The six-degree-of-freedom arc welding robot system ARCMAN-MP was used to vertical welding test

and the object of welding is the shield machine cutter head large thickness Q345B carbon steel plate. The edited vector library realized the precise swing of the welding wire in the vertical welding groove

and the vertical welding with good appearance was obtained

in the same times

a welding database was built. The mechanical properties were conducted by tensile and impact experiment

the microstructure was observed by metallographic microscope

and the fracture morphology was observed by scanning electron microscopy（SEM）. The results show that the high welding efficiency

good weld surface formation

low weld defect rate and high overall welding quality in the experiments

showing this welding method has high quality and feasibility.