Wrap angle welding method and device for middle-assembly vertical fillet weld

The invention discloses a wrap angle welding method and device for a middle-group vertical fillet weld, and the method comprises the steps: obtaining lower-end wrap angle weld parameters of a lower-end wrap angle weld when the lower-end wrap angle weld exists in the vertical fillet weld, and setting a plurality of lower-end welding points for the lower-end wrap angle weld according to the lower-end wrap angle weld parameters, corresponding lower end wrap angle welding strategies are matched with the multiple lower end welding points; and a welding gun is controlled to traverse the lower end wrap angle welding seam from bottom to top, the multiple lower end welding points are detected in real time in the traversal process, and when the lower end welding points are detected, a lower end wrap angle welding strategy corresponding to the lower end welding points is executed till the lower end wrap angle welding seam is traversed. Compared with the prior art, according to the technical scheme, the welding points an