CN109865929B - Electron beam welding method for box body structure square-shaped welding seam - Google Patents
Electron beam welding method for box body structure square-shaped welding seam Download PDFInfo
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Abstract
The invention relates to an electron beam welding method for a box body structure square-shaped welding seam. The method adopts a fixed gun type electron gun, and is characterized in that the welding method comprises the following steps: the box structure comprises a box structure, wherein a square-shaped welding seam is divided into 4 straight sections and 4 fillet sections, each two straight sections are separated by one fillet section, the welding starting point of the square-shaped welding seam starts from the straight sections or the fillet sections, the box structure is translated at a constant speed when the straight sections are welded, and the box structure is simultaneously subjected to variable speed translation and uniform speed rotation movement when the fillet sections are welded, so that the actual welding speed is controlled, the welding speed of the fillet sections is equivalent to that of the straight sections, and the whole welding seam of the box structure is welded at the constant speed.
Description
Technical Field
The invention relates to the technical field of electron beam processing, in particular to an electron beam welding method for a box body structure rectangular weld.
Background
The electron beam welding equipment can be generally divided into a fixed gun type and a movable gun type, the fixed gun type electron beam welding equipment can only realize workpiece welding through the translational motion or the rotational motion of a workbench, so that plane welding seams in any shapes or circular equatorial ring welding seams can be welded, and the welding of the welding seams in a space curve form can be realized by combining the dynamic adjustment of a focusing current and a variable cross-section welding technology; the electron gun of the movable gun type equipment can perform translation movement to a certain degree, welding of the welding seam in the form can be realized by matching with the movement of the workbench, and the problem that the electron gun cannot reach the position of the welding seam due to the large size of a workpiece can be solved.
Electron beam welding can accomplish the welding of plane, space curve and circular equator welding seams at present. For the box body structure circular welding seam, in the welding process, the movement rule of parts is complex, so that the distance between the welding seam and an electron gun is constantly changed, and the welding parameters of the electron beam are determined according to the movement rule of the parts, so that the adjustment of the welding parameters is extremely complex, and the uniformity and the unification of the quality and the performance of the welding seam cannot be realized.
Therefore, the inventor provides an electron beam welding method for the box body structure U-shaped welding seam.
Disclosure of Invention
In view of this, the technical problem to be solved by the present invention is to provide an electron beam welding method for a box structure rectangular seam, so as to realize automatic welding of the box structure rectangular seam.
The embodiment of the invention provides an electron beam welding method for a box body structure U-shaped welding seam, which comprises the following steps: the box structure comprises a box structure, wherein a square-shaped welding seam is divided into 4 straight sections and 4 fillet sections, each two straight sections are separated by one fillet section, the welding starting point of the square-shaped welding seam starts from the straight sections or the fillet sections, the box structure is translated at a constant speed when the straight sections are welded, and the box structure is simultaneously subjected to variable speed translation and uniform speed rotation movement when the fillet sections are welded, so that the actual welding speed is controlled, the welding speed of the fillet sections is equivalent to that of the straight sections, and the whole welding seam of the box structure is welded at the constant speed.
Further, the welding method of the straight section comprises the following steps: based on different distances between each straight section and the electron gun and the length of each straight section, the same welding seam section appearance, internal quality and mechanical property are constructed for all the straight sections by adjusting the welding process parameters of the electron beams, so that the consistency of the performance of the whole welding seam of the box body structure is met.
Further, the parameters of the electron beam welding process to be adjusted include acceleration voltage, focusing current, welding beam current and welding speed.
Further, the welding method of the fillet section comprises the following steps: when the straight section welding is transited to the fillet section welding, the box structure is translated to adjust the circle center position of the fillet section, so that the circle center position of the fillet section is always positioned on the extension line of the electron beam, and when the arc welding seam of the fillet section is welded, the box structure is rotated at a constant speed, so that the electron beam spot is welded through the fillet section at a constant speed.
Further, when welding a circular arc welding seam of a fillet section, the constant speed rotation speed of the box structure is ω, ω is v/r, wherein v is the welding speed of a straight section, and r is the radius of the fillet section.
Furthermore, the angle of the fillet section is 90 degrees, when the fillet section is welded, the fillet section is averagely divided into n sections, the average angle required to rotate of each section is 90 degrees/n, the moving time of each section of displacement is the same, the translation distance of the box rotating shaft of each section when correspondingly rotating is obtained according to the structural appearance characteristics of the box, then the program setting is carried out on the movement of the fillet section according to the rotating angle of each section in the n sections of 90 degrees/n, the translation distance and the moving speed of the box rotating shaft, and the linkage track of the straight section and the fillet section is obtained.
Furthermore, the box structure is clamped on a welding device with multiple degrees of freedom movement, the box structure can vertically lift, horizontally move and rotate around a shaft under the driving action of the welding device during welding, and a U-shaped welding line is located in the long direction of the electron beam casting.
Furthermore, the welding device comprises a moving platform, a supporting cylinder and a rotary table, wherein the supporting cylinder is horizontally movably arranged on the moving platform, the rotary table is rotatably arranged on the supporting cylinder, and the box body structure is clamped on the rotary table through a three-grab chuck.
In conclusion, by the electron beam welding method of the box body structure zigzag welding line, the box body structure to be welded moves in a specific mode suitable for different welding sections according to the characteristics of the straight section and the fillet section, an optimized welding path can be obtained, and the difficulty in adjusting welding process parameters is reduced; meanwhile, according to the rule of the part in the motion mode, parameters of the welding process can be optimized, and welding seams with uniform internal quality and various performances can be obtained. Therefore, the welding tracks of the straight section and the fillet section are linked, the welding difficulty is simplified, the instability caused by parameter change in the motion process of the part is compensated by optimizing the welding process, the straight section and the fillet section are coordinated and controlled mutually, and the welding and manufacturing of the part are realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a box structure circular weld welding scene according to an embodiment of the present invention.
FIG. 2(a) is a schematic view of a straight section of a box structure's return weld.
FIG. 2(b) is a schematic view of a fillet section of a box structure return weld.
FIG. 3 is a schematic diagram of matching of translation and rotation when the center of a fillet section of a weld moves on a beam extension line.
FIG. 4 is a schematic view showing the relationship between the rotating shaft of the casing structure and the center of the 4-segment circle angle segment.
Fig. 5 shows the position change of the connecting line between the rotating shaft and the circle center of the fillet section when the box structure rotates by an angle a.
Fig. 6 is a schematic diagram of relative sizes of a double-seam welding line and a welding sequence of a box body structure according to an embodiment of the invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic view of a box structure circular weld welding scene according to an embodiment of the present invention. As shown in figure 1, a fixed gun type electron gun is adopted, a box body structure is clamped on a welding device with multi-degree-of-freedom motion, the box body structure can vertically lift and move, transversely translate and rotate around a shaft under the driving action of the welding device during welding, and a square-shaped welding line in the equatorial direction of the box body structure is in the extension direction of electron beam current. The welding device comprises a motion platform, a support cylinder and a rotary table, wherein the support cylinder is horizontally movably arranged on the motion platform, the rotary table is rotatably arranged on the support cylinder, and a box body structure is clamped on the rotary table through a three-grab chuck.
Referring to a scene schematic diagram shown in fig. 1, the electron beam welding method for the box structure zigzag welding seam of the invention adopts a fixed gun type electron gun to emit electron beam, and the welding method comprises the following steps: the box structure comprises a box structure, wherein a square-shaped welding seam is divided into 4 straight sections and 4 fillet sections, each two straight sections are separated by one fillet section, the welding starting point of the square-shaped welding seam starts from the straight sections or the fillet sections, the box structure is translated at a constant speed when the straight sections are welded, and the box structure is simultaneously subjected to variable speed translation and uniform speed rotation movement when the fillet sections are welded, so that the actual welding speed is controlled, the welding speed of the fillet sections is equivalent to that of the straight sections, and the whole welding seam of the box structure is welded at the constant speed.
Specifically, the welding method of the straight section comprises the following steps: based on different distances between each straight section and the electron gun and the length of each straight section, the same welding seam section appearance, internal quality and mechanical property are constructed for all the straight sections by adjusting the welding process parameters of the electron beams, so that the consistency of the performance of the whole welding seam of the box body structure is met. The parameters of the electron beam welding process to be adjusted comprise acceleration voltage, focusing current, welding beam current and welding speed.
In addition, the welding method of the fillet section comprises the following steps: when the straight section welding is transited to the fillet section welding, the box structure is translated to adjust the circle center position of the fillet section, so that the circle center position of the fillet section is always positioned on the extension line of the electron beam, and when the arc welding seam of the fillet section is welded, the box structure is rotated at a constant speed, so that the electron beam spot is welded through the fillet section at a constant speed. When the circular arc welding seam of the fillet section is welded, the constant speed rotation speed of the box structure is omega, omega is v/r, v is the welding speed of the straight section, and r is the radius of the fillet section. The angle of fillet section is 90 in this embodiment, when welding the fillet section, divide into n section on average with this fillet section, the angle that needs the pivoted of every section on average is 90/n, the motion time homogeneous phase of every section displacement, according to box structure appearance characteristic, obtain the translation distance of every section box pivot when corresponding rotation, then according to the angle 90/n that every section rotated in the n section, and the translation distance of box pivot, the rate of motion, carry out the procedure setting to the motion of fillet section, obtain straight section and fillet section welded linkage orbit.
According to the shape of the circular weld, in the welding process, the welding technological parameters of the electron beam are dynamically changed, the starting point of each circular angle section is connected with the previous straight section, and the end point is connected with the next straight section.
The specific method comprises the following steps:
(1) in the welding process, because the electron gun is in a fixed gun type, the workpiece of the box structure can be translated at a constant speed to complete the welding of the straight section welding seam; the fillet section welding line needs to be controlled in an actual welding speed in a mode of matching variable speed translation with constant speed rotation, so that the welding speed of the fillet section welding line is equivalent to that of the straight section welding line, and the uniform welding of the whole welding line is realized.
See straight section weld of fig. 2 (a): firstly, the welding process of the straight section welding line needs to be optimized through the welding process, the surface quality of the welding line is required to be good, the front and back surfaces are required to be formed well, and the internal quality meets the related technical requirements. And during welding, the parts are moved horizontally, and then welding of straight section welding seams can be completed.
Referring to the fillet weld of FIG. 2 (b): the worktable needs to drive the box body structure to translate to adjust the circle center position of the fillet section, so that the fillet section always moves on the extension line of the beam, and the rotating shaft only needs to keep a constant speed, so that the matched movement can enable the electron beam spot to pass through the fillet section at a constant speed for welding. The schematic diagram of the circle center of the circle angle section moving on the extension line of the electron beam is shown in fig. 3.
Since the straight section welding process satisfying the requirement has been obtained, the rotation speed ω of the workpiece is set according to the welding speed v of the straight section, i.e., v ═ ω r, where r is the radius of the fillet section.
The translation of the workpiece is a variable-speed motion, so that the relation between the displacement of the rotating shaft and the time needs to be found, and the specific method comprises the following steps: the relation of the positions of the rotating shaft of the workpiece and the centers of the 4 sections of the round angle sections is shown in fig. 4, wherein point a is the rotating shaft of the box structure, and B, C, D, E are the centers of the numbers 1, 2, 3 and 4 of the round angle sections respectively. The relative positions of the 4 sections of round corners and the rotating shaft are different, and the first section of round corner is taken as an example. The rotation axis is connected with the circle center of the rounded corner segment as shown in fig. 5. Setting an included angle between the AB and the x axis as m, the coordinate of the point A as (0, 0), the coordinate of the point B as (l, s), and the coordinate of the point A' as (x, y); the red line A 'B' is a line segment obtained after the AB line segment rotates by an angle a with the point A as the center of a circle and moves a certain distance along the x axis. Then, an equation for x can be derived,
when in use
Then, x is l-AB cos (m + a)
When in use
When the temperature of the water is higher than the set temperature,
wherein the length of AB is the actual distance between the rotating shaft of the workpiece and the point B of the circle center of the fillet section.
The distance x of translation needed for enabling the circle center B of the fillet section to be always positioned on the beam extension line after the rotating shaft rotates by the angle a can be obtained through the formula. And because the workpiece rotates at a constant speed, the time for rotating the workpiece through the angle a is a/omega, namely a r/v, and the equation can be written into
When in use
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
where t is the time elapsed for the workpiece to rotate through angle a.
By the method, the relation between the displacement of the rotating shaft and the time when the second section, the third section and the fourth section of the round corners are welded can be obtained.
(2) Writing welding track according to linkage motion program of right-angle section and round-angle section
(a) For straight section welding: setting the moving distance and moving speed of the workpiece by using the optimized electron beam welding process parameters, and completing welding through uniform linear motion of the workpiece;
(b) for fillet section welding: also taking the first section of round angle as an example, the angle of the round angle section is 90 degrees, the round angle section is evenly divided into n sections, and the angle rotated by each section is 90 degrees/n, so when the round angle section rotates by 90 degrees/n
While the rotating shaft is displaced
When rotating over
While the rotating shaft is displaced
When rotating over
While the rotating shaft is displaced
……
Thus, the displacement of the shaft is x for each rotation through 90/n2-x1，x3-x2，x4-x3，……，xn-x (n-1), and the time of each shift is the same. The movement of the fillet section can be programmed according to the rotating angle of each section of the fillet section, the displacement and the movement speed of the rotating shaft in the period of time, and thus the linkage track is completed.
(3) Electron beam welding process optimization
According to the shape of the welding seam, the welding process parameters of the electron beam are dynamically changed in the welding process, the starting point of each fillet section is connected with the previous straight section, and the end point is connected with the next straight section.
Before welding, the optimization of the electron beam welding process of the whole welding line is completed, and the optimization method comprises the following steps:
(a) and (3) flat section welding optimization: because each straight section is different from the distance of the electron gun, the corresponding welding process needs to be optimized according to the distance. The method comprises the following steps: the same welding seam section appearance, internal quality and mechanical property are obtained by adjusting different electron beam welding process parameters (such as accelerating voltage, focusing current, welding beam current, welding speed and the like) so as to ensure the consistency of the performance of the whole welding seam.
(b) Fillet section welding optimization: the method comprises the steps of firstly dividing a fillet section into n sections, calculating the distance between a welding seam of each fillet section and an electron gun by the same segmentation method as that in motion trajectory calculation, solving a change rule between the distance and time in the rotation process, and then optimizing process parameters of electron beam welding at different distances to obtain equivalent welding process parameters (the change of the parameters mainly takes focusing current as a main part) at a series of distances, so that the change rule between the welding process parameters and the time in the dynamic change process is obtained.
Taking the first section of the fillet section as an example, the variation relationship between the distance between the welding seam and the electron gun and the time is as follows:
the schematic diagram in calculating the formula is shown in FIG. 5, wherein H1The distance between the first straight section welding line and the electron gun is shown, m is the original angle between AB and the x axis, v is the welding speed, t is the time, s is the distance between the circular center of the circular bead section and the x axis, and r is the radius of the circular bead section.
After dividing the fillet section into n sections, the distance between the welding seam of each 1/n section and the electron gun can be obtained:
when rotating over
Distance of weld from electron gun
When rotating over
Distance of weld from electron gun
When rotating over
Distance of weld from electron gun
……
And finally, the motion parameters of each section and the corresponding welding parameters can be input in an automatic welding program, and the automatic welding of the box body structure U-shaped welding seam can be realized through a coordinated control method of a linkage track and the welding process.
In connection with the method of the present invention and the accompanying drawings, the following examples employ a 6mm thick TC4-DT titanium alloy workpiece having the equatorial girth weld dimension shown in FIG. 6, and the actual process for achieving electron beam welding is:
(1) according to the optimization test result of the welding process, the accelerating voltage is set to be 100kV, the welding speed is set to be 5mm/s, the welding beam current is set to be 16mA, and the focusing currents adopted by four sections of parallel section welding seams are as follows in sequence: 1746mA, 2135mA, 1920mA and 2055mA, wherein the focusing currents adopted by the four-section fillet section welding seam are as follows in sequence: 1746-2135 mA, 2135-1920 mA, 1920-2055 mA and 2055-1746 mA.
(2) Referring to fig. 6, the welding lines at different positions are represented by (i) to (viii), the workpiece is specified to move leftwards to the-x direction and rightwards to the + x direction, when welding the fillet sections, each fillet section is divided into 9 sections, each section is 10 degrees, and the workpiece rotates counterclockwise at an angular speed of 0.05 rad/s. The whole welding process is carried out according to the sequence of (I) - (III).
(3) Firstly, a workpiece is moved by 306mm along the-x direction, the acceleration voltage is set to be 100kV, the welding speed is 5mm/s, the welding beam current is 16mA, and the focusing current is 1746 mA.
(4) Rotating the workpiece 90 DEG counterclockwise at an angular velocity of 0.05rad/s while moving the workpiece 15.12mm, 19.55mm, 23.39mm, 26.52mm, 28.84mm, 30.29mm, 30.81mm, 30.4mm, 29.07mm in sequence in the + x direction every 3.49 s; the welding speed is 4.3mm/s, 5.6mm/s, 6.7mm/s, 7.6mm/s, 8.3mm/s, 8.7mm/s, 8.8mm/s, 8.7mm/s and 8.3mm/s in sequence; the focusing currents are 1864mA, 1968mA, 2056mA, 2124mA, 2172mA, 2197mA, 2198mA, 2176mA and 2135mA in sequence; the accelerating voltage and the welding beam current are kept unchanged.
(5) The workpiece is moved 185mm along the-x direction, the acceleration voltage and the welding beam current are kept unchanged, the welding speed is 5mm/s, and the focusing current is 2135 mA.
(6) Rotating the workpiece 90 DEG counterclockwise at an angular velocity of 0.05rad/s while moving the workpiece 29.66mm, 32.16mm, 33.69mm, 34.19mm, 33.65mm, 32.09mm, 29.55mm, 26.12mm, 21.89mm in sequence in the + x direction every 3.49s, the welding speed being 8.5mm/s, 9.2mm/s, 9.7mm/s, 9.8mm/s, 9.6mm/s, 9.2mm/s, 8.5mm/s, 7.5mm/s, 6.3mm/s in sequence; the focusing currents are 2206mA, 2256mA, 2282mA, 2281mA, 2256mA, 2203mA, 2128mA, 2032mA and 1920mA in sequence; the accelerating voltage and the welding beam current are kept unchanged.
(7) The workpiece is moved 306mm along the-x direction, the accelerating voltage and the welding beam current are kept unchanged, the welding speed is 5mm/s, and the focusing current is 1920 mA.
(8) Rotating the workpiece 90 DEG counterclockwise at an angular velocity of 0.05rad/s while moving the workpiece 21.65mm, 25.4mm, 28.38mm, 30.49mm, 31.68mm, 31.9mm, 31.16mm, 29.47mm, 26.88mm in sequence in the + x direction every 3.49s, the welding velocity being 6.2mm/s, 7.3mm/s, 8.1mm/s, 8.7mm/s, 9.1mm/s, 9.1mm/s, 8.9mm/s, 8.4mm/s, 7.7mm/s in sequence; the focusing currents are 2020mA, 2104mA, 2168mA, 1773mA, 2228mA, 2221mA, 2191mA, 2137mA and 2055mA in sequence; the accelerating voltage and the welding beam current are kept unchanged.
(9) The workpiece is moved 185mm along the-x direction, the accelerating voltage and the welding beam current are kept unchanged, the welding speed is 5mm/s, and the focusing current is 2055 mA.
(10) Rotating the workpiece 90 DEG counterclockwise at an angular velocity of 0.05rad/s while moving the workpiece 26.29mm, 27.71mm, 28.28mm, 28mm, 26.87mm, 24.92mm, 22.21mm, 18.83mm, 14.88mm in sequence in the + x direction every 3.49s, the welding speed being 7.5mm/s, 7.9mm/s, 8.1mm/s, 8.0mm/s, 7.7mm/s, 7.1mm/s, 6.4mm/s, 5.4mm/s, 4.3mm/s in sequence; the focusing current is 2107mA, 2132mA, 2136mA, 2118mA, 2079mA, 2021mA, 1944mA, 1852mA and 1746mA in sequence; the accelerating voltage and the welding beam current are kept unchanged.
The above description is only an example of the present application and is not limited to the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (7)
1. An electron beam welding method for a box body structure rectangular weld seam adopts a fixed gun type electron gun, and is characterized in that the welding method comprises the following steps:
assembling a box body structure on a three-jaw chuck of a rotary table through a rotary shaft, wherein the rotary table drives the rotary shaft to rotate along the direction A, the rotary table drives the rotary shaft to translate along any one direction of the X direction or the Y direction, and when an electron beam and the X direction are positioned in a two-dimensional plane, the Y direction is perpendicular to the two-dimensional plane;
the box structure is divided into 4 straight sections and 4 fillet sections by a zigzag welding line of the box structure, wherein each two straight sections are separated by one fillet section, the welding starting point of the zigzag welding line starts from the straight sections or the fillet sections, the box structure is translated at a constant speed when the straight sections are welded, the turntable drives the box structure to translate at a variable speed in any direction of an X direction or a Y direction according to a preset requirement when the fillet sections are welded, and simultaneously the turntable drives the box structure to rotate at a constant speed in the direction A, so that the actual welding speed is controlled, the welding speed of the fillet sections is equivalent to that of the straight sections, and the whole welding line of the box structure is welded at a constant speed;
wherein, when realizing fillet section welding, the revolving stage drives the box structure is changed speed the shift distance x of translation and is:
when in use
When x is l-AB · cos (m + a);
when in use
When the temperature of the water is higher than the set temperature,
in the formula, a point A is a rotating shaft of the box structure, B is the center of a certain fillet section, the length of AB is the actual distance between the rotating shaft of the box structure and the point B of the center of the fillet section, the included angle between AB and the X direction is m, a is the rotating angle of the AB line segment by taking the point A as the center of the circle, and l is the projection distance of the center B of the fillet section in the X direction;
the change relation between the distance h between the welding seam and the electron gun and the time is as follows:
in the formula, H1The distance between a first straight section of welding line and the electron gun is shown, v is the welding speed, t is the time of rotating an angle a, and r is the radius of a fillet section;
the parameters of the electron beam welding process comprise acceleration voltage, focusing current, welding beam current and welding speed.
2. The electron beam welding method for the box body structure U-shaped welding seam as claimed in claim 1, wherein the welding method for the flat section is as follows: based on different distances between each straight section and the electron gun and the length of each straight section, the same welding seam section appearance, internal quality and mechanical property are constructed for all the straight sections by adjusting the welding process parameters of the electron beams, so that the consistency of the performance of the whole welding seam of the box body structure is met.
3. The electron beam welding method for the box body structure U-shaped welding seam according to claim 1, characterized in that the welding method for the fillet section is as follows: when the straight section welding is transited to the fillet section welding, the box structure is translated to adjust the circle center position of the fillet section, so that the circle center position of the fillet section is always positioned on the extension line of the electron beam, and when the arc welding seam of the fillet section is welded, the box structure is rotated at a constant speed, so that the electron beam spot is welded through the fillet section at a constant speed.
4. The electron beam welding method for the box body structure circular seam according to claim 3, characterized in that when welding the circular seam of the fillet section, the constant rotation speed of the box body structure is ω, ω -v/r, where v is the welding speed of the straight section and r is the radius of the fillet section.
5. The electron beam welding method for the box body structure U-shaped welding seam according to claim 4, characterized in that the angle of the fillet section is 90 degrees, when the fillet section is welded, the fillet section is averagely divided into n sections, the average angle required to be rotated of each section is 90 degrees/n, the moving time of each section of displacement is the same, the translation distance of the box body rotating shaft when each section is correspondingly rotated is obtained according to the appearance characteristics of the box body structure, and then the movement of the fillet section is programmed according to the rotating angle of each section in the n sections of 90 degrees/n, the translation distance and the moving speed of the box body rotating shaft, so that the linkage track of the welding of the straight section and the fillet section is obtained.
6. The method for electron beam welding of a loop weld of a box structure according to any one of claims 1 to 5, wherein the box structure is clamped to a welding device with multiple degrees of freedom of movement, the box structure is capable of being translated laterally and rotated around an axis by the driving of the welding device during welding, and the loop weld is in the longitudinal direction of the electron beam stream.
7. A method of electron beam welding of a loop weld of a box structure according to claim 6, wherein the welding device comprises a motion platform, a support column mounted horizontally movably on the motion platform, and the turntable rotatably mounted on the support column.
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