Cross T-shaped joint welding method and welding device

Abstract

The invention relates to the field of welding, and provides a crossed T-shaped joint welding method and device. The crossed T-shaped joint welding method comprises the following steps that a plurality of base materials are used for assembling a crossed T-shaped joint, the crossed T-shaped joint comprises at least one horizontal welding seam and at least one vertical welding seam, and the tail end of any horizontal welding seam is connected with the vertical welding seam; a horizontal welding seam and a vertical welding seam are welded according to the sequence that horizontal welding is conducted firstly and then vertical welding is conducted, and the arc suppression position of the horizontal welding seam is located at the joint of the horizontal welding seam and the vertical welding seam; and after the horizontal position welding seam is welded, the arc suppression position of the horizontal position welding seam is ground based on the vertical position welding seam. The welding device can execute the welding method. According to the welding method and device, the defects of high construction difficulty, many welding defects and high repair rate of the crossed T-shaped joint can be overcome, the welding difficulty of the crossed T-shaped joint can be remarkably reduced, and the welding quality and the welding efficiency are improved.

Description

Technical Field

[0001] The invention relates to the field of welding and provides a cross T-joint welding method and a welding device. Background Art

[0002] In existing large-scale structural parts such as vehicles and ships, aluminum alloy is often used as the main material of the structural parts. Taking high-speed trains as an example, cross-T joints are widely used in aluminum alloy car bodies, such as Figure 1 As shown. In the production process of the car body, the cross T-joints are usually welded in the flat welding position by adjusting the tooling position. However, the car body is facing an overhaul condition. Due to the excessive weight of the car body, it cannot be flexibly flipped. Therefore, if the cross nail joints on the car body are overhauled, they can only be welded by horizontal welding and vertical welding according to the actual state of the car body. That is, due to the limitations of actual working conditions, the cross T-joints on the car body that have been repaired by welding are mostly composed of a horizontal weld and a vertical weld. The aluminum alloy car body structure also determines that most of the joints used for welding repairs are single-sided welded and double-sided formed butt joints, and pads cannot be used on the back of the joints. The above situation has led to a sharp increase in the difficulty of welding in car body overhaul.

[0003] In view of the above situation, aluminum alloy materials have the characteristics of active chemical properties, large thermal expansion coefficient, and high thermal conductivity, which makes their welding very difficult; the butt joints welded on one side and formed on both sides are more difficult to weld than butt joints with pads on the back and corner joints because of the limited welding methods and high precision requirements on welding parameters; the welding difficulty of joints in vertical and horizontal welding positions is significantly greater than that in flat welding position, among which the welding difficulty of joints in horizontal welding position is greater, and the penetration of joints in horizontal welding position is difficult to control, the molten pool is easy to fall, and the upper fusion line is prone to undercut defects; and the arc starting plate or arc ending plate cannot be used at the intersection of the horizontal weld and the vertical weld, further increasing the welding difficulty.

[0004] The above factors lead to the defects of cross T-joints, such as great construction difficulty, many welding defects and high rework rate. The intersection of the horizontal weld and the vertical weld is the area where welding defects are most concentrated. Summary of the invention

[0005] The present invention provides a cross T-joint welding method, which is used to solve the defects of the cross T-joint in the related art, such as great construction difficulty, many welding defects and high rework rate. The method can significantly reduce the welding difficulty of the cross T-joint and improve the welding quality and welding efficiency.

[0006] The invention also provides a cross T-joint welding device.

[0007] The invention provides a cross T-joint welding method, which comprises the following steps.

[0008] A cross T-joint is assembled using a plurality of parent materials, wherein the cross T-joint comprises at least one transverse weld and at least one vertical weld, and the end of any of the transverse welds is connected to the vertical weld.

[0009] The horizontal welding seam and the vertical welding seam are welded respectively in the order of horizontal welding first and vertical welding later, and the arc closing position of the horizontal welding seam is located at the connection between the horizontal welding seam and the vertical welding seam.

[0010] After welding the transverse weld, the arc closing position of the transverse weld is ground based on the vertical weld.

[0011] According to a cross T-joint welding method provided by the present invention, the horizontal weld and the vertical weld are welded respectively in the order of horizontal welding first and then vertical welding, and the arc ending point of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further comprising the following steps.

[0012] The transverse welding seam is welded from far to near in the direction of the vertical welding seam, and the arc is closed at the connection between the transverse welding seam and the vertical welding seam.

[0013] The vertical weld is welded from bottom to top, and the vertical weld passes through the arc closing position of the horizontal weld.

[0014] According to a cross T-joint welding method provided by the present invention, the step of welding the transverse weld from far to near in the direction of the vertical weld and closing the arc at the connection between the transverse weld and the vertical weld further includes the following steps.

[0015] The farthest end of the horizontal welding seam from the vertical welding seam is used as the arc starting position, and horizontal welding is performed to the arc ending position.

[0016] At the arc closing position, the arc is stabilized and closed by drawing a circle.

[0017] According to a cross T-joint welding method provided by the present invention, the step of stabilizing the arc and closing the arc by drawing a circle at the arc closing position further includes: the welding current of the arc closing is 85% to 90% of the horizontal welding current.

[0018] According to a cross T-joint welding method provided by the present invention, the step of welding the horizontal weld and the vertical weld respectively in the order of horizontal welding first and then vertical welding, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further includes the following steps.

[0019] The horizontal welding seam and the vertical welding seam are welded respectively by using a linear pause swinging method.

[0020] According to a cross T-joint welding method provided by the present invention, the linear pause swinging mode includes a linear gun movement stage and a pause stage, and the pause stage is arranged between two adjacent linear gun movement stages.

[0021] According to a cross T-joint welding method provided by the present invention, the step of welding the horizontal weld and the vertical weld respectively in the order of horizontal welding first and vertical welding later, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further includes: the welding current of the horizontal weld is greater than the welding current of the vertical weld; the welding speed of the horizontal weld is greater than the welding speed of the vertical weld; the arc correction coefficient of the horizontal weld is less than the arc correction coefficient of the vertical weld.

[0022] According to a cross T-joint welding method provided by the present invention, the step of welding the horizontal weld and the vertical weld respectively in the order of horizontal welding first and then vertical welding, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further includes the following steps.

[0023] The welding of the horizontal weld and the vertical weld is regarded as a group of welding processes, and each group of welding processes is sequentially performed in the order of base welding, filling welding and cover welding.

[0024] According to a cross T-joint welding method provided by the present invention, after welding the transverse weld, the step of grinding the arc closing position of the transverse weld based on the vertical weld further includes the following steps.

[0025] The arc closing position of the horizontal weld is ground into a groove structure, and the groove structure is connected with the groove of the vertical weld.

[0026] According to a cross T-joint welding method provided by the present invention, the groove structure includes a first slope wall and a second slope wall connected at the root, the first slope wall is a parent material plate structure, and the second slope wall is a weld structure of a transverse weld.

[0027] Among them, the groove angle of the first slope wall is consistent with the groove angle of the corresponding side of the vertical welding seam; the second slope wall is provided with a transition section at the root position, the groove angle of the transition section is smaller than the groove angle of the second slope wall, and the groove angle of the second slope wall is smaller than or equal to the groove angle of the corresponding side of the vertical welding seam.

[0028] According to a cross T-joint welding method provided by the present invention, the step of welding the horizontal weld and the vertical weld respectively in the order of horizontal welding first and then vertical welding, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further includes the following steps.

[0029] An observation position is arranged in front of a molten pool formed by welding, and the observation position moves along with the molten pool.

[0030] Based on the observation result of the observation position, the welding gun is moved.

[0031] If the observation position moves to the transverse weld or the vertical weld, and the observation result is that the deformation of the groove of the transverse weld or the vertical weld is less than or equal to 0.5 mm, the welding gun is moved.

[0032] If the observation position is moved to the arc-ending position of the transverse weld, and the observation result is that the deformation of the groove structure at the arc-ending position of the transverse weld is less than or equal to 0.3 mm, the welding gun is moved.

[0033] According to a cross T-joint welding method provided by the present invention, the cross T-joint is assembled, the cross T-joint includes at least one horizontal weld and at least one vertical weld, and the step of connecting the end of any horizontal weld to the vertical weld further includes at least one of the following steps: processing corresponding welding grooves on each of the parent materials to assemble the cross T-joint; wherein the groove gap of the cross T-joint is zero, and the blunt edge of the groove is zero; spot welding the cross T-joint; and respectively grinding the horizontal weld and the vertical weld before welding.

[0034] According to a cross T-joint welding method provided by the present invention, the base material is made of aluminum alloy.

[0035] The present invention also provides a cross T-joint welding device, which can perform the above-mentioned cross T-joint welding method; the cross T-joint welding device includes an assembly mechanism, a welding gun, a grinding mechanism and a driving mechanism. The assembly mechanism is used to assemble the cross T-joint using multiple base materials; the welding gun is used to respectively weld the horizontal welding seam and the vertical welding seam in the order of horizontal welding first and vertical welding later, and the arc closing position of the horizontal welding seam is located at the connection between the horizontal welding seam and the vertical welding seam; the grinding mechanism is used to grind the arc closing position of the horizontal welding seam based on the vertical welding seam after welding the horizontal welding seam; the driving mechanism is respectively connected to the assembly mechanism, the welding gun and the grinding mechanism.

[0036] The present invention provides a cross T-joint welding method (the present invention can be referred to as "welding method"), comprising the following steps: assembling a cross T-joint using a plurality of base materials, the cross T-joint comprising at least one horizontal weld and at least one vertical weld, the end of any horizontal weld being connected to the vertical weld; welding the horizontal weld and the vertical weld in the order of horizontal welding first and then vertical welding, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld; after welding the horizontal weld, grinding the arc closing position of the horizontal weld based on the vertical weld. Since the welding difficulty of the horizontal weld is greater than that of the vertical weld, and the horizontal weld cannot be added with an arc starter plate at the cross connection of the two welds due to its structural characteristics, heat input conditions and the stress conditions at the connection of the two welds, this greatly increases the welding difficulty at the connection of the two welds. Therefore, in the welding method of the present invention, the cross T-joint is welded with the horizontal weld first, and the cross connection of the two welds is ground after the horizontal welding is completed, and then the vertical weld is welded. This welding method can solve the defects of cross T-joints, such as great construction difficulty, many welding defects and high rework rate. It sorts out many process details, refines the operating techniques, and solves technical problems such as weld formation, weld penetration control, joint back protection, horizontal weld arc closing, and defect control at the intersection of welds. It significantly reduces the welding difficulty of cross T-joints and improves welding quality and efficiency.

[0037] The present invention also provides a cross T-joint welding device (the present invention can be referred to as "welding device" for short). The welding device includes an assembly mechanism, a welding gun, a grinding mechanism and a driving mechanism connected to each other. The welding device drives the assembly mechanism, the welding gun and the grinding mechanism respectively through the driving mechanism to perform the above-mentioned cross T-joint welding method, so that the welding device has all the advantages of the above-mentioned cross T-joint welding method, and the details are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 The figure is a schematic diagram of the position of the cross T-joint provided by the present invention on the body of a high-speed train.

[0040] Figure 2 It is a schematic diagram of the steps of the cross T-joint welding method provided by the present invention.

[0041] Figure 3 It is a schematic diagram of a specific implementation process of the cross T-joint welding method provided by the present invention.

[0042] Figure 4 It is a schematic diagram of the welding sequence of the cross T-joint welding method provided by the present invention.

[0043] Figure 5 It is a schematic diagram of arc closing of the horizontal welding seam of the cross T-joint welding method provided by the present invention.

[0044] Figure 6 It is a top view of a component before grinding in the cross T-joint welding method provided by the present invention.

[0045] Figure 7 yes Figure 6 AA cross-sectional view shown in FIG.

[0046] Figure 8 It is a top view of a component after grinding in the cross T-joint welding method provided by the present invention.

[0047] Fig. 9 yes Figure 8 BB cross-sectional view shown in FIG.

[0048] Fig.10 It is a principle diagram of the linear pause-type swing of the cross T-joint welding method provided by the present invention.

[0049] Fig.11 It is a schematic diagram of the weld back forming mechanism and protection mechanism of the cross T-joint welding method provided by the present invention.

[0050] Fig.12 It is a schematic diagram of the observation position of the cross T-joint welding method provided by the present invention.

[0051] Fig.13 The figure is a schematic diagram of the appearance of a cross T-joint in the cross T-joint welding method provided by the present invention.

[0052] Fig.14 It is a metallographic structure diagram of the vertical welding seam of the cross T-joint welding method provided by the present invention.

[0053] Fig.15 It is a metallographic structure diagram of the transverse welding seam of the cross T-joint welding method provided by the present invention.

[0054] Fig.16 The invention discloses a metallographic structure diagram of a cross T-joint in a cross T-joint welding method provided by the invention.

[0055] Reference numerals: 100, joint position; 110, first running trajectory; 120, second running trajectory; 210, horizontal welding seam; 211, horizontal welding part; 212, arc closing position; 213, groove structure; 220, vertical welding seam; 300, molten pool; 400, observation position; 510, first parent material; 520, second parent material; 530, third parent material. DETAILED DESCRIPTION

[0056] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0057] based on Figures 1 to 16 In the embodiment of the present invention, a cross T-joint welding method and a corresponding welding device are described in detail by taking a cross T-joint on a high-speed train as an example. During maintenance, there are multiple cross T-joints at the connection between the door and the side wall of a high-speed train, such as Figure 1 Connector position 100 is shown.

[0058] like Figure 2 As shown, the cross T-joint welding method of this embodiment at least includes the following steps: an assembly step, a welding step and a grinding step, wherein the welding step further includes a horizontal welding step and a vertical welding step.

[0059] Assembly steps: Use multiple base materials to assemble a cross T-joint, the cross T-joint includes at least one horizontal weld 210 and at least one vertical weld 220, and the end of any horizontal weld 210 is connected to the vertical weld 220.

[0060] Horizontal welding step and vertical welding step: the horizontal welding seam 210 and the vertical welding seam 220 are welded in the order of horizontal welding first and then vertical welding, and the arc closing position 212 of the horizontal welding seam 210 is located at the connection between the horizontal welding seam 210 and the vertical welding seam 220.

[0061] Grinding step: After welding the transverse weld 210 , the arc closing position 212 of the transverse weld 210 is ground based on the vertical weld 220 .

[0062] Among them, the grinding step is between the horizontal welding step and the vertical welding step, that is, Figure 2 shown.

[0063] It is understandable that, since the welding difficulty of the horizontal weld 210 is greater than that of the vertical weld 220, and the horizontal weld 210 cannot add an arc-starting plate or a gasket or other structures at the intersection of the two welds due to its structural characteristics, heat input conditions and the stress conditions at the connection of the two welds, which greatly increases the welding difficulty at the connection of the two welds. Therefore, in this embodiment, the horizontal weld 210 is preferentially welded to the cross-T joint, and the arc-closing position 212 of the horizontal weld 210 is set at the intersection of the two welds, and after the horizontal welding is completed, the intersection of the two welds (that is, the arc-closing position 212 of the horizontal weld 210) is ground to reduce the problems of penetration, melt penetration, pore defects, stress concentration and undercut defects caused by multiple heat inputs at the intersection of the two welds during the vertical welding process, effectively reducing the welding difficulty and improving the quality of single-sided welding and double-sided forming. After the above-mentioned horizontal welding step and grinding step are completed, the vertical weld 220 can be welded.

[0064] This welding method can solve the defects of cross T-joints, such as great construction difficulty, many welding defects and high rework rate. It sorts out many process details, refines the operating techniques, and solves technical problems such as weld formation, weld penetration control, joint back protection, horizontal weld 210 arc closing, and defect control at the intersection of welds. It significantly reduces the welding difficulty of cross T-joints and improves welding quality and efficiency.

[0065] It should be noted that the parent materials described in the embodiments of the present invention are all made of aluminum alloy. That is, the parent material is an aluminum alloy material. Therefore, the cross T-joint assembled from the multiple parent materials described in the welding method of this embodiment is an aluminum alloy cross T-joint. The welding method described in the embodiment of the present invention can be applied to the welding of aluminum alloy cross T-joints with a thickness range of 4 mm to 12 mm, which effectively solves the problems of difficult construction, many welding defects, and high rework rate of aluminum alloy cross T-joints used in EMU maintenance, greatly reduces the difficulty of welding, and effectively improves welding quality and welding efficiency. It has been widely used in the maintenance process of high-speed trains, and embodies good process adaptability.

[0066] like Figure 4 and Figure 5 As shown, in the welding method described in this embodiment, the above welding steps further include the following steps.

[0067] Horizontal welding steps: Weld the horizontal weld 210 from far to near in the direction of the vertical weld 220, and close the arc at the connection between the horizontal weld 210 and the vertical weld 220.

[0068] Vertical welding steps: welding the vertical welding seam 220 from bottom to top, and the vertical welding seam 220 passes through the arc closing point of the horizontal welding seam 210.

[0069] Understandable, such as Figure 4 As shown, the horizontal welding seam 210 includes an arc starting position (not shown in the figure), a horizontal welding portion 211 and an arc ending position 212. The horizontal welding portion 211 is connected between the arc starting position and the arc ending position 212, and the arc ending position 212 is located at the connection between the horizontal welding seam 210 and the vertical welding seam 220. Figure 4 and Figure 5 The arrow shown in the figure is the welding direction, the dotted line represents the first running track 110 of the welding gun when performing the horizontal welding step, and the dot-dash line represents the second running track 120 of the welding gun when performing the vertical welding step.

[0070] It is understandable that in the above-mentioned horizontal welding steps, refer to Figure 4 and Figure 5 As shown, the welding direction of the horizontal weld 210 is from far to near toward the vertical weld 220, that is, the direction away from the vertical weld 220 is the outside, and the welding direction of the horizontal weld 210 is from outside to inside. Figure 4 and Figure 5 As shown, since the length of the arc starting position of the horizontal weld 210 in the horizontal welding step is relatively long, it is not suitable to be arranged at the intersection of two welds; and the length of the arc ending position 212 of the horizontal weld 210 is relatively short, setting the arc ending position 212 of the horizontal weld 210 at the intersection of the two welds can facilitate the welding operation and improve the welding quality and welding efficiency of the horizontal weld 210.

[0071] It is understandable that in the above vertical welding steps, refer to Figure 4 As shown, the welding direction of the vertical welding seam 220 is from bottom to top. Since the molten pool 300 is easy to flow downward due to gravity during the vertical welding process, the use of vertical upward welding can effectively avoid the molten pool 300 covering the arc, which is more conducive to controlling the penetration of the base weld and reducing the probability of defects such as lack of fusion, lack of penetration, oxide inclusions, etc.

[0072] In some specific embodiments, the above-mentioned horizontal welding step further includes the following steps.

[0073] The farthest end of the horizontal weld 210 from the vertical weld 220 is used as the arc starting position, and horizontal welding is performed to the arc ending position 212; and at the arc ending position 212, the arc is stabilized and ended by drawing a circle.

[0074] Understandably, in this embodiment, during the arc closure process of the horizontal welding step, the welding gun is preferably driven to the arc closure position 212 and the arc is stabilized by drawing a circle. On this basis, it is preferred to limit the arc closure current to further compress the arc closure range, and the arc closure welding current is preferably 85% to 90% of the horizontal welding current, so that the arc closure position 212 can be more reasonably arranged at the intersection of the two welds, and the excess weld structure can be more easily removed through the grinding step after welding. The specific grinding steps are shown in the following content and will not be repeated here.

[0075] It is understandable that the arc stabilization can be achieved by drawing circles clockwise or counterclockwise. Preferably, the counterclockwise method can achieve better arc stabilization and arc closing range compression.

[0076] In some embodiments, Fig.10 As shown, the welding steps of the welding method further include: welding the horizontal welding seam 210 and the vertical welding seam 220 respectively by using a linear pause swinging method. That is, in the horizontal welding step and the vertical welding step described in the embodiment of the present invention, the welding swinging methods of the horizontal welding and the vertical welding are both linear pause swinging methods. The heat input of the linear pause swinging method is less than that of the traditional continuous horizontal swinging method, which can be more conducive to controlling the molten pool 300.

[0077] In some specific embodiments, Fig.10 As shown, the linear pause swinging mode includes a linear gun movement stage and a pause stage, and the pause stage is set between two adjacent linear gun movement stages. Fig.10 The straight line shown is the straight line movement stage of the welding gun; the several solid dots set at intervals on the straight line are the pause points generated during the pause stage; the hollow dots are the expected pause points, that is, the position in front of the welding gun where the pause stage is expected to be executed. Fig.10 In FIG. 1 , the dotted line indicates the state of the back side of the groove before welding, the wave peak formed by the dotted line indicates that the groove appears concave during welding, and the solid line indicates the state of the back side of the weld after the molten pool 300 cools down. Fig.10 The welding gun running trajectory shown uses a linear pause swing method to control the welding gun to produce intermittent heat input to the groove, so that the influence of the heat input to the weld on the back of the groove is more controllable, which is more conducive to improving the welding quality of single-sided welding and double-sided forming.

[0078] In this embodiment, the front and back states of the welded joint formed by performing the welding steps in the above-mentioned linear pause swing method are as follows: Fig.11 shown. Fig.11 In the process, the welding torch moves along the welding direction and applies heat input to the groove to form a molten pool 300, thereby continuously forming a weld in the groove, and the molten pool 300 is located at the front of the weld. Affected by the heat input of the welding torch, the outer layers of the molten pool 300 and the weld are the cathode cleaning layer and the heated oxidation layer from the inside to the outside. Fig.11As shown, the joint state before welding is formed at the front position of the molten pool 300, in which the cathode cleaning area covers and protrudes from the groove, and the heated thickness of the oxide film on both sides of the cathode cleaning area and the back of the joint increases; the joint state during welding is formed at the middle position of the molten pool 300, in which the weld structure is formed at the root of the groove, and a spray transition layer that fills the groove and protrudes from the groove is formed above the weld structure, and the cathode cleaning layer is coated on the outside of the spray transition layer, and the heated thickness of the oxide film on the back of the joint increases significantly and produces a concave trend; the weld position at the rear of the molten pool 300 forms the joint state after welding, in which the groove is filled with weld structure as a whole, and the oxide films on both sides of the weld structure outside the front of the joint are affected by cathode cleaning to form a cathode cleaning area, and the heated thickness of the oxide film on both sides outside the cathode cleaning area increases to form a heated oxide layer, and the heated thickness of the oxide film on the back of the joint increases to the maximum value and produces a significant concave structure. The above-mentioned welding joint realizes high-quality single-sided welding and double-sided forming, effectively improving the welding quality.

[0079] It is understandable that the groove of the cross T-joint described in the embodiment of the present invention is preferably set to have no gap between the groove groups, that is, the groove gap is zero. This is because the back-side forming and protection mechanism of the weld is closely related to the setting of the groove group without gap. Specifically, the forming mechanism of the back of the base weld is that the aluminum alloy oxide film on the back of the groove is softened and deformed by heat, and the molten pool is wrapped and collapsed downward, and the back of the weld is formed after cooling. In the process of linear pause swing, when the welding gun stops, when the bottom of the groove is concave by 0.5 mm, it means that the aluminum alloy oxide film on the back of the groove has been softened by heat and begins to deform, so it is necessary to move the gun in a straight line to prevent penetration. Moreover, in the process of assembling the cross T-joint, it is ensured that the groove gap is zero, and the original zero blunt edge of the groove is matched, which is conducive to the root of the groove to penetrate and prevent the defects of incomplete penetration and incomplete fusion; on the other hand, it can ensure that the aluminum alloy oxide films on both sides of the groove can be adhered to each other by the welding heat, provide protection for the back of the weld during the back of the weld forming process, and help the back of the weld to be formed smoothly and regularly.

[0080] In this embodiment, in the preferred horizontal welding step, the single pause stage of horizontal welding is about 0.2 seconds, the linear gun movement stage is about 0.6 seconds, and the gun movement speed is about 11 mm / s. In the preferred vertical welding step, the single pause stage of vertical welding is about 0.25 seconds, the linear gun movement stage is about 0.75 seconds, and the gun movement speed is about 8 mm / s. The cross T-joint obtained by the welding method of this embodiment using the welding parameters has a beautiful appearance, and the transition at the connection between the horizontal weld 210 and the vertical weld 220 is smooth; the macrostructure quality of the horizontal weld 210, the vertical weld 220 and the intersection of the two welds is good, and there are no welding defects such as lack of fusion, lack of penetration, oxide inclusions, etc.

[0081] In some embodiments, considering that the molten pool 300 of the horizontal weld 210 is easy to fall during the welding process, the upper side fusion line undercut defect has a high incidence rate; the penetration of the horizontal weld 210 is difficult to control, and it is easy to burn through or cause the root to be not penetrated. In view of the above-mentioned welding difficulties, compared with vertical welding, the welding process parameter settings of the horizontal weld 210 have the following characteristics: a larger welding current; a faster welding speed; and a small arc correction coefficient. Such a setting is conducive to better ensuring penetration and fusion suitability under the condition of precise control of welding heat input. Therefore, the welding steps of the welding method preferably further include: the welding current of the horizontal weld 210 is greater than the welding current of the vertical weld 220; the welding speed of the horizontal weld 210 is greater than the welding speed of the vertical weld 220; the arc correction coefficient of the horizontal weld 210 is less than the arc correction coefficient of the vertical weld 220.

[0082] In some embodiments, in order to reliably fill the groove of the cross T-joint and improve the welding quality, the welding steps of the welding method preferably further include the following steps: the welding of the horizontal weld 210 and the vertical weld 220 is a group of welding processes, and each group of welding processes is performed in sequence in the order of base welding, filling welding and cover welding.

[0083] Understandable, based on Fig.11 As shown, it can be further known that the forming mechanism of the back side of the weld of the base welding is: the aluminum alloy oxide film on the back side of the groove softens and deforms due to heat, wraps the molten pool 300 and collapses downward, and forms the back side of the weld after cooling. In conjunction with the welding steps performed in the linear pause swing mode, when the welding gun is in the pause stage ( Fig.11 When the bottom of the groove is concave by 0.5mm, it means that the aluminum alloy oxide film on the back of the groove has been softened by heat and begins to deform. Then the welding gun executes the linear gun movement stage, which effectively prevents the degree of penetration.

[0084] In some specific embodiments, the following welding parameters are preferably set to further improve welding quality and welding efficiency: the welding current of vertical welding is at most 90% of the welding current of horizontal welding, the welding speed of vertical welding is at most 75% of the welding speed of horizontal welding, the arc length correction factor of vertical welding is at most 150% of the arc length correction factor of horizontal welding, and the welding line energy of vertical welding is at least 105% of the welding line energy of horizontal welding. In this embodiment, the welding parameters are as follows: for the base welding, the welding current of vertical welding is 155A to 165A, the welding speed is about 6mm / s, and the arc length correction factor is 1.2; the welding current of horizontal welding is 170A to 180A, the welding speed is about 8mm / s, and the arc length correction factor is 0.8. For filling welding and cap welding, the welding current of vertical welding is 150A to 160A, the welding speed is about 6mm / s, and the arc length correction factor is 1.5; the welding current of horizontal welding is 165A to 175A, the welding speed is about 8mm / s, and the arc length correction factor is 1.0. The cross T-joint obtained by using the above welding parameters has a beautiful appearance, and the transition between the horizontal weld 210 and the vertical weld 220 is smooth; the macrostructure quality of the horizontal weld 210, the vertical weld 220 and the intersection of the two welds is good, and there are no welding defects such as lack of fusion, lack of penetration, oxide inclusions, etc.

[0085] In some embodiments, Fig.12 As shown, the welding steps of the welding method further include the following steps: setting an observation position 400 in front of the molten pool 300 formed by welding, and the observation position 400 moves with the molten pool 300; and moving the welding gun based on the observation result of the observation position 400. By setting the observation position 400 in front of the molten pool 300, the groove in front of the molten pool 300 can be focused on during the rooting welding of the horizontal weld 210 and the vertical weld 220. When the groove shows signs of concave deformation, the welding gun is promptly transferred to the straight line operation stage, thereby ensuring that the rooting weld has appropriate penetration and improving the welding quality.

[0086] In some specific embodiments, if the observation position 400 moves to any horizontal welding portion 211 of the horizontal weld 210 or to any vertical welding portion of the vertical weld 220, and the above observation result is that the deformation of the groove of the horizontal weld 210 or the groove of the vertical weld 220 is less than or equal to 0.5 mm, the welding gun is immediately moved to ensure that the weld has appropriate penetration. Preferably, during the bottom welding of the horizontal weld 210 and the vertical weld 220, the groove in front of the molten pool 300 should be observed, and the welding gun should be moved as soon as possible when signs of concave deformation of the groove are found, so as to ensure that the bottom weld has appropriate penetration.

[0087] In some specific embodiments, if the observation position 400 moves to the arc-ending position 212 of the horizontal weld 210, and the observation result shows that the deformation of the groove structure 213 at the arc-ending position 212 of the horizontal weld 210 is less than or equal to 0.3 mm, the welding gun is moved immediately. That is, the penetration control of the base weld at the intersection of two welds is slightly different from the above process, specifically: when the groove is found to be slightly softened, the welding gun is moved as soon as possible. It should be noted that any horizontal welding portion 211 of the horizontal welding seam 210 refers to a non-arc-closing portion of the horizontal welding seam 210. Similarly, any vertical welding portion of the vertical welding seam 220 refers to any position on the vertical welding seam 220 that is not connected to the horizontal welding seam 220.

[0088] In some embodiments, Figures 6 to 9 As shown, the grinding step of the welding method further includes the following steps: grinding the arc closing position 212 of the horizontal weld 210 into a groove structure 213, and the groove structure 213 is connected to the groove of the vertical weld 220. That is, after the horizontal weld 210 is welded, the arc closing position 212 of the horizontal weld 210 is ground, and the intersection of the two welds is ground into a groove structure 213. Fig. 9 The groove structure 213 shown is basically consistent with the groove structure 213 of the vertical welding weld 220, so as to facilitate the subsequent vertical welding operation.

[0089] In some specific embodiments, the groove structure 213 preferably includes a first slope wall and a second slope wall connected at the root. The first slope wall is the parent material sheet structure, that is, the aluminum alloy sheet structure in this embodiment. The second slope wall is the weld structure of the horizontal weld 210. The weld structure described in this embodiment is a quenched cast structure, so the weld structure is easier to melt than the parent material sheet structure, so there is a certain difference in shape between the two sides of the groove. Among them, the groove angle of the first slope wall is consistent with the groove angle of the corresponding side of the vertical weld 220; the second slope wall is provided with a transition section at the root position, and the groove angle of the transition section is smaller than the groove angle of the second slope wall, and the groove angle of the second slope wall is less than or equal to the groove angle of the corresponding side of the vertical weld 220. This is because the quenched cast structure is easier to melt, and it is necessary to set the slope walls on both sides at different angles to avoid the second slope wall from melting through the transition.

[0090] It is understandable that the groove angle setting of the second slope wall is related to the material of the parent material sheet of the first slope wall. For example, if the parent material sheet is a five-series aluminum alloy, the corresponding groove angle of the second slope wall in the transition section is at least 30 degrees; if the parent material sheet is a six-series aluminum alloy or a seven-series aluminum alloy, the corresponding groove angle of the second slope wall in the transition section is at least 25 degrees.

[0091] In some embodiments, the assembling step of the welding method further includes at least one of a groove processing step, a spot welding step, and a pre-weld grinding step.

[0092] Bevel processing step: Process corresponding welding bevels on each parent material to assemble and form a cross T-joint. The bevel gap of the cross T-joint is zero, and the blunt edge of the bevel is zero.

[0093] Spot welding steps: spot weld the cross T-joint; Pre-weld grinding step: Grind the horizontal weld 210 and the vertical weld 220 before welding respectively.

[0094] It is understandable that the purpose of setting the groove gap and the groove blunt edge of the cross T-joint has been described in detail in the above content and will not be repeated here.

[0095] Understandable, such as Figure 3 As shown, the complete welding process involved in the specific embodiment given in the embodiment of the present invention includes the above-mentioned pre-welding steps. Among them, the groove gap is processed to 0 mm by the groove processing step, and the original 0 mm blunt edge of the groove is matched, and the joint has no misaligned edges. On the one hand, this setting is conducive to the root of the groove to penetrate and prevent the occurrence of incomplete penetration and incomplete fusion defects; on the other hand, it can ensure that the aluminum alloy oxide film on both sides of the groove can adhere to each other under the action of welding heat, provide protection for the back of the weld during the back of the weld forming process, and at the same time help the back of the weld to form smoothly and regularly.

[0096] It is understandable that the spot welding step before welding can pre-fix the combined structure of the cross T-joint in the assembly step to avoid waste caused by subsequent welding misalignment.

[0097] It can be understood that the pre-welding grinding step can reliably clean and grind the groove before welding, thereby improving the quality of the weld formation.

[0098] On the basis of the above-mentioned welding method, an embodiment of the present invention further provides a welding device. The welding device can perform the above-mentioned welding method. The cross T-joint welding device includes a connected assembly mechanism, a welding gun, a grinding mechanism and a driving mechanism. Among them, the assembly mechanism is used to perform the above-mentioned assembly steps under the driving action of the driving mechanism, for example, a cross T-joint can be assembled using multiple base materials. The welding gun is used to perform the above-mentioned welding steps under the driving action of the driving mechanism, for example, the horizontal welding seam 210 and the vertical welding seam 220 can be welded in the order of horizontal welding first and vertical welding later, and the arc closing position 212 of the horizontal welding seam 210 is located at the connection between the horizontal welding seam 210 and the vertical welding seam 220. The grinding mechanism is used to perform the above-mentioned grinding steps under the driving action of the driving mechanism, for example, after welding the horizontal welding seam 210, the arc closing position 212 of the horizontal welding seam 210 can be ground based on the vertical welding seam 220. The driving mechanism is respectively connected to the assembling mechanism, the welding gun and the grinding mechanism, and is used to respectively drive the assembling mechanism, the welding gun and the grinding mechanism to perform the above steps.

[0099] The specific implementation process of the above-mentioned welding method and welding device is described in detail below through at least one specific embodiment.

[0100] Reference Figure 3 As shown, the welding method of the embodiment of the present invention is performed by the above-mentioned welding device, and the specific execution steps and related parameters are described as follows.

[0101] Step 1: Process the welding groove, the groove size is a double-sided 70-degree groove with no blunt edges.

[0102] Step 2: Assemble the cross T-joint and perform spot welding to ensure that the groove gap is 0 mm.

[0103] Step 3: Use a stainless steel bowl brush to grind the 20 mm range on both sides of the groove, and weld within 2 hours after grinding. The welding process used is MIG welding.

[0104] Step 4: Weld the transverse weld 210; the transverse weld 210 is welded from the outside to the inside, and the swinging mode used is a linear pause swinging mode; the arc closing position 212 of the transverse weld 210 is at the intersection of two welds; the transverse weld 210 stabilizes the arc by drawing circles at the arc closing position 212, and the arc closing welding current is set to 85% to 90% of the transverse welding current.

[0105] Step 5: After the transverse weld 210 is welded, the arc closing position 212 is ground, and the intersection of the two welds is ground into a groove shape; the tool used for grinding is a straight grinding milling cutter specially used for aluminum alloy.

[0106] Step six: Weld the vertical weld 220; the vertical weld 220 is welded from bottom to top, and the swinging mode used is a linear pause swing; the welding current and welding speed used in the vertical weld 220 are smaller than those in the horizontal weld 210, and the arc correction coefficient is greater than that of the horizontal weld 210.

[0107] Step 7: When welding the base welds of horizontal and vertical welding, focus on observing the groove in front of the molten pool 300. Move the welding gun as soon as possible when signs of concave deformation are found in the groove to ensure that the base weld has appropriate penetration. The penetration control of the base weld at the intersection of the two welds is slightly different. Move the welding gun as soon as possible when slight softening of the groove is found.

[0108] Step 8: For weld joints with a thickness greater than 4 mm, repeat steps 3 to 6 to complete the welding of the filling weld and the cover weld. The interlayer temperature of the weld should not be higher than 70°C.

[0109] The specific implementation process of the above-mentioned welding method and welding device is described in detail below through a group of specific test examples.

[0110] Reference Figure 3 , the aluminum alloy cross T-joint is welded using the welding method described in this embodiment.

[0111] The base material thickness of the test plate used in this test example is 10 mm, and the aluminum alloy grade is 5083P-O; the welding wire grade used is ER5356 with a diameter of 1.2 mm; and the welding method used is MIG welding.

[0112] The specific structure of the cross T-joint of this test example is as follows Figure 4 As shown, the first parent material 510 and the second parent material 520 are butt-jointed to form a transverse weld 210 ; the adjacent edges of the first parent material 510 and the second parent material 520 on the same side are flush, and are butt-jointed with the third parent material 530 to form a vertical weld 220 , so that the end of the transverse weld 210 is connected to the middle of the vertical weld 220 .

[0113] The aluminum alloy cross T-joint welding procedure of this test example is as follows.

[0114] Step (1) Processing the welding groove, the groove size is a double-sided 70-degree groove with no blunt edge.

[0115] Step (2) Assemble the cross T-joint and perform spot welding to ensure that the groove gap is 0 mm.

[0116] Step (3) Use a stainless steel bowl brush to grind the groove within 20 mm on both sides, and weld immediately after grinding to weld the base weld.

[0117] Step (4) welding the horizontal weld 210. The welding direction is from outside to inside, the swing mode is linear pause swing, the welding parameters are welding current 175A, welding speed 8mm / s, arc length correction factor 0.8; the arc closing position 212 of the horizontal weld 210 is at the intersection of the two welds, the arc closing position 212 is stabilized by circling counterclockwise, and the arc closing current is 150A.

[0118] Step (5) After the transverse weld 210 is welded, the arc closing position 212 is ground, and a straight grinding cutter specially made for aluminum alloy is used to grind the intersection of the two welds into the groove structure 213.

[0119] Step (6) welding the vertical weld 220. The welding direction is from bottom to top, the swing mode is linear pause swing, and the welding parameters are welding current 160A, welding speed 6 mm / s, and arc length correction factor 1.2.

[0120] Step (7) Cool for 10 minutes, use a stainless steel bowl brush to grind the 20 mm range on both sides of the groove, and weld immediately after grinding to weld the first filler weld.

[0121] Step (8) welding the horizontal weld 210. The welding direction is from outside to inside, the swing mode is linear pause swing, the welding parameters are welding current 170A, welding speed 8mm / s, arc length correction factor 1.0; the arc closing position 212 of the horizontal weld 210 is at the intersection of the two welds, the arc closing position 212 is stabilized by circling counterclockwise, and the arc closing current is 145A.

[0122] Step (9) After the transverse weld 210 is welded, the arc closing position 212 is ground, and a straight grinding cutter specially made for aluminum alloy is used to grind the intersection of the two welds into the groove structure 213.

[0123] Step (10) performs welding on the vertical weld seam 220. The welding direction is from bottom to top, the swing mode is linear pause swing, and the welding parameters are welding current 155A, welding speed 6mm / s, and arc length correction factor 1.5.

[0124] Step (11) Cool for 10 minutes, use a stainless steel bowl brush to grind the 20 mm range on both sides of the groove, and weld immediately after grinding to weld the second filler weld.

[0125] Step (12) welds the horizontal weld 210. The welding direction is from outside to inside, the swing mode is linear pause swing, the welding parameters are welding current 170A, welding speed 8mm / s, arc length correction factor 1.0; the arc closing position 212 of the horizontal weld 210 is at the intersection of the two welds, the arc closing position 212 is stabilized by circling counterclockwise, and the arc closing current is 145A.

[0126] Step (13) After the transverse weld 210 is welded, the arc closing position 212 is ground, and the intersection of the two welds is ground into a groove structure 213 using a straight grinding cutter specially made for aluminum alloy.

[0127] Step (14) welding the vertical weld 220. The welding direction is from bottom to top, the swing mode is linear pause swing, and the welding parameters are welding current 155A, welding speed 6mm / s, and arc length correction factor 1.5.

[0128] Step (15) Cool for 10 minutes, use a stainless steel bowl brush to grind the 20 mm range on both sides of the groove, and weld immediately after grinding to weld the first cover weld.

[0129] Step (16) welds the horizontal weld 210. The welding direction is from outside to inside, the swing mode is linear pause swing, the welding parameters are welding current 170A, welding speed 8mm / s, arc length correction factor 1.0; the arc closing position 212 of the horizontal weld 210 is at the intersection of the two welds, the arc closing position 212 is stabilized by circling counterclockwise, and the arc closing current is 145A.

[0130] Step (17) After the transverse weld 210 is welded, the arc closing position 212 is ground, and the intersection of the two welds is ground into a groove shape using a straight grinding milling cutter specially made for aluminum alloy.

[0131] Step (18) performs welding on the vertical weld seam 220. The welding direction is from bottom to top, the swing mode is linear pause swing, and the welding parameters are welding current 155A, welding speed 6mm / s, and arc length correction factor 1.5.

[0132] Step (19) Cool for 10 minutes, use a stainless steel bowl brush to grind the 20 mm range on both sides of the groove, and weld immediately after grinding to weld the second cover weld.

[0133] Step (20) welds the horizontal weld 210. The welding direction is from outside to inside, the swing mode is linear pause swing, the welding parameters are welding current 170A, welding speed 8mm / s, arc length correction factor 1.0; the arc closing position 212 of the horizontal weld 210 is at the intersection of the two welds, the arc closing position 212 is stabilized by circling counterclockwise, and the arc closing current is 145A.

[0134] Step (21) After the transverse weld 210 is welded, the arc closing position 212 is ground, and the intersection of the two welds is ground into a groove structure 213 using a straight grinding cutter specially made for aluminum alloy.

[0135] Step (22) performs welding on the vertical weld seam 220. The welding direction is from bottom to top, the swing mode is linear pause swing, and the welding parameters are welding current 155A, welding speed 6mm / s, and arc length correction factor 1.5.

[0136] After completing the above steps, the cross T-joint can be subjected to appearance inspection and macroscopic metallographic inspection to confirm the effectiveness of the method.

[0137] The cross T-joint obtained by the above test example has a beautiful appearance, and the transition between the horizontal weld 210 and the vertical weld 220 is smooth; the macrostructure quality of the horizontal weld 210, the vertical weld 220 and the intersection of the two welds is good, and there are no welding defects such as lack of fusion, lack of penetration, oxide inclusions, etc. Figures 13 to 16 shown.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cross T-joint welding method, characterized in that: The following steps are involved: Assembling a cross T-joint using a plurality of parent materials, wherein the cross T-joint comprises at least one horizontal weld and at least one vertical weld, and the end of any of the horizontal welds is connected to the vertical weld; The horizontal welding seam and the vertical welding seam are welded in the order of horizontal welding first and vertical welding later, and the arc closing position of the horizontal welding seam is located at the connection between the horizontal welding seam and the vertical welding seam; After welding the transverse weld, the arc closing position of the transverse weld is ground based on the vertical weld.

2. The cross T-joint welding method according to claim 1, characterized in that: The method of welding the horizontal weld and the vertical weld in the order of horizontal welding first and vertical welding later, wherein the arc closing point of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further comprises the following steps: Welding the horizontal weld from far to near in the direction of the vertical weld, and closing the arc at the connection between the horizontal weld and the vertical weld; The vertical weld is welded from bottom to top, and the vertical weld passes through the arc closing position of the horizontal weld.

3. The cross T-joint welding method according to claim 2, characterized in that: The step of welding the horizontal weld from far to near in the direction of the vertical weld and closing the arc at the connection between the horizontal weld and the vertical weld further includes the following steps: Taking the farthest end of the horizontal welding seam from the vertical welding seam as the arc starting position, performing horizontal welding to the arc ending position; At the arc closing position, the arc is stabilized and closed by drawing a circle.

4. The cross T-joint welding method according to claim 3, characterized in that: The step of stabilizing the arc and closing the arc by drawing a circle at the arc closing position further comprises: The arc closing welding current is 85% to 90% of the horizontal welding current.

5. The cross T-joint welding method according to claim 1, characterized in that: The step of welding the horizontal weld and the vertical weld in the order of first horizontal welding and then vertical welding, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further comprises the following steps: The horizontal welding seam and the vertical welding seam are welded respectively by using a linear pause swinging method.

6. The cross T-joint welding method according to claim 5, characterized in that: The linear pause swinging mode includes a linear gun movement stage and a pause stage, and the pause stage is arranged between two adjacent linear gun movement stages.

7. The cross T-joint welding method according to claim 1, characterized in that: The step of welding the horizontal weld and the vertical weld in the order of horizontal welding first and vertical welding later, wherein the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further comprises: The welding current of the horizontal weld is greater than the welding current of the vertical weld; the welding speed of the horizontal weld is greater than the welding speed of the vertical weld; and the arc correction coefficient of the horizontal weld is less than the arc correction coefficient of the vertical weld.

8. The cross T-joint welding method according to claim 1, characterized in that: The step of welding the horizontal weld and the vertical weld in the order of first horizontal welding and then vertical welding, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further comprises the following steps: The welding of the horizontal weld and the vertical weld is regarded as a group of welding processes, and each group of welding processes is sequentially performed in the order of base welding, filling welding and cover welding.

9. The cross T-joint welding method according to any one of claims 1 to 8, characterized in that: After welding the transverse weld, the step of grinding the arc closing position of the transverse weld based on the vertical weld further includes the following steps: The arc closing position of the horizontal weld is ground into a groove structure, and the groove structure is connected with the groove of the vertical weld.

10. The cross T-joint welding method according to claim 9, characterized in that: The groove structure includes a first slope wall and a second slope wall connected at the root, the first slope wall is a parent material plate structure, and the second slope wall is a weld structure of a transverse weld; Among them, the groove angle of the first slope wall is consistent with the groove angle of the corresponding side of the vertical welding seam; the second slope wall is provided with a transition section at the root position, the groove angle of the transition section is smaller than the groove angle of the second slope wall, and the groove angle of the second slope wall is smaller than or equal to the groove angle of the corresponding side of the vertical welding seam.

11. The cross T-joint welding method according to claim 9, characterized in that: The step of welding the horizontal weld and the vertical weld in the order of first horizontal welding and then vertical welding, and the arc closing position of the horizontal weld is located at the connection between the horizontal weld and the vertical weld, further comprises the following steps: An observation position is arranged in front of a molten pool formed by welding, and the observation position moves along with the molten pool; moving the welding gun based on the observation result of the observation position; If the observation position is moved to the horizontal weld or the vertical weld, and the observation result shows that the deformation of the groove of the horizontal weld or the groove of the vertical weld is less than or equal to 0.5 mm, then the welding gun is moved; If the observation position is moved to the arc-ending position of the transverse weld, and the observation result is that the deformation of the groove structure at the arc-ending position of the transverse weld is less than or equal to 0.3 mm, the welding gun is moved.

12. The cross T-joint welding method according to any one of claims 1 to 8, characterized in that: The assembling of the cross-T joint, wherein the cross-T joint comprises at least one horizontal weld and at least one vertical weld, and the step of connecting the end of any horizontal weld to the vertical weld, further comprises at least one of the following steps: Processing corresponding welding grooves on each of the parent materials to assemble and form the cross T-joint; wherein the groove gap of the cross T-joint is zero, and the blunt edge of the groove is zero; Spot welding the cross T-joint; The horizontal welding seam and the vertical welding seam are respectively ground before welding.

13. The cross T-joint welding method according to any one of claims 1 to 8, characterized in that: The parent material is made of aluminum alloy.

14. A cross T-joint welding device, characterized in that: A cross T-joint welding method as described in any one of claims 1 to 13 can be performed; The cross T-joint welding device comprises: An assembly mechanism for assembling a cross T-joint using a plurality of parent materials; A welding gun, used for welding the horizontal welding seam and the vertical welding seam in the order of horizontal welding first and vertical welding later, and the arc closing position of the horizontal welding seam is located at the connection between the horizontal welding seam and the vertical welding seam; A grinding mechanism, used for grinding the arc closing position of the transverse weld seam based on the vertical weld seam after welding the transverse weld seam; The driving mechanism is respectively connected to the assembling mechanism, the welding gun and the grinding mechanism.

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