A right-angle turning welding method

Abstract

The present invention provides a right-angle turn welding method, relating to the technical field of manufacturing box-shaped structures. The right-angle turn welding method includes: path planning, planning a pre-bend point on the surface to be welded of a first welding plate, planning a bend point on a second welding plate, and planning a top bend point between the first welding plate and the second welding plate; root layer welding, changing the welding gun's travel angle while maintaining its working angle unchanged during the process from the pre-bend point through the top bend point to the bend point, to complete the root layer welding between the first welding plate and the second welding plate; and filler layer welding, changing the welding gun's travel angle and working angle during the process from the pre-bend point through the top bend point to the bend point, to cover the filler layer on the root layer. The right-angle turn welding method increases full fusion, improving welding quality and appearance quality.

Description

Technical Field

[0001] The present invention generally relates to the technical field of production and manufacturing of box-shaped structures, and in particular to a right-angle turning welding method. Background Art

[0002] With the continuous advancement of science and technology, welding robots are increasingly used in the field of welding, especially for welding long straight welds. However, in the actual production process, there are often various transition forms in the middle of long straight welds, and arc transition is generally the most common. Therefore, in the application of robots, the relevant functions for welding long straight welds and arc transition are preset before the robot leaves the factory. The existing technology has the following defects:

[0003] 1. During the robotic welding process of the locomotive frame side beams, there is a "T"-shaped butt joint welding structure with an internal right-angle structure. During the robotic welding process, problems such as poor fusion or poor forming may occur at the right angles. Moreover, it is quite difficult to repair defects at the right angles, which makes it difficult to ensure product quality and affects production efficiency.

[0004] 2. For right-angle turns, various technological means are required to achieve them. Specifically, the arc is stopped before the right-angle turn, and then the arc is restarted at the bend to allow for a welding path through the right-angle turn. After welding, the weld joint is manually polished and repaired. However, when manual welding is used, the original robot weld must first be polished to create a slope. This not only increases labor intensity and reduces production efficiency, but most importantly, it destroys the integrity of the weld, which is not conducive to the fatigue resistance of the entire weld. Summary of the Invention

[0005] The right-angle turning welding method provided by the present invention increases full fusion and improves welding quality and appearance forming quality.

[0006] According to one aspect of the present invention, a right-angle turn welding method is provided for welding a first welding plate and a second welding plate arranged perpendicular to each other, the right-angle turn welding method comprising:

[0007] Path planning: planning the pre-bending point on the surface to be welded on the first welding plate, the bending point on the second welding plate, and the top bending point between the first welding plate and the second welding plate;

[0008] Root layer welding: in the process from the pre-bending point through the top bending point to the exit bending point, the traveling angle of the welding gun is changed while the working angle of the welding gun remains unchanged to complete the root layer welding between the first welding plate and the second welding plate;

[0009] Filling layer welding, in the process from the pre-bending point through the top bending point to the bending point, the walking angle and the working angle of the welding gun are changed to cover the filling layer on the root layer.

[0010] In some embodiments, during root layer welding, the welding gun uses the leading wire as the welding wire to perform single-wire welding.

[0011] In some embodiments, during root layer welding, the travel angle of the welding gun changes from +20° to -20° from the pre-bending point to the top bending point; and from the top bending point to the exit bending point, the travel angle of the welding gun changes from -20° to +20°.

[0012] In some embodiments, when welding the root layer and the filler layer, the welding gun is maintained at a position corresponding to the top bending point for a preset time.

[0013] In some embodiments, when welding the filling layer, before entering the pre-bending point, the welding gun performs double-wire welding; in the process from the pre-bending point through the top bending point to the exiting bending point, the welding gun performs single-wire welding; after passing the exiting bending point, the welding gun performs double-wire welding.

[0014] In some embodiments, when passing through the pre-bending point, the operating parameters of the welding gun are adjusted to compensate for the thickness of the weld layer.

[0015] In some embodiments, during the welding of the filling layer, a gun posture pre-rotation point is planned between the pre-bending point and the top bending point, so that the welding gun performs a sudden change in welding gun posture when passing through the gun posture pre-rotation point and the top bending point respectively.

[0016] In some embodiments, during the welding of the filling layer, the travel angle of the welding gun is less than 0° during the process from the pre-bending point through the top bending point to the exit bending point.

[0017] In some embodiments, the pre-bending point, the gun posture pre-rotation point and the bending exit point are determined according to the width of the nozzle in the welding gun.

[0018] In some embodiments, the distance between the pre-bending point and the top bending point is 20 cm to 30 cm, and the distance between the top bending point and the exit bending point is 20 cm to 30 cm.

[0019] One embodiment of the present invention has the following advantages or beneficial effects:

[0020] The right-angle turn welding method provided by the embodiment of the present invention performs filling layer welding after performing root layer welding, which is equivalent to covering the root layer surface with a filling layer. Compared with the manual grinding and repair welding in the prior art, it does not damage the integrity of the weld, improves the welding quality of the finished product, and enhances the fatigue resistance of the weld as a whole. When performing root layer welding, in the process from the pre-bending point through the top bending point to the exit bending point, the walking angle of the welding gun is changed to increase the full fusion of the roots of the first welding plate and the second welding plate, and the working angle of the welding gun is kept unchanged, that is, the rotation of the welding gun relative to the Z axis is not adjusted, so as to avoid the phenomenon of the robot system counting error resulting in the inability to optimize when the welding gun posture changes too much, thereby improving the reliability of the welding process. When welding the filling layer, in the process from the pre-bending point through the top bending point to the exit bending point, the walking angle of the welding gun and the working angle of the welding gun are changed so that the filling layer has a larger coverage area relative to the root layer, ensuring the appearance of the weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] For a better understanding of the present invention, reference may be made to the embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and related elements may be omitted in order to emphasize and clearly illustrate the technical features of the present invention. In addition, related elements or components may have different arrangements as known in the art. In addition, in the drawings, the same reference numerals represent the same or similar components in each drawing. The above and other features and advantages of the present invention will become more apparent by describing in detail its exemplary embodiments with reference to the accompanying drawings.

[0022] in:

[0023] Figure 1 FIG. 1 is a schematic diagram showing the principle of a right-angle turn welding method according to an embodiment of the present invention;

[0024] Figure 2 FIG2 is a schematic diagram showing the travel angle of the welding gun in a right-angle turn welding method according to an embodiment of the present invention;

[0025] Figure 3 FIG2 is a schematic diagram showing the working angle of a welding gun in a right-angle turn welding method according to an embodiment of the present invention;

[0026] Figure 4 The figure shows a schematic structural diagram of a welding gun using a single wire in a right-angle turn welding method according to an embodiment of the present invention;

[0027] Figure 5 The figure shows a schematic structural diagram of a welding gun using double wires in a right-angle turn welding method according to an embodiment of the present invention;

[0028] The description of the accompanying drawings is as follows:

[0029] 100, pre-bend point; 200, top bend point; 300, exit bend point;

[0030] 1. First welding plate; 2. Second welding plate. DETAILED DESCRIPTION

[0031] The following will be combined with the accompanying drawings in the exemplary embodiments of the present invention to clearly and completely describe the technical solutions in the exemplary embodiments of the present invention. The exemplary embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Therefore, it should be understood that various modifications and changes can be made to the exemplary embodiments without departing from the scope of protection of the present invention.

[0032] In the description of the present invention, unless otherwise expressly specified or limited, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more; and the term "and / or" includes any and all combinations of one or more of the associated listed items. In particular, reference to "the" or "an" object is also intended to mean one of a possible plurality of such objects.

[0033] Unless otherwise specified or explained, the terms "connect," "fixed," etc. should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; and "connected" may refer to a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0034] Furthermore, in the description of the present invention, it should be understood that the directional words such as "upper", "lower", "inner", and "outer" described in the exemplary embodiments of the present invention are described based on the perspectives shown in the accompanying drawings and should not be understood as limiting the exemplary embodiments of the present invention. It should also be understood that, in the context, when it is mentioned that an element or feature is connected to another element (one or more) "upper", "lower", or "inner", "outer", it can not only be directly connected to the other (one or more) elements "upper", "lower", or "inner", "outer", but can also be indirectly connected to the other (one or more) elements "upper", "lower", "inner", "outer" through an intermediate element.

[0035] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0036] like Figure 1As shown, this embodiment provides a right-angle turn welding method, which is suitable for welding at a right-angle turn in a box-shaped structure, and is used for welding between a first welding plate 1 and a second welding plate 2 that are arranged perpendicular to each other. The right-angle turn welding method includes: path planning, planning a pre-bending point 100 on the surface to be welded of the first welding plate 1, planning a bending point 300 on the second welding plate 2, and planning a top bending point 200 between the first welding plate 1 and the second welding plate 2; root layer welding, in the process of moving from the pre-bending point 100 through the top bending point 200 to the bending point 300, changing the travel angle of the welding gun and keeping the working angle of the welding gun unchanged to complete the root layer welding between the first welding plate 1 and the second welding plate 2; filling layer welding, in the process of moving from the pre-bending point 100 through the top bending point 200 to the bending point 300, changing the travel angle of the welding gun and the working angle of the welding gun to cover the filling layer on the root layer.

[0037] The right-angle turn welding method provided in this embodiment performs filling layer welding after performing root layer welding, which is equivalent to covering the root layer surface with a filling layer. Compared with the manual grinding and repair welding in the prior art, it does not damage the integrity of the weld, improves the welding quality of the finished product, and enhances the fatigue resistance of the weld as a whole. When performing root layer welding, in the process from the pre-bending point 100 through the top bending point 200 to the bending point 300, the walking angle of the welding gun is changed to increase the full fusion of the roots of the first welding plate 1 and the second welding plate 2, and the working angle of the welding gun is kept unchanged, that is, the rotation of the welding gun relative to the Z axis is not adjusted, so as to avoid the phenomenon of the robot system counting error and the inability to optimize when the welding gun posture changes too much, thereby improving the reliability of the welding process. When welding the filling layer, in the process from the pre-bending point 100 through the top bending point 200 to the bending point 300, the walking angle of the welding gun and the working angle of the welding gun are changed so that the filling layer has a larger coverage area relative to the root layer, ensuring the appearance of the weld.

[0038] It should be noted that if Figure 2-Figure 3 As shown, the horizontal plane is defined as the XOY plane, the direction of the weld is the X direction, the direction perpendicular to the X direction on the XOY plane is the Y direction, and the Z direction is perpendicular to the XOY plane, that is, the X direction, Y direction, and Z direction are perpendicular to each other.

[0039] The angle between the axial direction of the welding gun and the weld direction is the traveling angle α of the welding gun, that is, α is the angle between the axial direction of the welding gun and the X direction; the angle between the axial direction of the welding gun and the XOY plane is the working angle β of the welding gun.

[0040] It should be noted that if Figure 4 As shown, the welding gun provided in this embodiment may be a double-wire welding gun, specifically a double-wire manipulator welding gun.

[0041] In one embodiment, during root layer welding, the welding gun uses the leading wire as the welding wire to perform single-wire welding.

[0042] When a twin-wire welding gun is performing twin-wire welding, the two conductive nozzles of the twin-wire welding gun are in a parallel position, resulting in a larger welding radius. If the angle between the first welding plate 1 and the second welding plate 2 is less than or equal to 90°, the welding trajectory may produce welding defects such as missing welds, undercutting, and insufficient weld root penetration, thereby affecting welding quality and production efficiency. Therefore, due to the relatively small space for root layer welding, the welding gun uses single-wire welding, which has a smaller working radius and is more conducive to right-angle turns, ensuring full fusion at the weld root and avoiding missing welds and undercutting.

[0043] In one embodiment, during root layer welding, the travel angle of the welding gun changes from +20° to -20° from the pre-bending point 100 to the top bending point 200; and from the top bending point 200 to the exit bending point 300, the travel angle of the welding gun changes from -20° to +20°.

[0044] The process, from pre-bend point 100 through top bend point 200 to exit bend point 300, is divided into two phases. In the first phase, the welding gun's travel angle changes from +20° to -20°. In the second phase, the welding gun's travel angle changes from -20° to +20°. The weld pools complement each other, enhancing fusion and achieving a smooth weld transition. Furthermore, the absolute value of the welding gun's travel angle remains unchanged to ensure weld smoothness.

[0045] It can be understood that multiple conversion points can be planned between the pre-bending point 100 and the top bending point 200, for example, three conversion points, and the travel angle of the welding gun is converted once each time a conversion point is passed; multiple conversion points can be planned between the top bending point 200 and the bending point 300, for example, three conversion points, and the travel angle of the welding gun is converted once each time a conversion point is passed. In this way, a smooth transition is facilitated.

[0046] In one embodiment, when welding the root layer and the filling layer, the welding gun is kept at a position corresponding to the top bending point 200 for a preset time.

[0047] Since the welding space corresponding to the position of the top bending point 200 is relatively large, a relatively large filling amount is required. The welding gun is kept at the position corresponding to the top bending point 200 for a preset time, that is, when the welding gun reaches the corner, a corresponding pause time is set, or a corresponding arc waiting time is added, or a "range" multi-point editing method is designed, using multiple posture conversion points to relatively increase the filling amount within the "range" to ensure sufficient filling amount.

[0048] Specifically, a "pause time" instruction needs to be added at the top corner point in the welding trajectory. The pause time represented by the preset time can be added according to the process requirements. According to the structure and process requirements of the workpiece, the preset time can be selected as 1 second, the filling control amount is about 3mm~4mm, the welding current is 250A~280A, and the corresponding welding voltage is matched according to the welding machine model and the welding wire used. In this embodiment, the matching welding voltage is 26V~27.5V.

[0049] In one embodiment, Figure 4-Figure 5 As shown, when welding the filling layer, before entering the pre-bending point 100, the welding gun performs double-wire welding; in the process from the pre-bending point 100 through the top bending point 200 to the bending point 300, the welding gun performs single-wire welding; after passing the bending point 300, the welding gun performs double-wire welding.

[0050] Because the welding gun's operating space and required fill volume are relatively large before entering the pre-bend point 100 and after the bend exit point 300, the welding gun performs twin-wire welding, resulting in a large weld pool radius and a larger working radius for filling a relatively ample area. As the welding gun's operating space and required fill volume gradually decrease toward the top bend point 200, the welding gun performs single-wire welding, resulting in a smaller working radius and greater convenience for right-angle turns. The combination of twin-wire and single-wire fill volumes optimizes the rotational volume at the pre-bend point 100, top bend point 200, and bend exit point 300, resulting in a well-defined fill volume to ensure a full weld.

[0051] It should be noted that when switching from double-wire welding to single-wire welding, time for system self-optimization and distance for gun posture conversion need to be reserved.

[0052] It is important to note that the robot's internal system calculates the posture and set parameters during trajectory operation. If the parameters do not match the posture, the posture will run according to the system calculation value instead of the taught value.

[0053] In one embodiment, when passing through the pre-bending point 100, the operating parameters of the welding gun are adjusted to compensate for the thickness of the weld layer.

[0054] Since the pre-bending point 100 is the switching point from the double-wire to the single-wire welding gun, the welding filling amount of the double-wire is greater than the welding filling amount of the single-wire. Therefore, when passing through the pre-bending point 100, the operating parameters of the welding gun are adjusted, for example: reducing the traveling speed of the welding gun, increasing the voltage and current of the welding gun, etc., so that the welding filling amount of the single wire is approximately the same as the welding filling amount of the double wire, which is used to compensate for the thickness of the weld root and improve the flatness of the weld root.

[0055] In this way, the single and double wires of the welding gun are switched continuously, so that the welding speed is matched after the single and double wires are switched, and the replenishment of the welding filling amount and the smooth transition of the weld can be ensured after the single and double wires are switched.

[0056] It can be understood that the pre-bending point 100 is the switching point from the double wire to the single wire of the welding gun, and the bending point 300 is the switching point from the single wire to the double wire of the welding gun. The pre-bending point 100 and the bending point 300 can also be called parameter conversion points.

[0057] In one embodiment, when welding the filling layer, a gun posture pre-rotation point is planned between the pre-bending point 100 and the top bending point 200 so that the welding gun performs a sudden change in welding gun posture when passing through the gun posture pre-rotation point and the top bending point 200 respectively.

[0058] The pre-rotation point and the top bend point 200 allow the welding gun to pre-rotate halfway before reaching the top corner and after turning. This allows the welding gun to transition to a more abrupt position, optimizing the programming of position transitions. Furthermore, using the pre-rotation point and the top bend point 200 as transition points increases the fill range and allows the molten metal to be squeezed to create a specific appearance, ensuring the melting point at the top bend point 200 is achieved.

[0059] It should be noted that the top bending point 200 of the filling layer welding, that is, the corner of the covering surface, can be used for welding gun posture conversion. The reason is that compared with the root layer trajectory, the weldable range of the filling layer welding trajectory is larger than the root layer, which is more conducive to the conversion of the gun posture.

[0060] It's important to note that welding with a right-angle welding trajectory requires more than just addressing the larger radius of twin-wire welding. It also requires consideration of integrating it with the arc tracking function. Only in this way can both welding efficiency and quality be improved. This welding method increases the number of steps and compromises welding quality. The original programming method prefaced each welding trajectory with corresponding welding instructions, but there was no method for inserting instructions within the trajectory itself. This was achieved through welding trials. After resolving the large radius issue with twin-wire welding, multiple welding trials were conducted to ensure weld quality. Because converting from twin-wire welding to single-wire welding can lead to poor root penetration at right-angle corners and undercutting of the weld during capping, a pre-bend point of 100° was edited near the corner to achieve the desired welding angle and travel angle, ensuring a smooth transition of the weld trajectory and arc tracking stability.

[0061] In one embodiment, during the welding of the filling layer, the travel angle of the welding gun is less than 0° during the process from the pre-bending point 100 through the top bending point 200 to the exit bending point 300.

[0062] During the welding of the filling layer, the welding gun switches from double wire to single wire at the pre-bending point 100 during the process from the pre-bending point 100 to the top bending point 200 and to the exit bending point 300. According to the principle that the molten pool guides the flow of molten iron, the welding gun adopts single wire welding and the welding gun travel angle is less than 0°, which can also be called drag welding. This ensures that the filling amount is consistent after the double-wire is switched to the single-wire welding. While increasing the filling amount, it can also avoid the occurrence of unmelted welding defects between layers.

[0063] It can be understood that when editing the apex of the weld, that is, the welding gun reaches the top bending point 200, since the welding has been converted to single-wire welding, while adding a waiting instruction at the apex, the tool coordinate system is used to relatively pull up the rod extension. By pulling up the rod extension length, the structural shortcomings of the double-wire arc welding nozzle and the large turning angle are compensated, so that the welding gun posture can better reach the corresponding position and posture.

[0064] In one embodiment, the pre-bend point 100, the gun posture pre-rotation point, and the exit bend point 300 are determined according to the width of the nozzle in the welding gun. The distance between the pre-bend point 100 and the top bend point 200 is 20 cm to 30 cm, and the distance between the top bend point 200 and the exit bend point 300 is 20 cm to 30 cm.

[0065] Specifically, the parameter transition point is set 20 to 30 cm from the top bend point 200. This point can also be determined based on the shape and size of the nozzle. The welding gun nozzle is conical and 15 cm wide. The parameter transition points are determined based on the nozzle's shape and size, namely the pre-bend point 100 and the exit bend point 300. Therefore, the parameter transition point is set approximately 30 cm from the top bend point 200, while the gun posture pre-rotation point is set at 15 cm.

[0066] In summary, the present invention provides a method for operating a right-angle turn of a manipulator double-wire arc welding, which not only solves the problems of high labor intensity and low production efficiency, but most importantly, ensures the integrity of the weld, improves product quality, and enhances the overall fatigue resistance of the weld. The present invention is mainly used in the welding of external welds of the side beams of the DJH10 type 30-ton axle load locomotive frame. A new improvement has been made to the editing method of the right-angle welding trajectory. This change can increase the welding efficiency of this type of product by more than 40%, and has also greatly improved the stability of the welding quality, making the flaw detection pass rate more than 99%, laying a solid foundation for manipulator double-wire welding of this type of joint in future production processes.

[0067] The right-angle turn welding method provided in this embodiment is specifically a double-wire robot welding method for right-angle turns inside a box-type structure. It is suitable for the welding method of the double-wire robot inside the production process. The core lies in the welding program editing method when the robot double-wire arc welding is used for the internal right-angle "T"-shaped welding joint. Through the operation method of using a double-wire robot for continuous welding and stable forming of the right-angle shape of the established structure, the welding robot used is a teaching welding robot. The editing of the welding program includes editing the welding trajectory, editing the welding gun angle, selecting welding parameters, matching the main wire and auxiliary wire, arc tracking and other contents.

[0068] This embodiment provides a right-angle turn welding method for welding internal right-angle T-joints using a dual-wire robot. It effectively addresses the difficulty of Z-direction fusion at right angles during welding, enabling continuous welding of internal right-angle welds, effectively improving weld formation at these locations, and increasing weld pass rates. This method complements the dual-wire robot welding process, enabling continuous switching between single and dual-wire arcs, effectively improving both welding quality and production efficiency.

[0069] It should be noted that the quarter-turn welding method shown in the drawings and described in this specification is only an example of the application of the principles of the present invention. It should be clearly understood by those skilled in the art that the principles of the present invention are not limited to any details or any components of the devices shown in the drawings or described in the specification.

[0070] It will be understood that the present invention is not limited in its application to the detailed construction and arrangement of components set forth in this specification. The present invention is capable of other embodiments and can be implemented and carried out in a variety of ways. The aforementioned variations and modifications fall within the scope of the present invention. It will be understood that the invention disclosed and defined in this specification extends to all alternative combinations of two or more individual features mentioned or evident in the text and / or the drawings. All of these different combinations constitute multiple alternative aspects of the present invention. The embodiments described in this specification illustrate the best mode known for implementing the invention and will enable those skilled in the art to utilize the invention.

[0071] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and illustrative embodiments are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the appended claims.

[0072] It should be understood that the present invention is not limited to the precise structure described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of protection of the present invention is limited only by the appended claims.

Claims

1. A right-angle turn welding method for welding a first welding plate and a second welding plate arranged perpendicular to each other, characterized in that: The right-angle turn welding method comprises: Path planning: planning the pre-bending point on the surface to be welded on the first welding plate, the bending point on the second welding plate, and the top bending point between the first welding plate and the second welding plate; Root layer welding: in the process from the pre-bending point through the top bending point to the exit bending point, the traveling angle of the welding gun is changed while the working angle of the welding gun remains unchanged to complete the root layer welding between the first welding plate and the second welding plate; Filling layer welding, in the process from the pre-bending point through the top bending point to the exit bending point, changing the traveling angle of the welding gun and the working angle of the welding gun to cover the filling layer on the root layer; When welding the filling layer, before entering the pre-bending point, the welding gun performs double-wire welding; in the process from the pre-bending point through the top bending point to the exiting bending point, the welding gun performs single-wire welding; after passing the exiting bending point, the welding gun performs double-wire welding.

2. The right-angle turn welding method according to claim 1, characterized in that: When welding the root layer, the welding gun uses the front wire as the welding wire for single-wire welding.

3. The right-angle turn welding method according to claim 1, characterized in that: When welding the root layer, the travel angle of the welding gun changes from +20° to -20° from the pre-bending point to the top bending point; and from the top bending point to the exit bending point, the travel angle of the welding gun changes from -20° to +20°.

4. The right-angle turn welding method according to claim 1, characterized in that: When welding the root layer and the filling layer, the welding gun remains at the position corresponding to the top bending point for a preset time.

5. The right-angle turn welding method according to claim 1, characterized in that: When passing the pre-bending point, adjust the operating parameters of the welding gun to compensate for the thickness of the weld layer.

6. The right-angle turn welding method according to claim 1, characterized in that: When welding the filling layer, a gun posture pre-rotation point is planned between the pre-bending point and the top bending point, so that the welding gun performs a sudden change in welding gun posture when passing through the gun posture pre-rotation point and the top bending point respectively.

7. The right-angle turn welding method according to claim 1, characterized in that: During the filling layer welding, the travel angle of the welding gun is less than 0° during the process from the pre-bending point through the top bending point to the exit bending point.

8. The right-angle turn welding method according to claim 1, characterized in that: According to the width of the nozzle in the welding gun, determine the pre-bending point, gun posture pre-rotation point and bending point.

9. The right-angle turn welding method according to any one of claims 1 to 8, characterized in that: The distance between the pre-bending point and the top bending point is 20cm to 30cm, and the distance between the top bending point and the exit bending point is 20cm to 30cm.

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