阅读说明：本技术 组立件的包角焊自动焊接工艺 (Automatic fillet welding process for assembly part ) 是由 夏皓春 赵守君 周明 周春东 夏呈炜 于 2021-09-15 设计创作，主要内容包括：本发明提供一种组立件的包角焊自动焊接工艺,包括：将等待焊接的加强筋根据设计图纸与底板装配,并预固定；将两个分别装有第一焊枪以及第二焊枪的机械臂分设于加强筋中线两侧,根据加强筋的焊脚尺寸确定包括焊接电流、焊接电压以及焊接速度在内的焊接参数,并同时确定第一焊枪和第二焊枪的焊接轨迹；本发明自动根据加强筋的焊脚尺寸确定本发明的组立件的包角焊自动焊接工艺的各个焊接参数以及焊接轨迹,并同时根据焊接的不同阶段自动切换不同的焊接姿态解决了现有技术包角焊人工焊接时焊缝成型质量差,焊接小车无法兼顾大角度包角焊的问题。(The invention provides an automatic fillet welding process for an assembly part, which comprises the following steps: assembling the reinforcing ribs to be welded with the bottom plate according to a design drawing, and pre-fixing; the method comprises the following steps that two mechanical arms respectively provided with a first welding gun and a second welding gun are arranged on two sides of the center line of a reinforcing rib, welding parameters including welding current, welding voltage and welding speed are determined according to the size of a welding leg of the reinforcing rib, and welding tracks of the first welding gun and the second welding gun are determined simultaneously; according to the invention, each welding parameter and welding track of the automatic fillet welding process of the assembled part are automatically determined according to the size of the leg of the reinforcing rib, and different welding postures are automatically switched according to different stages of welding, so that the problems that the welding seam forming quality is poor and a welding trolley cannot give consideration to large-angle fillet welding in manual fillet welding in the prior art are solved.)

1. The utility model provides an automatic weld process of cornerite of assemblage piece, the assemblage piece includes bottom plate (1) and perpendicular strengthening rib (2) of locating bottom plate (1), its characterized in that, the automatic weld process of cornerite includes following step:

assembling the reinforcing ribs (2) to be welded with the bottom plate (1) according to a design drawing, and pre-fixing;

the method comprises the following steps of respectively arranging two mechanical arms provided with a first welding gun (3) and a second welding gun (4) on two sides of the center line of a reinforcing rib (2), determining welding parameters including welding current, welding voltage and welding speed according to the size of a welding leg of the reinforcing rib (2), and simultaneously determining welding tracks of the first welding gun (3) and the second welding gun (4);

the mechanical arm controls the first welding gun (3) and the second welding gun (4) to respectively move towards a first arc starting point (P1) and a second arc starting point (P8), and arc starts simultaneously when the first welding gun (3) and the second welding gun (4) arrive;

the mechanical arm continuously controls the first welding gun (3) and the second welding gun (4) to move towards the center line of the reinforcing rib (2) along the welding line of the reinforcing rib (2) and the bottom plate (1) in a linear welding posture, and the welding lines cross the center line of the reinforcing rib (2) and simultaneously move to a first folding point (P2) and a second folding point (P8) respectively; and then, controlling the first welding gun (3) and the second welding gun (4) to turn around by the mechanical arm to keep a straight welding posture to continuously move to a first fillet welding starting welding point (P4) and a second fillet welding starting welding point (P11) along the welding seam respectively and simultaneously, switching the straight welding posture to a fillet welding posture by the first welding gun (3) and the second welding gun (4), simultaneously moving to a first fillet welding terminal (P6) and a second fillet welding terminal (P13) along the welding seam under the control of the mechanical arm, then switching the welding posture to the straight welding posture, and moving to the first terminal (P7) and the second terminal (P14) along the welding seam.

2. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: the welding parameters are based on reinforcing ribs (2) with different leg sizes, the value range of welding current is 140-180A, the value range of welding voltage is 21-26V, and the value range of welding speed is 18-30 cm/min.

3. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: the linear welding posture is a first angle (theta) between the first welding gun (3) or the second welding gun (4) and the connection surface of the reinforcing rib (2) and the welding seam at the current welding position₁) The value of the angle is 25-35 degrees, and a second angle (theta) between the first welding gun (3) or the second welding gun (4) and the normal of the movement direction of the first welding gun or the second welding gun (4)₂) When the value is 125-135 degrees.

4. Set according to claim 1The automatic fillet welding process for the vertical part is characterized by comprising the following steps of: the wrap angle welding attitude is a first angle (theta) between the first welding gun (3) or the second welding gun (4) and the connection surface of the reinforcing rib (2) and the welding seam at the current welding position₁) The value of the angle is 40-50 degrees, and a second angle (theta) between the first welding gun (3) or the second welding gun (4) and the normal of the movement direction of the first welding gun or the second welding gun (4)₂) When the value is 85-95 degrees.

5. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: the first arc starting point (P1) and the second arc starting point (P8) are arranged at positions which are 1-2 mm away from the center line of the reinforcing rib (2) and 0-2 mm away from the welding line of the reinforcing rib (2) and the bottom plate (1), and the first arc starting point (P1) and the second arc starting point (P8) are symmetrically distributed about the center line of the reinforcing rib (2).

6. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: first return point (P2) and the second return point (P9) set up at the position apart from 1 ~ 2mm of strengthening rib (2) central line and apart from 0 ~ 2mm of strengthening rib (2) and bottom plate (1) welding seam, and first return point (P2) and the second return point (P9) central line symmetric distribution about strengthening rib (2).

7. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: and a first transition point (P5) and a second transition point (P12) are also arranged between the first fillet welding starting point (P4) and the second fillet welding starting point (P6) and the first fillet welding terminal point (P11) and the second fillet welding terminal point (P13).

8. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: first angle of wrap welding plays solder joint (P4) and second angle of wrap welding plays solder joint (P11) and sets up at the position along strengthening rib (2) central line direction parallel and level and apart from 0 ~ 2mm of corner point with the corner point of strengthening rib (2), and first angle of wrap welding plays solder joint (P4) and second angle of wrap welding plays solder joint (P11) and distributes about the central line symmetry of strengthening rib (2).

9. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: first angle wrapping welding terminal (P6) and second angle wrapping welding terminal (P13) are arranged at the positions which are parallel and level with the corner point of the reinforcing rib (2) along the central line vertical direction of the reinforcing rib (2) and are 0-2 mm away from the corner point, and the first angle wrapping welding terminal (P6) and the second angle wrapping welding terminal (P13) are symmetrically distributed about the central line of the reinforcing rib (2).

10. The fillet welding automatic welding process of the assembling piece according to claim 1, wherein: in the process that the first welding gun (3) moves from the first arc starting point (P1) to the first retracing point (P2), the second welding gun (4) moves from the second arc starting point (P8) to the second retracing point (P9), in the process, the second welding gun (4) runs at a height slightly higher than that of the first welding gun (3), and a weld pool formed by the second welding gun (4) covers the weld pool formed by the first welding gun (3).

Technical Field

The invention relates to the technical field of ship manufacturing, in particular to an automatic fillet welding process for an assembly member.

Background

The assembly part is a structural assembly formed by installing a plurality of reinforcing rib plates on a bottom plate to increase the strength of a member in the ship construction process. The connecting welding seams of the bottom plate and the reinforcing ribs comprise common fillet welding seams and fillet welding seams at the connecting parts of the end parts of the reinforcing ribs and the bottom plate, wherein the welding process of the fillet welding seams is the fillet welding process. In the traditional welding method, the welding process has high control requirement and the requirement on the operating skill level of a welder is quite strict due to the fact that the position and the angle of a welding gun are changed in real time in the fillet welding process. When the operation level of a welder is not enough, the problems of stress concentration, cracks and the like can occur at the end part of the rib plate by the fillet welding seam, and the quality of the welding seam is difficult to ensure. The existing automatic welding trolley can obtain good welding seam quality when welding straight welding seams, but the welding gun has insufficient gesture flexibility during fillet welding, and high-quality fillet welding seams are difficult to obtain; although the posture change of the mechanical arm of the robot can be adjusted when the robot is used for welding, the corresponding programming has great difficulty. Therefore, at present, manual welding is generally adopted for fillet welding to be matched with a high-level welder to ensure the welding quality, but the method is difficult to improve the efficiency and has higher cost.

Disclosure of Invention

In view of the defects of the prior art, the technical problem to be solved by the invention is to provide an automatic fillet welding process for an assembly member, and solve the problems that the weld joint forming quality is poor and a welding trolley cannot give consideration to large-angle fillet welding during manual fillet welding in the prior art.

In order to solve the technical problem, the invention provides an automatic fillet welding process for an assembly member, which comprises the following steps:

assembling the reinforcing ribs to be welded with the bottom plate according to a design drawing, and pre-fixing;

the method comprises the following steps that two mechanical arms respectively provided with a first welding gun and a second welding gun are arranged on two sides of the center line of a reinforcing rib, welding parameters including welding current, welding voltage and welding speed are determined according to the size of a welding leg of the reinforcing rib, and welding tracks of the first welding gun and the second welding gun are determined simultaneously;

the mechanical arm controls the first welding gun and the second welding gun to move towards the first arc starting point and the second arc starting point respectively and to start arcs simultaneously when the first welding gun and the second welding gun arrive;

the mechanical arm continuously controls the first welding gun and the second welding gun to move towards the center line of the reinforcing rib along the welding line of the reinforcing rib and the bottom plate in a linear welding posture, and the first welding gun and the second welding gun respectively move to the first folding point and the second folding point when crossing the center line of the reinforcing rib; and then, the mechanical arm controls the first welding gun and the second welding gun to turn around to keep the straight welding posture to continue to simultaneously move to a first fillet welding starting welding point and a second fillet welding starting welding point along the welding line respectively, the first welding gun and the second welding gun switch the straight welding posture to the fillet welding posture, simultaneously move to a first fillet welding terminal point and a second fillet welding terminal point along the welding line under the control of the mechanical arm, then switch the welding posture to the straight welding posture, and move to the first terminal point and the second terminal point along the welding line.

Preferably, the welding parameters are based on reinforcing ribs with different leg sizes, the range of welding current is 140-180A, the range of welding voltage is 21-26V, and the range of welding speed is 18-30 cm/min.

Preferably, the linear welding posture is that when a first angle between the first welding gun or the second welding gun and the connection surface of the reinforcing rib and the welding seam at the current welding position takes a value of 25-35 degrees and a second angle between the first welding gun or the second welding gun and the normal line of the motion direction takes a value of 125-135 degrees, the linear welding posture can ensure that the first welding gun and the second welding gun can ensure better welding quality when the welding track is the linear welding seam.

Preferably, the wrap angle welding posture is that when a first angle between the first welding gun or the second welding gun and the connection surface of the reinforcing rib and the welding seam at the current welding position takes a value of 40-50 degrees and a second angle between the first welding gun or the second welding gun and the normal of the movement direction takes a value of 85-95 degrees, the wrap angle welding posture can ensure that the first welding gun and the second welding gun can ensure better welding quality when the first welding gun and the second welding gun weld the fillet welding seam.

Preferably, the first arc starting point and the second arc starting point are arranged at positions which are 1-2 mm away from the central line of the reinforcing rib and 0-2 mm away from the welding line of the reinforcing rib and the bottom plate, and the first arc starting point and the second arc starting point are symmetrically distributed about the central line of the reinforcing rib, so that the welding tracks of the first welding gun and the second welding gun can form a common molten pool, the welding tracks of the first welding gun and the second welding gun can be integrated, and the welding quality and the welding line strength are improved.

Preferably, the first foldback point and the second foldback point are arranged at positions which are 1-2 mm away from the central line of the reinforcing rib and 0-2 mm away from the reinforcing rib and the welding seam of the bottom plate, and the first foldback point and the second foldback point are symmetrically distributed about the central line of the reinforcing rib, so that the welding tracks of the first welding gun and the second welding gun can form a common molten pool, the welding tracks of the first welding gun and the second welding gun can be integrated, and the welding quality and the welding seam strength are improved.

Preferably, still be provided with first transition point and second transition point between first angle of wrap welding start welding point and second angle of wrap welding start welding point and first angle of wrap welding terminal point and the second angle of wrap welding terminal point, first transition point and second transition point have guaranteed that first welder and second welder are when welding round fillet weld, transition more level and smooth, the welding seam of strengthening rib and bottom plate of laminating more, and when first welder and second welder pass through first transition point and second transition point, first welder and second welder's gesture synchronous adjustment, the welding quality of round fillet weld has been promoted.

Preferably, first angle of wrap welding plays solder joint and second angle of wrap welding plays solder joint setting and is being followed strengthening rib central line direction parallel and level and apart from the position of 0 ~ 2mm of corner point with the corner point of strengthening rib, and first angle of wrap welding plays solder joint and second angle of wrap welding plays solder joint and is setting up like this about the central line symmetric distribution of strengthening rib, has guaranteed that first angle of wrap welding plays solder joint and second angle of wrap welding plays solder joint and is the starting point of the fillet weld between strengthening rib and the bottom plate.

Preferably, first angle bead welding terminal point and second angle bead welding terminal point set up along strengthening rib central line vertical direction parallel and level and apart from the position of 0 ~ 2mm of angle point with the angle point of strengthening rib, just first angle bead welding terminal point and second angle bead welding terminal point are about the central line symmetric distribution of strengthening rib, and like this, guaranteed first angle bead welding terminal point and second angle bead welding terminal point are the terminal point of the corner fillet welding seam between strengthening rib and the bottom plate.

Preferably, in the process that the first welding gun moves from the first arc starting point to the first retracing point, the second welding gun moves from the second arc starting point to the second retracing point, in the process, the running height of the second welding gun is slightly higher than that of the first welding gun, a welding seam molten pool formed by the second welding gun covers a welding seam molten pool formed by the first welding gun, and the welding seam at the position of the included angle is ensured to form a common molten pool, so that the integral full included angle welding seam is obtained.

As mentioned above, the automatic fillet welding process for the assembling piece has the following beneficial effects: according to different assembly part types, reinforcing rib information is extracted, welding parameters and welding tracks of the automatic fillet welding process of the assembly part are automatically determined according to sizes of welding feet of the reinforcing ribs, and different welding postures are automatically switched according to different welding stages, so that the problems that in the prior art, when manual fillet welding is carried out, welding seams are poor in forming quality, and a welding trolley cannot give consideration to large-angle fillet welding are solved.

Drawings

FIG. 1 is a schematic view of an automatic fillet welding process for an assembly according to the present invention;

FIG. 2 is a schematic view of a welding gun of the automatic fillet welding process for the assembled parts of the present invention;

FIG. 3 is a schematic view of a welding trajectory of a first welding torch of the automatic fillet welding process for an assembly according to the present invention;

FIG. 4 is a schematic view of the welding trajectory of the second torch of the automatic fillet welding process for the assembled parts of the present invention.

Description of the element reference numerals

1 base plate

2 reinforcing rib

3 first welding gun

4 second welding gun

5 gun handle

6 protective gas nozzle

7 welding wire

P1 first arc starting point

P2 first retrace point

P3 first intermediate point

P4 first fillet weld start point

P5 first transition point

P6 first fillet weld end point

P7 first end point

P8 second arcing point

P9 second turning point

P10 second intermediate point

P11 second fillet weld starting point

P12 second transition point

P13 second fillet weld end point

P14 second terminal

θ₁First angle

θ₂Second angle

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions that the present disclosure can be implemented, so that the present disclosure is not limited to the technical essence, and any structural modifications, ratio changes, or size adjustments should still fall within the scope of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

As shown in fig. 1 to 4, the present invention provides an automatic fillet welding process for an assembly member, comprising:

assembling the reinforcing ribs 2 to be welded with the bottom plate 1 according to a design drawing, and pre-fixing;

the method comprises the following steps of (1) respectively arranging two mechanical arms provided with a first welding gun 3 and a second welding gun 4 on two sides of the central line of a reinforcing rib 2, determining welding parameters including welding current, welding voltage and welding speed according to the size of a welding leg of the reinforcing rib 2, and simultaneously determining welding tracks of the first welding gun 3 and the second welding gun 4;

the mechanical arm controls the first welding gun 3 and the second welding gun 4 to move towards a first arc starting point P1 and a second arc starting point P8 respectively, and the first welding gun 3 and the second welding gun 4 start arcs when arriving at the same time;

the mechanical arm continuously controls the first welding gun 3 and the second welding gun 4 to move towards the center line of the reinforcing rib 2 along the welding line of the reinforcing rib 2 and the bottom plate 1 in a linear welding posture, and the welding guns cross the center line of the reinforcing rib 2 and simultaneously move to a first folding point P2 and a second folding point P9 respectively; then, the mechanical arm controls the first welding gun 3 and the second welding gun 4 to turn around and keep the straight welding posture to continuously move to a first fillet welding starting welding point P4 and a second fillet welding starting welding point P11 along the welding seam respectively, the first welding gun 3 and the second welding gun 4 switch the straight welding posture to the fillet welding posture, and move to a first fillet welding terminal point P6 and a second fillet welding terminal point P13 along the welding seam simultaneously under the control of the mechanical arm, then switch the welding posture to the straight welding posture, and move to a first terminal point P7 and a second terminal point P14 along the welding seam.

In the embodiment, the welding gun comprises a welding wire 7, a shielding gas nozzle 6 and a gun handle 5, wherein the gun handle 5 is used for holding the mechanical arm, the shielding gas nozzle 6 is used for releasing shielding gas, the welding seam quality is improved, the welding safety is ensured, and the welding wire 7 is used for forming a welding seam; in the present embodiment, the first welding torch 3 or the second welding torch 4 passes through the first starting point P1 or the second starting point P8, which means that the tip of the welding wire 7 passes through the trace point.

In this embodiment, the welding trajectories of the first welding gun 3 and the second welding gun 4 further pass through a first intermediate point P3 and a second intermediate point P10 respectively disposed between the first turning point P2 and the first fillet welding start welding point P4 and between the second turning point P9 and the second fillet welding start welding point P11, and when the first welding tongs and the second welding gun 4 pass through the first intermediate point P3 and the second intermediate point P10, the linear welding posture is maintained, and the welding trajectories of the first welding gun 3 and the second welding gun 4 are more flexible and controllable through the arrangement of the first intermediate point P3 and the second intermediate point P10.

In the embodiment, the welding parameters are based on the reinforcing ribs 2 with different leg sizes, the value range of the welding current is 140-180A, the value range of the welding voltage is 21-26V, and the value range of the welding speed is 18-30 cm/min.

In the present embodiment, as shown in fig. 2, the straight welding posture is a first angle θ between the first welding torch 3 or the second welding torch 4 and the connection surface of the bead and the bead 2 at the current welding position₁The value of the angle is 25-35 degrees, and a second angle theta between the first welding gun 3 or the second welding gun 4 and the normal of the movement direction of the first welding gun 3 or the second welding gun 4₂When the value is 125-135 degrees, the straight-line welding posture can ensure better welding quality when the welding track of the first welding gun 3 and the second welding gun 4 is a straight-line welding seam, and in the embodiment, the first angle theta of the straight-line welding posture₁At a second angle theta of 30 DEG₂Preferably 130 degrees.

In the present embodiment, as shown in fig. 2, the fillet welding attitude is a first angle θ between the first welding torch 3 or the second welding torch 4 and the connection surface of the bead and the bead 2 at the current welding position₁The value of the angle is 40-50 degrees, and a second angle theta between the first welding gun 3 or the second welding gun 4 and the normal of the movement direction of the first welding gun 3 or the second welding gun 4₂When the value is 85-95 degrees, the fillet welding posture can ensure that the first welding gun 3 and the second welding gun 4 can ensure better welding quality when welding the fillet weld, and in the embodiment, the first welding gun in the fillet welding postureAngle theta₁At 45 DEG, the second angle theta₂The angle of 90 degrees is preferred.

In the embodiment, as shown in fig. 3 and 4, the first arcing point P1 and the second arcing point P8 are arranged at positions 1-2 mm away from the center line of the reinforcing rib 2 and 0-2 mm away from the weld joint of the reinforcing rib 2 and the bottom plate 1, and the first arcing point P1 and the second arcing point P8 are symmetrically distributed about the center line of the reinforcing rib 2, so that the welding tracks of the first welding gun 3 and the second welding gun 4 can form a common molten pool, the welding tracks of the first welding gun 3 and the second welding gun 4 are integrated, and the welding quality and the strength of the weld joint are improved; further, in the present embodiment, the first arcing point P1 and the second arcing point P8 are preferably located at a smaller distance from the weld of the base plate 1.

In the embodiment, as shown in fig. 3 and 4, the first folding point P2 and the second folding point P9 are disposed at positions 1-2 mm away from the center line of the reinforcing rib 2 and 0-2 mm away from the welding seam between the reinforcing rib 2 and the bottom plate 1, and the first folding point P2 and the second folding point P9 are symmetrically distributed about the center line of the reinforcing rib 2, so that the welding tracks of the first welding gun 3 and the second welding gun 4 can form a common molten pool, the welding tracks of the first welding gun 3 and the second welding gun 4 are integrated, and the welding quality and the strength of the welding seam are improved; also, in the present embodiment, the smaller the distance between the first returning point P2 and the second returning point P9 from the welding line of the base plate 1, the better.

In the present embodiment, as shown in fig. 3 and 4, a first transition point P5 and a second transition point P12 are further provided between the first fillet welding start welding point P4 and the second fillet welding start welding point P11 and the first fillet welding end point P6 and the second fillet welding end point P13, and the first transition point P5 and the second transition point P12 ensure that the first welding gun 3 and the second welding gun 4 make a smoother transition when welding a fillet weld, and the first welding gun 3 and the second welding gun 4 make a better fit with the weld of the reinforcing rib 2 and the base plate 1, and when the first welding gun 3 and the second welding gun 4 pass through the first transition point P5 and the second transition point P12, the postures of the first welding gun 3 and the second welding gun 4 are synchronously adjusted, so as to improve the welding quality of the fillet weld; furthermore, a plurality of transition points can be arranged according to actual requirements, so that the welding track is smoother, and the control of the welding track is more accurate and flexible.

In the present embodiment, as shown in fig. 3 and 4, the first fillet weld initiation point P4 and the second fillet weld initiation point P11 are provided at positions that are level with and 0 to 2mm from the corner points of the reinforcing bars 2 in the direction of the center line of the reinforcing bars 2, and the first fillet weld initiation point P4 and the second fillet weld initiation point P11 are symmetrically distributed about the center line of the reinforcing bars 2, so that it is ensured that the first fillet weld initiation point P4 and the second fillet weld initiation point P11 are the starting points of the fillet weld between the reinforcing bars 2 and the floor panel 1, and further, in the present embodiment, as shown in fig. 3 and 4, the first fillet weld termination point P6 and the second fillet weld termination point P13 are provided at positions that the corner points of the reinforcing bars 2 are level with and 0 to 2mm from the center line of the reinforcing bars 2, and the first fillet weld termination point P6 and the second fillet weld termination point P13 are symmetrically distributed about the center line of the reinforcing bars 2, thus, the first fillet welding terminal point P6 and the second fillet welding terminal point P13 are ensured to be the terminal points of the fillet welding seam between the reinforcing rib 2 and the bottom plate 1; further, in the present embodiment, as shown in fig. 3 and 4, the first transition point P5 and the second transition point P12 are respectively located on an arc track defined by the first fillet weld start point P4 and the first fillet weld end point P6, and an arc track defined by the second fillet weld start point P4 and the second fillet weld end point P6; likewise, in the present embodiment, the smaller the distances between the first fillet weld start point P4, the second fillet weld start point P11, the first transition point P5, the second transition point P12, the first fillet weld end point P6 and the second fillet weld end point P13 and the weld of the base plate 1, the better.

In the embodiment, in the process that the first welding gun 3 moves from the first arc starting point P1 to the first return point P2, the second welding gun 4 moves from the second arc starting point P8 to the second return point P9, in the process, the second welding gun 4 runs at a height slightly higher than that of the first welding gun 3, a weld pool formed by the second welding gun 4 covers a weld pool formed by the first welding gun 3, and a common weld pool is formed at the wrap corners to obtain an integral and full wrap corner weld.

As above, the automatic fillet welding process for the assembled parts has the following beneficial effects: according to different assembly types, the information of the reinforcing ribs 2 is extracted, welding parameters and welding tracks of the automatic fillet welding process of the assembly are automatically determined according to the sizes of the welding feet of the reinforcing ribs 2, and different welding postures are automatically switched according to different welding stages, so that the problems that the welding seam forming quality is poor and a welding trolley cannot give consideration to large-angle fillet welding in manual fillet welding in the prior art are solved.

In conclusion, the automatic fillet welding process for the assembled part extracts the information of the reinforcing ribs 2 according to different assembled part types, automatically determines each welding parameter and welding track of the automatic fillet welding process for the assembled part according to the sizes of the welding feet of the reinforcing ribs 2, and automatically switches different welding postures according to different welding stages, so that the problems that the welding seam forming quality is poor and a welding trolley cannot give consideration to large-angle fillet welding in manual welding of the fillet welding in the prior art are solved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.