Gap self-adaptive laser-electric arc hybrid welding equipment and method

Abstract

The invention relates to the technical field of welding, in particular to gap self-adaptive laser-arc hybrid welding equipment and method.The welding equipment comprises a mounting frame, and a gap detection unit, a first welding gun, a laser welding gun, a second welding gun and an ultrasonic vibration unit are arranged on the mounting frame in the welding direction; the gap detection unit comprises a gap detector for detecting the width and the position of the gap; the X-axis direction is defined as the welding direction moving along the gap, the Y-axis direction is the direction perpendicular to the welding direction in the horizontal plane, the Z-axis direction is the vertical direction, and the first welding gun and / or the second welding gun swings perpendicular to the welding direction in the XOY plane during welding; the bottom of the laser welding gun is connected with a water-cooling magnetic head unit for generating a magnetic field in the molten pool. By means of the mode that the two electric arc welding guns and the laser welding gun are arranged in a combined mode, different welding requirements are met through combined use of the welding guns; the gap width is detected in real time through the gap detection unit, and then welding parameters and on-off of the welding guns at different welding positions are adjusted in time.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to gap adaptive laser-arc hybrid welding equipment and method. Background Art

[0002] Laser-arc hybrid welding is increasingly widely used. In view of the problem of gaps between the pre-welding pairs and uneven gaps between the pairs, it is difficult for traditional laser-arc hybrid welding to achieve good weld formation under the same parameter conditions. When the gap is slightly larger, the laser will directly pass through the gap, resulting in problems such as cold welding and incomplete welding. Furthermore, laser-arc hybrid welding is prone to produce welding defects such as pores and slag inclusions, while the root molten pool of laser-arc hybrid welding is a deep and narrow conical molten pool, which makes it difficult for the internal gas and inclusions in the molten pool to float to the surface of the molten pool and form welding defects such as pores and slag inclusions. Summary of the invention

[0003] The present invention aims to solve the above problems and provides a gap adaptive laser-arc hybrid welding device and method, the technical solution adopted by the present invention is as follows: A gap adaptive laser-arc hybrid welding device comprises a mounting frame, on which a gap detection unit, a first welding gun, a laser welding gun and a second welding gun are arranged in sequence from front to back along the welding direction, the gap detection unit comprises a gap detector for detecting the gap width and position; the X-axis direction is defined as the welding direction moving along the gap, the Y-axis direction is defined as the direction perpendicular to the welding direction in a horizontal plane, and the Z-axis direction is defined as the vertical direction, and the first welding gun and / or the second welding gun swing perpendicular to the welding direction in the XOY plane during welding; the bottom of the laser welding gun is connected to a water-cooled magnetic head unit for generating a magnetic field in a molten pool.

[0004] On the basis of the above scheme, the first welding gun and the second welding gun are respectively connected to a welding gun oscillator, and the welding gun oscillator includes a motor, an oscillating screw, a slider and an adjusting screw. The oscillating screw is rotatably arranged on a mounting frame along the Y-axis direction, and the motor drives the oscillating screw to rotate. The slider is threadedly connected to the oscillating screw and slides along the Y-axis on the oscillating screw. The first welding gun or the second welding gun is installed on the slider, and the fastening bolt is arranged on the slider along the X-axis direction and is threadedly connected to the slider, and the end of the fastening bolt abuts against the first welding gun or the second welding gun.

[0005] Based on the above scheme, a through groove is set on the slider, the through groove passes through along the Z-axis direction, and an opening is set along the Y-axis direction, fastening bolts are set through the ends on both sides of the opening, and the first welding gun or the second welding gun is set in the through groove.

[0006] Preferably, the water-cooled magnetic head unit comprises a protective sleeve, an inner iron core and an outer iron core, wherein a cooling cavity is enclosed between the protective sleeve and the outer wall of the inner iron core, wherein cooling water is contained in the cooling cavity, and the protective sleeve is provided with a water inlet for inputting cooling water and a water outlet for discharging cooling water, a through hole is provided inside the inner iron core along the Z-axis direction, and the through hole is provided corresponding to the position of the welding gun head of the laser welding gun; a first coil is wound around the inner iron core, and a first magnetic field generated by the first coil is located in the XOZ plane, the number of the outer iron cores is 2, and they are arranged on opposite sides of the inner iron core along the Y-axis direction, and a second coil is wound around each outer iron core, and a second magnetic field generated by the outer iron core is located in the XOY plane.

[0007] On the basis of the above scheme, the water inlet is arranged at the lower part of the protective sleeve, the water outlet is arranged at the upper part of the protective sleeve, and the water inlet and the water outlet are arranged in central symmetry with respect to the central axis of the protective sleeve.

[0008] Preferably, it also includes an ultrasonic vibration unit, which is arranged at the rear of the second welding gun along the welding direction. The ultrasonic vibration unit includes a connecting rod, a connecting frame, a vibration generator, a mounting plate and a pressure head. The vibration generator is installed on the connecting frame, the mounting plate is connected to the vibration generator and vibrates in the Z-axis direction accordingly. The pressure head is arranged on the mounting plate. The number of pressure heads is 2 and they are distributed along the Y-axis direction. When the pressure head is in a low position, the bottom end of the pressure head abuts against the plate to be welded.

[0009] On the basis of the above scheme, the connecting rod is fixedly set on the mounting frame, the top of the connecting frame is hinged at the end of the connecting rod, a first sliding groove is set on the connecting frame along the X-axis direction, the vibration generator is slidably set in the first sliding groove, the number of the vibration generators is 2, and both are connected to the mounting plate, a second sliding groove is set on the mounting plate along the Y-axis direction, and the two pressure heads are slidably set in the second sliding grooves respectively.

[0010] Preferably, the gap detection unit further comprises a fixing rod, the upper end of which is fixedly connected to the mounting frame, the gap detector is hinged at the bottom of the fixing rod, and the detection position of the gap detector moves along the X-axis direction.

[0011] A gap adaptive laser-arc hybrid welding method, using the above-mentioned gap adaptive hybrid welding equipment, also includes a control system, the control system controls the mounting frame to move along the X-axis direction; the welding method includes the following steps: S1. Detect the gap position and width between the plates to be welded by the gap detection unit; S2. The control system adjusts the moving speed of the mounting frame according to the gap position and width, and determines and controls the on / off and welding parameters of the first welding gun, the laser welding gun and the second welding gun; S3. The first welding gun performs the first arc welding at the position to be welded, and the welding gun oscillator drives the first welding gun to swing back and forth along the Y-axis direction until the gap at the position to be welded is closed; S4. The water-cooled magnetic head unit applies a first magnetic field and a second magnetic field to the molten pool area; S5. The laser welding gun performs laser welding in the area to be welded; S6. The second welding gun performs a second arc welding in the area to be welded; S7. The ultrasonic vibration unit continuously hammers on both sides of the weld.

[0012] Based on the above scheme, the molten pool formed by laser welding is coupled or separated from the molten pool formed by the first arc welding; the molten pool formed by the second arc welding is coupled or separated from the molten pool formed by laser welding and the molten pool formed by the first arc welding.

[0013] The beneficial effects of the present invention are: 1. Through the combination of two arc welding guns and a laser welding gun, different welding gun combinations can be selected in different welding scenarios to meet the welding needs under various working conditions; 2. The gap width is detected in real time through the gap detection unit, and the welding parameters and on-off of each welding gun at different welding positions are adjusted in time; 3. Design a welding gun oscillator with adjustable welding position, which can adjust the welding gun oscillation position, oscillation distance, oscillation speed or judge whether the welding gun needs to oscillate according to the gap width during welding, so as to ensure reliable filling of the gap and adapt to different gap positions. At the same time, it can control whether the molten pool areas generated by each welding gun are coupled, the coupling position and the coupling area range to meet different welding needs; 4. Cooperate with the water-cooled magnetic head unit to generate longitudinal and transverse alternating magnetic fields at the molten pool position to achieve stirring of the molten pool, so as to reduce defects such as pores and slag inclusions in the weld, while refining the grains and improving the mechanical properties of the weld; 5. An ultrasonic vibration unit is installed at the rear of the welding gun, and the two sides of the weld are continuously hammered through the position-adjustable vibration generator and pressure head to promote the stress release of the weld and reduce the residual stress of the weld. At the same time, it can adapt to grooves and welds of different widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 : Schematic diagram of the structure of the present invention; Figure 2 : Schematic diagram of the welding gun oscillator structure of the present invention; Figure 3 : Schematic diagram of the structure of the water-cooled magnetic head unit of the present invention; Figure 4 : A cross-sectional view of the internal structure of the water-cooled magnetic head unit of the present invention; Figure 5 : Schematic diagram of the structure of the ultrasonic vibration unit of the present invention; Figure 6 : Schematic diagram of welding equipment system of the present invention. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0016] In the description of the present invention, it should be understood that the terms "center", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0017] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0018] Example 1 like Figures 1 to 5As shown, a gap adaptive laser-arc hybrid welding device includes a mounting frame 11, on which a gap detection unit, a first welding gun 12, a laser welding gun 14 and a second welding gun 13 are arranged in sequence from front to back along the welding direction, and the first welding gun 12 and the second welding gun 13 are arc welding guns. The X-axis direction is defined as the welding direction moving along the gap, the Y-axis direction is the direction perpendicular to the welding direction in the horizontal plane, and the Z-axis direction is the vertical direction; the first welding gun 12 and / or the second welding gun 14 swing perpendicularly to the welding direction in the XOY plane during welding, that is, on the one hand, it moves along the X-axis direction, and at the same time swings along the Y-axis direction to fill the gap, so as to adjust the welding position and area according to the gap width to close the gap or fill the groove; the laser welding gun 14 can realize the movement of the welding point position by adjusting its internal beam deflector.

[0019] The gap detection unit includes a gap detector 22 for detecting the gap width and position. The gap detector 22 can be a laser scanner or camera or other equipment that can capture and detect the gap situation; the gap detection unit also includes a fixed rod 21, the upper end of the fixed rod 21 is fixedly connected to the mounting frame 11, the gap detector 22 is hinged at the bottom of the fixed rod 21, and the detection position of the gap detector 22 moves along the X-axis direction. By adjusting the angle of the gap detector 22 relative to the fixed rod 21, its detection position is adjusted.

[0020] like Figure 1 and Figure 2As shown, the first welding gun 12 and the second welding gun 13 are respectively connected to the welding gun oscillator, and the welding gun oscillator includes a motor 31, a swinging lead screw 32, a slider 33 and an adjusting screw 34. The swinging lead screw 32 is rotatably arranged on the mounting frame 11 along the Y-axis direction. The motor 31 drives the swinging lead screw 32 to rotate. The slider 33 is threadedly connected to the swinging lead screw 32 and slides along the Y-axis on the swinging lead screw 32, so that the position, moving range and moving speed of the slider 33 are driven by the motor 31. The first welding gun 12 or the second welding gun 13 is installed on the slider 33, and the fastening bolt 332 is arranged on the slider 33 along the X-axis direction and is threadedly connected to the slider 33, and the end of the fastening bolt 332 abuts against the first welding gun 12 or the second welding gun 13. Specifically, a through slot 331 is provided on the slider 33, and the through slot 331 is through in the Z-axis direction and has an opening in the Y-axis direction. The ends of both sides of the opening are penetrated by fastening bolts 332, and the first welding gun 12 or the second welding gun 13 is provided in the through slot 331. The adjusting screw 34 is rotated to adjust the relative position of the adjusting screw 34 and the slider 33, and then the position of the first welding gun 12 or the second welding gun 13 in the X-axis direction is adjusted; after the adjustment is completed, the fastening bolt 332 is tightened so that the first welding gun 12 or the second welding gun 13 is tightly held by the inner wall of the through slot 331, and the position is defined. A spacer 35 can be provided outside the first welding gun 12 or the second welding gun 13. The position of the welding point is adjusted by adjusting the position of the first welding gun 12 or the second welding gun 13, and then whether coupling occurs between the molten pools generated by each welding gun is controlled.

[0021] The bottom of the laser welding gun 14 is connected to a water-cooled magnetic head unit for generating a magnetic field in the molten pool. Figure 3 and Figure 4 As shown, the water-cooled magnetic head unit includes a protective sleeve 41, an inner core 42 and an outer core 43. A hanging ear 411 is provided on the protective sleeve 41. By setting a screw in the hanging ear 411, the water-cooled magnetic head unit is installed at the bottom of the laser welding gun 14. The protective sleeve 41 and the outer wall of the inner core 42 enclose a cooling cavity, and cooling water is placed in the cooling cavity to continuously cool the components in the cooling cavity. The protective sleeve 41 is provided with a water inlet 412 for inputting cooling water and a water outlet 413 for discharging cooling water. Preferably, the water inlet 412 is provided at the lower part of the protective sleeve 41, and the water outlet 413 is provided at the upper part of the protective sleeve 41, and the water inlet 412 and the water outlet 413 are centrally symmetrically arranged about the central axis of the protective sleeve 41, so as to extend the accommodation time of the cooling water in the cooling cavity, thereby ensuring the cooling effect of the cooling water on the components in the cooling cavity.

[0022] A through hole is arranged inside the inner core 42 along the Z-axis direction, and the through hole is arranged corresponding to the position of the welding gun head of the laser welding gun 14, so that the laser beam generated by the laser welding gun 14 can reach the area to be welded after passing through the water-cooled magnetic head unit. A first coil is wound on the inner core 42, and the first magnetic field generated by the first coil is located in the XOZ plane, and the magnetic field is defined as a longitudinal magnetic field. There are two outer cores 43, which are arranged on opposite sides of the inner core 42 along the Y-axis direction. A second coil is wound on each outer core 43, and the second magnetic field generated before the outer core 43 is located in the XOY plane, and the magnetic field is defined as a transverse magnetic field. By applying a controllable AC power supply to the first coil and the second coil, the water-cooled magnetic head unit generates an alternating magnetic field to stir the molten pool below it, so as to reduce defects such as pores and slag inclusions in the weld, and at the same time, the grains are refined and the mechanical properties of the weld are improved through the stirring effect of the magnetic field.

[0023] like Figure 5 As shown, an ultrasonic vibration unit is also included, and the ultrasonic vibration unit is arranged at the rear of the second welding gun 13 along the welding direction. The ultrasonic vibration unit includes a connecting rod 51, a connecting frame 52, a vibration generator 53, a mounting plate 54 and a pressure head 55. The vibration generator 53 is installed on the connecting frame 54, and the mounting plate 54 is connected to the vibration generator 53 and vibrates in the Z-axis direction. The pressure head 55 is arranged on the mounting plate 54. The number of the pressure heads 55 is 2, and they are distributed along the Y-axis direction. When the pressure head 55 is in a low position, the bottom end of the pressure head 55 abuts against the plate to be welded. The vibration generator 53 is connected to the ultrasonic generator, and the vibration is controlled by an electrical signal, thereby driving the pressure head 55 to vibrate. The pressure head 55 is arranged on both sides of the weld, and the continuous vibration promotes the stress release of the weld and reduces the residual stress of the weld.

[0024] Preferably, the connecting rod 51 is fixedly arranged on the mounting frame 11, and the top of the connecting frame 52 is hinged at the end of the connecting rod 51, so as to adjust the angle of the connecting frame 52 and use different welding plates. The connecting frame 52 is provided with a first sliding groove 521 along the X-axis direction, and the vibration generator 53 is slidably arranged in the first sliding groove 521. The number of the vibration generators 53 is 2, and both are connected to the mounting plate 54. The mounting plate 54 is provided with a second sliding groove 541 along the Y-axis direction, and the two pressure heads 55 are respectively slidably arranged in the second sliding groove 541, so as to adjust the position of the pressure head 55 and the distance between the pressure heads 55 according to the actual working conditions, the gap and the groove width.

[0025] Example 2 A gap adaptive laser-arc hybrid welding method, using the gap adaptive hybrid welding equipment described in Example 1, such as Figure 5As shown, it also includes a control system, which moves along the X-axis direction through the robot control cabinet and the welding robot control mounting frame 11. At the same time, the control system is connected to the first arc welding power supply, the laser, and the second arc welding power supply in the sea area to adjust the welding parameters and on-off of the first welding gun 12, the laser welding gun 14 and the second welding gun 13. In addition, the control system is also connected to the controllable AC power supply and the ultrasonic generator.

[0026] The welding method comprises the following steps: S1. Detect the gap position and width between the plates to be welded by the gap detection unit; S2. The control system adjusts the moving speed of the mounting frame 11 according to the gap position and width, and determines and controls the on-off and welding parameters of the first welding gun 12, the laser welding gun 14 and the second welding gun 13; S3. The first welding gun 12 performs the first arc welding at the position to be welded, and the welding gun oscillator drives the first welding gun 12 to swing back and forth along the Y-axis direction until the gap at the position to be welded is closed; S4. The water-cooled magnetic head unit applies a first magnetic field and a second magnetic field to the molten pool area; S5. The laser welding gun 14 performs laser welding in the area to be welded, and the laser welding gun 14 selects whether to adjust the beam deflector according to the welding needs during the welding process; S6. The second welding gun 13 performs a second arc welding in the area to be welded, and the second welding gun 13 selects whether to swing during the welding process according to the welding needs; S7. The ultrasonic vibration unit continuously hammers on both sides of the weld.

[0027] Before welding, adjustments are made according to the plate and welding requirements so that the molten pool formed by laser welding is coupled or separated from the molten pool formed by the first arc welding; the molten pool formed by the second arc welding is coupled or separated from the molten pool formed by laser welding and the molten pool formed by the first arc welding.

[0028] Example 3 The difference between this embodiment and embodiment 2 is that, for the working conditions that require increasing the penetration depth and improving the welding speed, two welding processes combining arc welding and laser welding are adopted, that is, step S6 is omitted.

[0029] Example 4 The difference between this embodiment and embodiment 2 is that, for working conditions with a large gap width or a large groove but low requirement on penetration depth, a welding process combining two arc welding passes is adopted, that is, step S5 is omitted.

[0030] The present invention is described above by way of examples, but the present invention is not limited to the above specific embodiments, and any changes or modifications made based on the present invention belong to the scope of protection claimed by the present invention.

Claims

1. A gap adaptive laser-arc hybrid welding device, characterized in that: The invention comprises a mounting frame (11), on which a gap detection unit, a first welding gun (12), a laser welding gun (14) and a second welding gun (13) are arranged in sequence from front to back along the welding direction, the gap detection unit comprises a gap detector (22) for detecting the gap width and position; the X-axis direction is defined as the welding direction moving along the gap, the Y-axis direction is defined as the direction in the horizontal plane perpendicular to the welding direction, and the Z-axis direction is defined as the vertical direction; the first welding gun (12) and / or the second welding gun (14) swing perpendicular to the welding direction in the XOY plane during welding; and the bottom of the laser welding gun (14) is connected to a water-cooled magnetic head unit for generating a magnetic field in a molten pool.

2. The gap adaptive laser-arc hybrid welding equipment according to claim 1, characterized in that: The first welding gun (12) and the second welding gun (13) are respectively connected to a welding gun oscillator, the welding gun oscillator comprising a motor (31), an oscillating lead screw (32), a slider (33) and an adjusting screw (34); the oscillating lead screw (32) is rotatably arranged on a mounting frame (11) along a Y-axis direction; the motor (31) drives the oscillating lead screw (32) to rotate; the slider (33) is threadedly connected to the oscillating lead screw (32) and slides on the oscillating lead screw (32) along the Y-axis; the first welding gun (12) or the second welding gun (13) is mounted on the slider (33); the fastening bolt (332) is arranged on the slider (33) along an X-axis direction and is threadedly connected to the slider (33); and an end of the fastening bolt (332) abuts against the first welding gun (12) or the second welding gun (13).

3. The gap adaptive laser-arc hybrid welding equipment according to claim 2, characterized in that: The slider (33) is provided with a through slot (331), the through slot (331) is through in the Z-axis direction, and is provided with an opening in the Y-axis direction, and fastening bolts (332) are provided through the ends on both sides of the opening, and the first welding gun (12) or the second welding gun (13) is arranged in the through slot (331).

4. The gap adaptive laser-arc hybrid welding equipment according to claim 1, characterized in that: The water-cooled magnetic head unit comprises a protective sleeve (41), an inner iron core (42) and an outer iron core (43); the protective sleeve (41) and the outer wall of the inner iron core (42) enclose a cooling cavity, the cooling cavity contains cooling water, the protective sleeve (41) is provided with a water inlet (412) for inputting cooling water and a water outlet (413) for discharging cooling water; a through hole is provided inside the inner iron core (42) along the Z-axis direction, the through hole is provided corresponding to the position of the welding gun head of the laser welding gun (14); a first coil is wound around the inner iron core (42), a first magnetic field generated by the first coil is located in the XOZ plane, two outer iron cores (43) are provided, and they are provided on opposite sides of the inner iron core (42) along the Y-axis direction; a second coil is wound around each outer iron core (43), and a second magnetic field generated by the outer iron core (43) is located in the XOY plane.

5. The gap adaptive laser-arc hybrid welding equipment according to claim 4, characterized in that: The water inlet (412) is arranged at the lower part of the protective sleeve (41), and the water outlet (413) is arranged at the upper part of the protective sleeve (41), and the water inlet (412) and the water outlet (413) are arranged in a central symmetric manner about the central axis of the protective sleeve (41).

6. The gap adaptive laser-arc hybrid welding equipment according to claim 1, characterized in that: The invention also comprises an ultrasonic vibration unit, which is arranged at the rear of the second welding gun (13) along the welding direction. The ultrasonic vibration unit comprises a connecting rod (51), a connecting frame (52), a vibration generator (53), a mounting plate (54) and a pressure head (55). The vibration generator (53) is mounted on the connecting frame (54). The mounting plate (54) is connected to the vibration generator (53) and vibrates in the Z-axis direction accordingly. The pressure head (55) is arranged on the mounting plate (54). The number of the pressure heads (55) is 2 and they are distributed along the Y-axis direction. When the pressure head (55) is at a low position, the bottom end of the pressure head (55) abuts against the plate to be welded.

7. The gap adaptive laser-arc hybrid welding equipment according to claim 6, characterized in that: The connecting rod (51) is fixedly arranged on the mounting frame (11); the top of the connecting frame (52) is hinged to the end of the connecting rod (51); a first sliding groove (521) is arranged on the connecting frame (52) along the X-axis direction; the vibration generator (53) is slidably arranged in the first sliding groove (521); the number of the vibration generators (53) is two and both are connected to the mounting plate (54); a second sliding groove (541) is arranged on the mounting plate (54) along the Y-axis direction; and the two pressure heads (55) are respectively slidably arranged in the second sliding grooves (541).

8. The gap adaptive laser-arc hybrid welding equipment according to claim 1, characterized in that: The gap detection unit further comprises a fixing rod (21), the upper end of the fixing rod (21) being fixedly connected to the mounting frame (11), the gap detector (22) being hinged to the bottom of the fixing rod (21), and the detection position of the gap detector (22) moving along the X-axis direction.

9. A gap adaptive laser-arc hybrid welding method, characterized in that: The gap adaptive hybrid welding device according to any one of claims 1 to 8 further comprises a control system, wherein the control system controls the mounting frame (11) to move along the X-axis direction; the welding method comprises the following steps: S1. Detect the gap position and width between the plates to be welded by the gap detection unit; S2. The control system adjusts the moving speed of the mounting frame (11) according to the gap position and width, and determines and controls the on / off and welding parameters of the first welding gun (12), the laser welding gun (14) and the second welding gun (13); S3. The first welding gun (12) performs a first arc welding at the position to be welded, and the welding gun oscillator drives the first welding gun (12) to swing back and forth along the Y-axis direction until the gap at the position to be welded is closed; S4. The water-cooled magnetic head unit applies a first magnetic field and a second magnetic field to the molten pool area; S5. The laser welding gun (14) performs laser welding in the area to be welded; S6. The second welding gun (13) performs a second arc welding in the area to be welded; S7. The ultrasonic vibration unit continuously hammers on both sides of the weld.

10. The gap adaptive laser-arc hybrid welding method according to claim 9, characterized in that: The molten pool formed by laser welding is coupled or separated from the molten pool formed by the first arc welding; the molten pool formed by the second arc welding is coupled or separated from the molten pool formed by laser welding and the molten pool formed by the first arc welding.

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