding bead amount R meet formula:
Wherein, R is rounded by the way of rounding up；
Determine the 1st article of welding bead in adjacent two layers welding bead on the direction perpendicular to first welding surface to far from described
The vertical offset Δ Y of different layer welding bead of first welding surface side offset0, the different vertical offset Δ Y of layer welding bead0=b；
Determine the r articles welding bead in n-th layer relative to the r-1 articles welding bead on the direction perpendicular to first welding surface
To the vertical offset Δ Y of same layer welding bead deviated close to first welding surface siden, 2≤r≤R, the vertical offset of welding bead
Measure Δ YnMeet formula:
Determine that the r articles welding bead in n-th layer is being parallel to first welding surface relative to the r-1 articles welding bead
Direction on to the same layer welding bead transversal displacement Δ X deviated far from second welding surface side, the same layer welding bead is lateral
Offset Δ X meets formula:
According to the different vertical offset Δ Y of layer welding bead0, the same layer welding bead transversal displacement Δ X and the same layer weldering
The vertical offset Δ Y in roadnIt controls the arc welding robot and successively welds the 1st layer of welding bead on first welding surface to n-th layer
Welding bead, and the 1st article of welding bead in each layer welding bead is located next to second welding surface.
Preferably, the weld width a and bead height b of the determining welding bead, comprising:
Test weld is carried out using determining welding condition, to obtain test welding bead；
The test welding bead is measured, to obtain the weld width a and the bead height b.
Further, the welding condition include the diameter of welding wire, the type of welding wire, welding current, weldingvoltage,
Speed of welding, protective gas ingredient and shield gas flow rate.
Further, the diameter of the welding wire is 1.2mm, and the welding wire is ER50-6 welding wire, and the welding current is
260~280A, the weldingvoltage are 28~32V, and the speed of welding is 35~45cm/min, and the protective gas ingredient is
Ar and CO2, and Ar and CO2Volume ratio be 41:9, the shield gas flow rate be 20~25L/min.
Optionally, at least one of first base material and second base material offer groove, and the groove passes through
Butt weld connection, the weld width H1With of same size, the weld bead height H of the butt weld2For 0.3H1~
0.7H1。
Preferably, the groove is unilateral J-type groove, and the angle between the two sides of the groove is 28 °~32 °.
Optionally, when welding the butt weld, on the slope backwards of first base material and second base material
The side of mouth is provided with liner, the position setting of the corresponding groove of liner.
Preferably, first base material and second base material do not offer groove, the weld bead height H2It is described
0.7~0.8 times of the thickness of the lesser base material of thickness, the weld width H in first base material and second base material1For 1.0H2
~2.0H2。
Optionally, when welding the 1st layer of welding bead to the n-th layer welding bead, the arc welding robot is controlled to set
Posture is welded, and the setting posture includes:
Controlling the angle between the nozzle of the welding gun of the arc welding robot and second welding surface is 40 °~50 °, institute
The electrode extension for stating the welding gun of arc welding robot is 17-19mm, the minimum between the welding wire and second welding surface
Spacing is 1~2mm.
Preferably, after having welded the n-th layer welding bead, the method also includes:
It polishes the fillet weld.
Technical solution provided in an embodiment of the present invention has the benefit that by determining that weld width a and welding bead are high
B is spent, and determines the weld width H of fillet weld1With 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, each layer of welding bead quantity, the vertical offset Δ Y of different layer welding bead0, same layer welding bead hang down
To offset Δ YnMaterial is reduced to improve the quality of finally formed weld seam with same layer welding bead transversal displacement Δ X
Stress concentrate, reduce the polishing of weld seam.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of flow chart of fillet weld seam method based on arc welding robot provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another fillet weld seam method based on arc welding robot provided in an embodiment of the present invention；
Fig. 3 is a kind of weld seam schematic diagram provided in an embodiment of the present invention；
Fig. 4 is a kind of welding posture schematic diagram of arc welding robot provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of welding gun provided in an embodiment of the present invention；
Fig. 6 is a kind of welding angle seam sectional view provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is a kind of flow chart of fillet weld seam method based on arc welding robot provided in an embodiment of the present invention, should
Method is suitable for welding the first welding surface of the first base material and the second welding surface of the second base material, the first welding surface and the second welding
Face is mutually perpendicular to, as shown in Figure 1, this method comprises:
S11: the weld width a and bead height b of welding bead are determined.
S12: the weld width H of fillet weld is determined1With weld bead height H2。
S13: welding number of plies N is determined.
Wherein, welding number of plies N meets formula:
S14: determining the welding bead amount R of n-th layer, and n is integer and 0 < n≤N.
Wherein, welding bead amount R meets formula:
S15: determine the 1st article of welding bead in adjacent two layers welding bead on the direction perpendicular to the first welding surface to far from first
The vertical offset Δ Y of different layer welding bead of welding surface side offset0。
The different vertical offset Δ Y of layer welding bead0=b.
S16: determine the r articles welding bead in n-th layer relative to the r-1 articles welding bead on the direction perpendicular to the first welding surface
To the vertical offset Δ Y of same layer welding bead deviated close to the first welding surface siden, 2≤r≤R.
Wherein, the vertical offset Δ Y of welding beadnMeet formula:
S17: determine the r articles welding bead in every n-layer relative to the r-1 articles welding bead on the direction for being parallel to the first welding surface
To the same layer welding bead transversal displacement Δ X deviated far from the second welding surface side.
Wherein, same layer welding bead transversal displacement Δ X meets formula:
S18: according to the vertical offset Δ Y of different layer welding bead0, same layer welding bead transversal displacement Δ X and same layer welding bead it is vertical partially
Shifting amount Δ YnControl arc welding robot successively welds the 1st layer of welding bead to n-th layer welding bead on the first welding surface, and in each layer welding bead
The 1st article of welding bead be located next to the second welding surface.
Technical solution provided in an embodiment of the present invention has the benefit that by determining that weld width a and welding bead are high
B is spent, and determines the weld width H of fillet weld1With 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, each layer of welding bead quantity, the vertical offset Δ Y of different layer welding bead0, same layer welding bead hang down
To offset Δ YnMaterial is reduced to improve the quality of finally formed weld seam with same layer welding bead transversal displacement Δ X
Stress concentrate, reduce the polishing of weld seam.
Fig. 2 is the flow chart of another fillet weld seam method based on arc welding robot provided in an embodiment of the present invention,
As shown in Fig. 2, this method comprises:
S21: welding condition is determined.
Specifically, welding condition may include the diameter of welding wire, the type of welding wire, welding current, weldingvoltage, weldering
Connect speed, protective gas ingredient and shield gas flow rate.
In the present embodiment, the diameter of welding wire is 1.2mm, and 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 ingredient is Ar and CO2, and Ar and CO2Volume
Than for 41:9, shield gas flow rate is 20~25L/min, welding bead beautiful outline form is formed by when welding using the welding condition
It sees, polishing amount is small.
S22: the weld width a and bead height b of welding bead are determined.
Specifically, S22 may include:
S221: carrying out test weld using determining welding condition, to obtain test welding bead.
S222: measurement test welding bead, to obtain weld width a and bead height b.
Wherein, test weld is welded on one block of material identical with quality of parent material to be welded, to form at least one
Welding bead.
When due to being welded using different welding conditions, the welding bead of formation may also be different, can by test weld
Accurately to determine to be formed by the size of welding bead in actual welding, in the present embodiment, weld width a is 8mm, and welding bead is high
Degree b is 4.5mm.
S23: the weld width H of fillet weld is determined1With weld bead height H2。
Optionally, at least one of the first base material and the second base material offer groove, and groove is connected by butt weld,
The weld seam welded between the groove face of weldment or between the groove face of a weldment and another weldment end (table) face, referred to as butt weld,
Fig. 3 is a kind of weld seam schematic diagram provided in an embodiment of the present invention, as shown in figure 3, in the present embodiment, two pieces of base materials to be welded
Groove 6 is offered between 3, the two sides of groove 6 are connected by butt weld 4, the weld width H of fillet weld 71With butt weld 4
Of same size, the weld bead height H of fillet weld 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 the completion of welding, stress at groove 6 concentrate it is bigger, by outside groove 6 plus welding angle weld seam 7 not only can be with
Increase weld strength, while the concentration of the stress at groove 6 can be effectively reduced.
Further, groove 6 is unilateral J-type groove, and the angle between the two sides of groove 6 is 28 °~32 °, unilateral J-type slope
Mouth is commonly used in butt weld.
In addition, the side of groove 6 is provided with liner 5 in two pieces of base materials 3 to be welded in butt welding weld seam 4,
The position setting of the corresponding groove 6 of liner 5 ensures that groove 6 penetrates by setting liner 5, while being conducive to the molding of weld seam.
S24: welding number of plies N is determined.
Wherein, welding number of plies N meets formula:
When realization, welding number of plies N is determined by the way of being rounded into one, such as in the present embodiment, weld bead height H2For
16mm, bead height b are 4.5mm, and obtaining welding number of plies N should take 4 (to calculate to obtain N=3.56, be rounded into one as 4).
S25: determining the welding bead amount R of n-th layer, and n is integer and 0 < n≤N.
Wherein, welding bead amount R meets formula:
When realization, welding bead amount R can be determined by the way of rounding up, and in the present embodiment, share 4 layers of welding bead,
The welding bead quantity of 1st layer of welding bead be the 2, the 2nd layer of welding bead welding bead quantity be the 6, the 3rd layer of welding bead welding bead quantity be the 8, the 4th layer 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 perpendicular to the first welding surface to far from first
The vertical offset Δ Y of different layer welding bead of welding surface side offset0。
The different vertical offset Δ Y of layer welding bead0=b.
In the present embodiment, the vertical offset Δ Y of different layer welding bead0=4.5mm.
S27: determine the r articles welding bead in n-th layer relative to the r-1 articles welding bead on the direction perpendicular to the first welding surface
To the vertical offset Δ Y of same layer welding bead deviated close to the first welding surface siden, 2≤r≤R.
Wherein, the vertical offset Δ Y of welding beadnMeet formula:
By the way that the vertical offset Δ Y of same layer welding bead is arrangedn, two layers adjacent of welding bead is sufficiently fused, is conducive to
Promote weldquality.
Specifically, in the 1st layer of welding bead, the vertical offset Δ Y of same layer welding bead1It is 0, in the 2nd layer of welding bead, same layer welding bead
Vertical offset Δ Y2For 1.5mm, in the 3rd layer of welding bead, the vertical offset Δ Y of same layer welding bead3For 1.8mm, in the 4th layer of welding bead
In, the vertical offset Δ Y of same layer welding bead4For 1.9mm, when calculating, retains a decimal.
S28: determine the r articles welding bead in every n-layer relative to the r-1 articles welding bead on the direction for being parallel to the first welding surface
To the same layer welding bead transversal displacement Δ X deviated far from the second welding surface side.
Wherein, same layer welding bead transversal displacement Δ X meets formula:
By the way that same layer welding bead transversal displacement Δ X is arranged, adjacent twice welding bead in same layer is sufficiently fused,
Be conducive to promote weldquality.
In the present embodiment, Δ X is 4.5mm.
S29: according to the vertical offset Δ Y of different layer welding bead0, same layer welding bead transversal displacement Δ X and same layer welding bead it is vertical partially
Shifting amount Δ YnControl arc welding robot successively welds the 1st layer of welding bead to n-th layer welding bead on the first welding surface, and in each layer welding bead
The 1st article of welding bead be located next to the second welding surface.
Specifically, when welding the 1st layer of welding bead to n-th layer welding bead, control arc welding robot is welded with setting posture,
Setting posture includes: to control angle between the nozzle and the second welding surface of the welding gun of arc welding robot 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 welding surface is 1~2mm.
Fig. 4 is a kind of welding posture schematic diagram of arc welding robot provided in an embodiment of the present invention, as shown in figure 4, control
Included angle A between the nozzle and the second welding surface 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
Length L is 18mm out, and the minimum spacing C between welding wire 2 and the second welding surface is 1~2mm, can be gone out to avoid welding gun 1 and base material 3
Now collide.
Fig. 5 is a kind of schematic diagram of welding gun provided in an embodiment of the present invention, as shown in figure 5, in actual welding, welding gun 1
On be provided with ignition tip 11, protection mouth 12 is also covered with outside ignition tip 11, welding wire 2 in ignition tip 11 by stretching out, in the present embodiment
In, 2 extension elongation L of welding wire refers to that welding wire 2 stretches out the length of ignition tip 11, that is, includes between ignition tip 11 and protection mouth 12
Welding wire 2 and stretch out protection mouth 12 welding wire 2 total length.
Fig. 6 is a kind of welding angle seam sectional view provided in an embodiment of the present invention, as shown in fig. 6, in embodiments of the present invention, the
1 layer of welding bead includes welding bead 11~12, and the 2nd layer of welding bead includes welding bead 21~24, and the 3rd layer of welding bead includes welding bead 31~36, the 4th layer of weldering
Road includes welding bead 41~48, and when realization, control arc welding robot keeps setting posture, and welding wire at second 1~2mm of welding surface away from opening
Begin the 1st layer of welding bead of welding, in welding adjacent two welding beads relatively after a welding bead when, according to same layer welding bead transversal displacement Δ
X, to the mobile Δ X in the direction far from the second welding surface 3b on the basis of controlling position of the welding wire when welding a upper welding bead, such 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, control welding wire (is at this time the 1st article of weldering of the 1st layer of welding bead welding the 1st article of welding bead of upper one layer of welding bead
Road) when position on the basis of to the mobile Δ Y in direction far from the first welding surface 3a0, at adjacent two articles of the 2nd layer of welding bead of welding
In welding bead relatively after a welding bead when, according to the vertical offset Δ Y of same layer welding bead2, welding wire is controlled when welding a upper welding bead
Position on the basis of to the mobile Δ Y in direction close to the first welding surface 3a2, according to same layer welding bead transversal displacement Δ X, control
To the mobile Δ X in the direction far from the second welding surface 3b on the basis of position of the welding wire when welding a upper welding bead, so successively
The welding of each welding bead in the 2nd layer of welding bead is completed, later when welding the 1st article of welding bead of any one layer of welding bead, controls welding wire
To the mobile Δ Y in the direction far from the first welding surface 3a on the basis of position when welding the 1st article of welding bead of upper one layer of welding bead0,
Weld this layer of welding bead in adjacent two welding beads in relatively after a welding bead when, according to the vertical offset Δ Y of same layer welding beadn,
To close to the mobile Δ Y in the direction of the first welding surface 3a on the basis of controlling position of the welding wire when welding a upper welding beadn, according to
Same layer welding bead transversal displacement Δ X, to far from the second welding on the basis of controlling position of the welding wire when welding a upper welding bead
The mobile Δ X in the direction of face 3b, so completes the welding of the 1st layer of welding bead to n-th layer welding bead.
Preferably, after completing n-th layer welding bead, this method can also include:
S30: it polishes fillet weld.
Welding slag can be removed by polishing, the roughness of face of weld is reduced, keeps weld seam more beautiful.
In another embodiment of the invention, the first base material and the second base material do not offer groove, weld bead height H2
It is 0.7~0.8 times of the thickness of the lesser base material of thickness in the first base material and the second base material, weld width H1For 1.0H2~
2.0H2, so that can have enough weld strengths when directlying adopt fillet weld connection base material.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of fillet weld seam method based on arc welding robot, suitable for welding the first welding surface and second of the first base material
Second welding surface of base material, first welding surface and second welding surface are mutually perpendicular to, which is characterized in that the method packet
It includes:
Determine the weld width a and bead height b of welding bead；
Determine the weld width H of the fillet weld1With weld bead height H2；
Determine that welding number of plies N, the welding number of plies N meet formula:
Determine the welding bead amount R of n-th layer, n is integer and 0 < n≤N, the welding bead amount R meet formula:
Wherein, R is rounded by the way of rounding up；
Determine the 1st article of welding bead in adjacent two layers welding bead on the direction perpendicular to first welding surface to far from described first
The vertical offset Δ Y of different layer welding bead of welding surface side offset0, the different vertical offset Δ Y of layer welding bead0=b；
Determine the r articles welding bead in n-th layer relative to the r-1 articles welding bead on the direction perpendicular to first welding surface to leaning on
The vertical offset Δ Y of same layer welding bead of nearly first welding surface side offsetn, 2≤r≤R, the vertical offset Δ of welding bead
YnMeet formula:
Determine the r articles welding bead in n-th layer relative to the r-1 articles welding bead in the side for being parallel to first welding surface
Upwards to the same layer welding bead transversal displacement Δ X deviated far from second welding surface side, the same layer welding bead lateral shift
Amount Δ X meets formula:
According to the different vertical offset Δ Y of layer welding bead0, the same layer welding bead transversal displacement Δ X and the same layer welding bead it is vertical
Offset Δ YnIt controls the arc welding robot and successively welds the 1st layer of welding bead on first welding surface to n-th layer welding bead, and
The 1st article of welding bead in each layer welding bead is located next to second welding surface.
2. the method according to claim 1, wherein the weld width a and bead height b of the determining welding bead,
Include:
Test weld is carried out using determining welding condition, to obtain test welding bead；
The test welding bead is measured, to obtain the weld width a and the bead height b.
3. according to the method described in claim 2, it is characterized in that, the welding condition includes the diameter of welding wire, welding wire
Type, welding current, weldingvoltage, speed of welding, protective gas ingredient and shield gas flow rate.
4. according to the method described in claim 3, the welding wire is it is characterized in that, the diameter of the welding wire is 1.2mm
ER50-6 welding wire, the welding current be 260~280A, the weldingvoltage be 28~32V, the speed of welding be 35~
45cm/min, the protective gas ingredient are Ar and CO2, and Ar and CO2Volume ratio be 41:9, the shield gas flow rate is
20~25L/min.
5. method according to claim 1-4, which is characterized in that in first base material and second base material
At least one offer groove, the groove passes through butt weld and connects, the weld width H1With the butt weld
It is of same size, the weld bead height H2For 0.3H1~0.7H1。
6. according to the method described in claim 5, it is characterized in that, the groove is unilateral J-type groove, the two sides of the groove
Between angle be 28 °~32 °.
7. according to the method described in claim 5, it is characterized in that, when welding the butt weld, in first base material
The side backwards to the groove of second base material is provided with liner, the position setting of the corresponding groove of liner.
8. method according to claim 1-4, which is characterized in that first base material and second base material are equal
Groove, the weld bead height H are not offered2For the thickness of the lesser base material of thickness in first base material and second base material
0.7~0.8 times, the weld width H1For 1.0H2~2.0H2。
9. method according to claim 1-4, which is characterized in that welding the 1st layer of welding bead to the N
When layer welding bead, controls the arc welding robot and welded with setting posture, the setting posture includes:
Controlling the angle between the nozzle of the welding gun of the arc welding robot and second welding surface is 40 °~50 °, the arc
The electrode extension for welding the welding gun of robot is 17-19mm, the minimum spacing between the welding wire and second welding surface
For 1~2mm.
10. method according to any one of claims 1 to 4, which is characterized in that after having welded the n-th layer welding bead, institute
State method further include:
It polishes the fillet weld.
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