Abstract: A method of automatically welding a welded seam of a saddle line for a saddle-type T joint belonging to the technical field of welding is provided, including: establishing a groove cross-sectional model, solving a variation law of a groove cross-sectional area, and planning a welding bead and a welding process parameter according to the groove cross-sectional area; establishing a welding torch pose mathematical model and obtaining a pose homogeneous transformation matrix T of a welding torch; establishing a three-dimensional model of a main pipe and a branch pipe, building a welding system through offline software, importing welding spot pose information, and generating welding torch pose offline command through the offline software; and performing automatic welding of the welded seam of the saddle line for the saddle-type T joint according to the planned welding bead and the welding process parameter and the generated welding torch pose offline command.

Abstract: The invention belongs to the field of welding technology and discloses a CMT automatic overlaying method for opening in side wall of bimetallic composite pipes. The method includes: establishing a mathematical model of the opening in a side wall to be welded; Based on the mathematical model, determining the trajectory of the saddle line during overlaying; dividing the trajectory of the saddle line into several welding runs, all of which adopt the downslope welding process; establishing a three-dimensional model of the opening in the side wall to be welded and a CMT overlaying system simulation model; Based on the simulation model, planning the overlaying path of the CMT overlaying, and generating an overlaying offline instruction; Based on the offline instruction, performing CMT overlaying on the opening in the side wall to be welded according to the overlaying sequence, so as to obtain a weld overlay.