Multi-degree-of-freedom swinging laser hybrid welding system suitable for narrow space

Abstract

The invention relates to the technical field of welding equipment, in particular to a multi-degree-of-freedom swinging laser hybrid welding system suitable for a narrow space, which can meet the requirements of welding parts with multiple welding seams, multiple joints and multiple welding poses in the narrow space and batch welding of the welding parts. It can be effectively guaranteed that the welding system meets the requirements for multiple welding seams, different welding conditions and welding postures, the precision is high, and the welding quality of welded workpieces after welding is guaranteed. According to the welding device, at least adjustment of welding parameters of the arc welding gun on five degrees of freedom can be achieved, adjustment of welding poses can be achieved even in the welding process of joints in different directions and multiple welding seams, adjustment of multiple welding poses can be achieved without overall angle conversion of the welding device, the welding efficiency is high, and the welding precision is high. The anti-collision device is arranged, so that the swing laser head and the arc welding gun can be protected, and secondary damage caused by sudden descending and even falling of the gun head after collision can be prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a multi-freedom swing laser composite welding system suitable for narrow spaces. Background Art

[0002] Laser arc hybrid welding is a welding method that combines laser welding and arc welding. It has the advantages of deep weld penetration, fast welding speed, high welding efficiency, stable welding arc, concentrated heat source energy, low welding heat input, and small welding deformation of welded components after welding. It is widely used in processing fields such as automobiles, shipbuilding, heavy industry, aerospace, and railway transportation.

[0003] Laser arc hybrid welding requires the coordinated operation of a laser welding gun and an arc welding gun. For laser welding guns and arc welding guns with different structural and technical parameters, their relative positions during operation need to be adjusted according to the actual process requirements. For the same laser welding gun and arc welding gun, their relative positions also need to be adjusted according to the different workpieces to be welded. Welding complex structures with multiple welds and joints in a confined space poses a greater challenge to adjusting the welding posture of the laser welding and arc welding guns. This is especially true when laser welding uses an oscillating laser welding method. Since the laser beam needs to oscillate along the welding path through a galvanometer system, the oscillating gun head itself is relatively large and is therefore not suitable for complex welding in confined spaces. Adjusting the welding posture is therefore even more cumbersome. Therefore, further improvements are urgently needed to achieve multi-degree-of-freedom oscillating laser hybrid welding and posture adjustment in a confined space. Summary of the Invention

[0004] The object of the present invention is to provide a multi-degree-of-freedom swinging laser hybrid welding system suitable for a narrow space, so as to solve the existing technical problems existing in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is as follows: a multi-degree-of-freedom swinging laser hybrid welding system suitable for a narrow space is provided, comprising a swinging laser head, an arc welding gun, and an X-direction adjustment device, a Z-direction adjustment device, and a Y-direction adjustment device arranged between the swinging laser head and the arc welding gun; the X-direction adjustment device is arranged on the swinging laser head, for adjusting the position of the arc welding gun in the X direction, the Z-direction adjustment device is arranged on the X-direction adjustment device, for adjusting the position of the arc welding gun in the Z direction, the Y-direction adjustment device is arranged on the Z-direction adjustment device, for adjusting the position of the arc welding gun in the Y direction, the arc welding gun is arranged on the Y-direction adjustment device through a connecting member, and a first rotation adjustment device is arranged between the connecting member and the Y-direction adjustment device, for adjusting the angle of the arc welding gun in the YZ direction; a second rotation adjustment device is arranged between the arc welding gun and the connecting member, for adjusting the angle of the arc welding gun in the XZ direction.

[0006] On the basis of the above technical solution, an anti-collision device is further provided. The anti-collision device is arranged between the X-direction adjusting device and the Z-direction adjusting device and is used to protect the swing laser head and the arc welding torch.

[0007] On the basis of the above technical solution, the anti-collision device includes an anti-collision sleeve, a first air chamber, a connecting shaft and a second air chamber. One side of the anti-collision sleeve is connected to the Z-direction adjusting device and a first air chamber is formed inside. One end of the connecting shaft is arranged in the first air chamber and is slidably connected to the anti-collision sleeve, and the other end is connected to the X-direction adjusting device. The second air chamber is arranged in the first air chamber and the two air chambers are independent chambers. There are gaps both axially and radially between the outer side wall of the second air chamber and the inner wall of the connecting shaft. A pushing component is arranged in the second air chamber, and after ventilation, the pushing component abuts against the inner wall of the connecting shaft.

[0008] On the basis of the above technical solution, the pushing component includes a movable sealing plate and an elastic member. The movable sealing plate is arranged in the second air chamber and is slidably connected. One end of the elastic member is fixedly arranged on one side of the movable sealing plate, and the other end abuts against the inner wall of the connecting shaft.

[0009] On the basis of the above technical solution, pressure sensors are arranged in both the first air chamber and the second air chamber.

[0010] On the basis of the above technical solution, the X-direction adjusting device includes a first mounting plate, a moving chute, a first pin shaft and a first fastener. The moving chute is opened on the first mounting plate. One end of the first pin shaft is fixedly arranged on the second mounting plate, and the other end slides in the moving chute and is fixed by the first fastener. The Z-direction adjusting device is arranged on the second mounting plate.

[0011] On the basis of the above technical solution, the Z-direction adjusting device includes a mounting seat, a slider, a lead screw and a driving motor. One side of the slider is fixedly connected to the second mounting plate, and the other side is sleeved on the lead screw and is slidably connected. The driving motor drives the lead screw to rotate on the mounting seat; the Y-direction adjusting device has the same composition structure as the Z-direction adjusting device. The mounting seat of the Z-direction adjusting device is fixedly connected to the slider of the Y-direction adjusting device, and the mounting seat of the Y-direction adjusting device is fixedly connected to the connecting member.

[0012] On the basis of the above technical solution, the first rotation adjusting device includes a first arc chute, a second pin shaft and a second fastener. The first arc chute is opened on the Y-Z plane of the connecting member. One end of the second pin shaft is fixedly arranged on the mounting seat of the Y-direction adjusting device, and the other end slides in the first arc chute and is fixed by the second fastener.

[0013] Based on the above technical solution, the second rotation adjustment device includes a second arc-shaped chute, a third pin shaft, and a third fastener. The second arc-shaped chute is formed on the X-Z plane of the connecting member. One end of the third pin shaft is fixedly arranged on the mounting sleeve, and the other end slides in the second arc-shaped chute and is fixed by the third fastener. The arc welding torch is fixedly arranged on the mounting sleeve.

[0014] Based on the above technical solution, the radian range of the first arc-shaped chute is -45° to +45°; the radian range of the second arc-shaped chute is -30° to +30°.

[0015] The beneficial effects produced by the technical solution provided by the present invention are as follows: 1. The present invention provides a multi-degree-of-freedom swing laser hybrid welding system suitable for narrow spaces, especially suitable for welding conditions in narrow spaces using swing-laser hybrid welding, that is, it can meet the welding requirements of workpieces with multiple welds, multiple joint forms, and multiple welding postures in narrow spaces and their batch welding. It can effectively ensure that the welding system meets the requirements of multiple welds, different welding conditions, and welding posture requirements, with high precision, and the welding quality of the welded workpiece is guaranteed after welding. At the same time, by setting the above-mentioned multi-degree-of-freedom adjustment device, the problem that the swing gun head is too large in volume and not suitable for welding in narrow spaces is also solved; in this application, at least the welding parameters in 5 degrees of freedom of the arc welding torch can be adjusted. Even during the welding process of joints in different directions and multiple welds, the adjustment of the welding posture can be achieved, and the adjustment of multiple welding postures can be realized without the need to rotate the entire welding device, with high welding efficiency and high welding precision.

[0016] 2. The present invention is provided with a collision prevention device between the X-direction adjustment device and the Z-direction adjustment device, which can protect the swing laser head and the arc welding torch, that is, it will respond in time and stop working after a collision; at the same time, a second air chamber independent of the first air chamber and the internal pushing component are also provided, which can effectively prevent the sudden drop or even fall of the gun head of the arc welding torch after a collision, causing secondary damage. It can not only achieve more sensitive protection but also save the use space, meeting the design requirements of miniaturization of existing processing equipment. Description of the Drawings

[0017] Figure 1 is a three-dimensional structure schematic diagram of the present invention; Figure 2 is a three-dimensional structure schematic diagram of another angle of the present invention; Figure 3 is a structure schematic diagram of the collision prevention device in the present invention; Figure 4 is an internal structure schematic diagram of the collision prevention device in the present invention; Figure 5It is a schematic structural diagram of the X-direction adjustment device, Y-direction adjustment device, and Z-direction adjustment device in the present invention; Figure 6 It is a schematic structural diagram of the Y-direction adjustment device and Z-direction adjustment device in the present invention; Figure 7 It is a schematic structural diagram of the connecting member and the first rotational adjustment device and the second rotational adjustment device in the present invention; Specific embodiments The present invention will be further described below in conjunction with the accompanying drawings and embodiments: In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "left", "right", "front", "rear", "top", "bottom", etc. are all based on the orientation or positional relationship 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 component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0019] Embodiment 1 As Figures 1 to 7 shown, a multi-degree-of-freedom swing laser composite welding system applicable to a narrow space includes a swing laser head 1, an arc welding torch 2, and an X-direction adjustment device 3, a Z-direction adjustment device 4, and a Y-direction adjustment device 5 arranged between the swing laser head 1 and the arc welding torch 2; the X-direction adjustment device 3 is arranged on the swing laser head 1 and is used to adjust the position of the arc welding torch 2 in the X direction, the Z-direction adjustment device 4 is arranged on the X-direction adjustment device 3 and is used to adjust the position of the arc welding torch 2 in the Z direction, the Y-direction adjustment device 5 is arranged on the Z-direction adjustment device 4 and is used to adjust the position of the arc welding torch 2 in the Y direction, the arc welding torch 2 is arranged on the Y-direction adjustment device 5 through a connecting member 6, and a first rotational adjustment device 7 is arranged between the connecting member 6 and the Y-direction adjustment device 5 and is used to adjust the angle of the arc welding torch 2 in the Y-Z direction; a second rotational adjustment device 8 is arranged between the arc welding torch 2 and the connecting member 6 and is used to adjust the angle of the arc welding torch 2 in the X-Z direction.

[0020] The present invention provides a multi-degree-of-freedom swing laser composite welding system suitable for narrow spaces, especially suitable for welding conditions in narrow spaces using swing-laser composite welding, that is, it can meet the welding of workpieces with multiple welds, multiple joint forms, and multiple welding postures in narrow spaces and their batch welding, effectively ensuring that the welding system meets the requirements of multiple welds, different welding conditions, and welding posture requirements, with high precision and ensuring the welding quality of the welded workpiece after welding. At the same time, by setting the above-mentioned multi-degree-of-freedom adjustment device, the problem that the swing gun head is too large in volume and not suitable for welding in narrow spaces is also solved; in this application, at least the adjustment of welding parameters in 5 degrees of freedom of the arc welding torch can be realized, and even during the welding of joints in different directions and multiple welds, the adjustment of welding postures can be realized, and the adjustment of multiple welding postures can be realized without overall conversion of the angle of the welding device, with high welding efficiency and high welding precision.

[0021] It should be noted that in laser swing welding, through the rapid swing of the reflecting lens inside the laser gun head, the laser beam can be modulated into different scanning shapes, sizes, and frequencies, so as to cover large welds with a small spot, increase the adaptability of the laser to the weld gap, and significantly improve the welding quality and consistency. Narrow spaces mainly refer to the small space available for welding on the workpiece. For example, in the welding of I-beams, when the width is small or the height is too large, it will cause the welding space, that is, the internal space of the I-beam, to be narrow; if the welding equipment connecting parts are too large, the gun head assembly of the laser composite welding system may interfere with the workpiece when entering the welding space, affecting the welding process. The multi-degree-of-freedom adjustment device in this application solves the above problems.

[0022] Based on the above technical solution, the X-direction adjustment device 3 includes a first mounting plate 31, a moving chute 32, a first pin shaft 33, and a first fastener. The moving chute 32 is opened on the first mounting plate 31. One end of the first pin shaft 33 is fixedly arranged on the second mounting plate 34, and the other end slides in the moving chute 32 and is fixed by the first fastener. The Z-direction adjustment device 4 is arranged on the second mounting plate 34.

[0023] In a preferred embodiment, the X-direction adjustment device is used to adjust the position of the arc welding torch in the X direction. By sliding the first pin shaft on the second mounting plate in the moving chute, different position adjustments are realized and fixed by the first fastener.

[0024] Based on the above technical solution, the Z-direction adjustment device 4 includes a mounting base 41, a slider 42, a lead screw 43, and a driving motor 44. One side of the slider 42 is fixedly connected to the second mounting plate 34, and the other side is sleeved on the lead screw 43 and is slidably connected. The driving motor 44 drives the lead screw 43 to rotate on the mounting base 41. The Y-direction adjustment device 5 has the same composition structure as the Z-direction adjustment device 4. The mounting base of the Z-direction adjustment device 4 is fixedly connected to the slider of the Y-direction adjustment device 5, and the mounting base of the Y-direction adjustment device 5 is fixedly connected to the connecting member 6.

[0025] In a preferred embodiment, the Z-direction adjustment device 4 and the Y-direction adjustment device 5 are constructed in the same way, only the set directions are different. That is, the Z-direction adjustment device 4 is used to adjust different positions in the Z direction. At the same time, the Z-direction adjustment device 4 is arranged on the slider of the Y-direction adjustment device 5 to achieve position adjustment in the Y direction. Specifically, the driving motor 44 drives the lead screw 43 to rotate, and the slider 42 and the components driven thereon move along with the slider to adjust to different positions.

[0026] Based on the above technical solution, the first rotation adjustment device 7 includes a first arc-shaped chute 71, a second pin 72, and a second fastener. The first arc-shaped chute 71 is opened on the Y-Z plane of the connecting member 6. One end of the second pin 72 is fixedly arranged on the mounting base of the Y-direction adjustment device 5, and the other end slides in the first arc-shaped chute 71 and is fixed by the second fastener.

[0027] Based on the above technical solution, the second rotation adjustment device 8 includes a second arc-shaped chute 81, a third pin 82, and a third fastener. The second arc-shaped chute 81 is opened on the X-Z plane of the connecting member 6. One end of the third pin 82 is fixedly arranged on the mounting sleeve 10, and the other end slides in the second arc-shaped chute 81 and is fixed by the third fastener. The arc welding torch 2 is fixedly arranged on the mounting sleeve 10.

[0028] By providing the first rotation adjustment device 7 and the second rotation adjustment device 8, the angle adjustment of the arc welding torch 2 is realized. The first rotation adjustment device 7 can adjust the angle of the arc welding torch 2 in the Y-Z direction, and the second rotation adjustment device 8 can adjust the angle of the arc welding torch 2 in the X-Z direction. When welding with multiple joint forms and multiple welds, there is no need to readjust all of them. Through the two rotation adjustment devices, the adjustment of the welding pose in different directions can be realized, the operation is more convenient, the occupied space is small, it is suitable for angle adjustment in a narrow space, and the welding efficiency is high.

[0029] Based on the above technical solution, the radian range of the first arc-shaped chute 71 is -45° to +45°; the radian range of the second arc-shaped chute 81 is -30° to +30°.

[0030] More preferably, the first rotation adjustment device 7 can adjust the angle of the arc welding torch 2 in the Y-Z direction, and the angle adjustment range is -45° to +45°. The second rotation adjustment device 8 can adjust the angle of the arc welding torch 2 in the X-Z direction, and the angle adjustment range is -30° to +30°. Compared with the prior art where the maximum angle adjustment is about 15°, the angle adjustment is relatively small. In this application, not only can more degrees of freedom be adjusted, but also a larger parameter adjustment range can be achieved.

[0031] More preferably, a plurality of the first arc-shaped chutes and the second arc-shaped chutes are provided.

[0032] It should be noted that the above X, Y, and Z directions are defined according to the coordinate system in the accompanying drawings of the specification, which is only for the convenience of describing and understanding the technical solution and does not constitute a limitation to this application.

[0033] Embodiment 2 Based on the technical solution of the above embodiment, an anti-collision device 9 is further provided in this embodiment. The anti-collision device 9 is arranged between the X-direction adjustment device 3 and the Z-direction adjustment device 4 and is used to protect the swing laser head 1 and the arc welding torch 2. As Figure 3 and Figure 4 shown.

[0034] Based on the above technical solution, the anti-collision device 9 includes an anti-collision sleeve 91, a first air chamber 92, a connecting shaft 93, and a second air chamber 94. One side of the anti-collision sleeve 91 is connected to the Z-direction adjustment device 4 and a first air chamber 92 is formed inside. One end of the connecting shaft 93 is arranged in the first air chamber 92 and is slidably connected to the anti-collision sleeve 91, and the other end is connected to the X-direction adjustment device 3. The second air chamber 94 is arranged in the first air chamber 92 and the two air chambers are independent chambers. A gap is provided between the outer wall of the second air chamber 94 and the inner wall of the connecting shaft 93 both axially and radially. A pushing component is arranged in the second air chamber 94, and after ventilation, the pushing component abuts against the inner wall of the connecting shaft 93.

[0035] In this embodiment, a collision prevention device 9 is provided between the X-direction adjustment device 3 and the Z-direction adjustment device 4, which can protect the swing laser head and the arc welding torch, that is, it will respond in time and stop working after a collision; at the same time, a second air chamber 94 independent of the first air chamber 92 and a pushing component inside are also provided, which can effectively prevent the sudden drop or even fall of the arc welding torch tip after a collision, causing secondary damage. At the same time, setting the collision prevention device 9 at this position has stronger practicability compared with the existing collision prevention device 9 set on the more valuable swing laser head 1. In actual operations, since the arc welding torch 2 is a welding device that directly contacts the workpiece, it is more likely to collide. Therefore, in this application, the collision prevention device 9 is cleverly set on the connecting piece of the arc welding torch 2 and is located below the galvanometer of the swing laser head 1, which can not only achieve more sensitive protection but also save the use space and meet the design requirements of the miniaturization of existing processing equipment.

[0036] Based on the above technical solution, the pushing component includes a movable sealing plate 95 and an elastic member 96. The movable sealing plate 95 is arranged in the second air chamber 94 and is slidably connected. One end of the elastic member 96 is fixedly arranged on one side of the movable sealing plate 95, and the other end abuts against the inner wall of the connecting shaft 93.

[0037] More preferably, the elastic member is set as a spring.

[0038] It can be understood that independent gas passages are communicated in both the first air chamber 92 and the second air chamber 94.

[0039] Preferably, a stepped groove is provided on the inner side wall of the connecting shaft 93. The side wall of the second air chamber abuts against the first step of the stepped groove, and one end of the elastic member abuts against the bottom of the stepped groove.

[0040] Specifically, in the welding working state of the composite welding system, the first air chamber 92 is filled with gas, and a rigid connection state is formed by the abutment between the connecting shaft 93 and the collision prevention sleeve 91. The arc welding torch 2 and the swing welding head 1 carry out welding operations normally; when a collision occurs, the connecting shaft 93 and the collision prevention sleeve 91 slide relative to each other, the first air chamber 92 deflates, providing a moving space for the connected welding equipment after the impact. At this time, the pressure sensor in the first air chamber 92 detects the pressure change and stops the welding operation. At the same time, it controls the inflation of the second air chamber 94. After inflation, the movable sealing plate 95 moves, driving the elastic member 96 to abut against the connecting shaft 93 and move outward until the connecting shaft abuts against the collision prevention sleeve, that is, still forming the rigid connection state in the initial working state, avoiding the large downward movement of the arc welding torch due to the deflation of the first air chamber 92 and causing secondary damage; it can not only play a good role in preventing collisions for the composite welding system, but also effectively avoid the safety risks of the welding torch after impact.

[0041] On the basis of the above technical solution, pressure sensors are provided in both the first air chamber 92 and the second air chamber 94.

[0042] In a preferred embodiment, pressure sensors are provided in both the first air chamber 92 and the second air chamber 94, which can timely sense the pressure state in each air chamber and feedback it to the control module. Specifically, the pressure sensor in the first air chamber 92 can, after a collision occurs and the first air chamber 92 is depressurized, feedback to the control module to stop the welding operation and control the inflation of the second air chamber 94. The pressure sensor in the second air chamber 94 can facilitate the staff to timely understand the internal pressure situation, so as to know whether the anti-collision device is working properly.

[0043] The above shows and describes the basic principles and main features of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments. Therefore, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention.

[0044] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-degree-of-freedom swinging laser hybrid welding system applicable to narrow spaces, characterized in that, It includes a swing laser head (1), an arc welding torch (2), and an X-direction adjustment device (3), a Z-direction adjustment device (4), and a Y-direction adjustment device (5) arranged between the swing laser head (1) and the arc welding torch (2); the X-direction adjustment device (3) is arranged on the swing laser head (1) and is used to adjust the position of the arc welding torch (2) in the X direction, the Z-direction adjustment device (4) is arranged on the X-direction adjustment device (3) and is used to adjust the position of the arc welding torch (2) in the Z direction, the Y-direction adjustment device (5) is arranged on the Z-direction adjustment device (4) and is used to adjust the position of the arc welding torch (2) in the Y direction, the arc welding torch (2) is arranged on the Y-direction adjustment device (5) through a connecting piece (6), and a first rotation adjustment device (7) is arranged between the connecting piece (6) and the Y-direction adjustment device (5) and is used to adjust the angle of the arc welding torch (2) in the Y-Z direction; a second rotation adjustment device (8) is arranged between the arc welding torch (2) and the connecting piece (6) and is used to adjust the angle of the arc welding torch (2) in the X-Z direction.

2. The multi-degree-of-freedom swing laser composite welding system applicable to narrow spaces according to claim 1, wherein An anti-collision device (9) is also arranged, and the anti-collision device (9) is arranged between the X-direction adjustment device (3) and the Z-direction adjustment device (4) and is used to protect the swing laser head (1) and the arc welding torch (2).

3. The multi-degree-of-freedom swing laser composite welding system applicable to narrow spaces according to claim 2, wherein The anti-collision device (9) includes an anti-collision sleeve (91), a first air chamber (92), a connecting shaft (93), and a second air chamber (94). One side of the anti-collision sleeve (91) is connected to the Z-direction adjustment device (4) and a first air chamber (92) is formed inside. One end of the connecting shaft (93) is arranged in the first air chamber (92) and is slidably connected to the anti-collision sleeve (91), and the other end is connected to the X-direction adjustment device (3). The second air chamber (94) is arranged in the first air chamber (92) and the two air chambers are independent chambers. A gap is provided between the outer wall of the second air chamber (94) and the inner wall of the connecting shaft (93) both axially and radially. A pushing component is arranged in the second air chamber (94), and after ventilation, the pushing component abuts against the inner wall of the connecting shaft (93).

4. A multi-degree-of-freedom swinging laser hybrid welding system applicable to narrow spaces according to claim 3, characterized in that, The pushing component includes a movable sealing plate (95) and an elastic member (96). The movable sealing plate (95) is arranged in the second air chamber (94) and is slidably connected. One end of the elastic member (96) is fixedly arranged on one side of the movable sealing plate (95), and the other end abuts against the inner wall of the connecting shaft (93).

5. The multi-degree-of-freedom swing laser hybrid welding system applicable to narrow spaces according to claim 3, wherein Pressure sensors are arranged in both the first air chamber (92) and the second air chamber (94).

6. The multi-degree-of-freedom swinging laser hybrid welding system applicable to narrow spaces according to claim 1, wherein The X-direction adjustment device (3) includes a first mounting plate (31), a moving chute (32), a first pin shaft (33), and a first fastener. The moving chute (32) is opened on the first mounting plate (31). One end of the first pin shaft (33) is fixedly arranged on the second mounting plate (34), and the other end slides in the moving chute (32) and is fixed by the first fastener. The Z-direction adjustment device (4) is arranged on the second mounting plate (34).

7. The multi-degree-of-freedom swing laser hybrid welding system applicable to narrow spaces according to claim 6, wherein, The Z-direction adjusting device (4) includes a mounting base (41), a slider (42), a lead screw (43), and a driving motor (44). One side of the slider (42) is fixedly connected to the second mounting plate (34), and the other side is sleeved on the lead screw (43) and is slidably connected. The driving motor (44) drives the lead screw (43) to rotate on the mounting base (41). The Y-direction adjusting device (5) has the same composition structure as the Z-direction adjusting device (4). The mounting base of the Z-direction adjusting device (4) is fixedly connected to the slider of the Y-direction adjusting device (5), and the mounting base of the Y-direction adjusting device (5) is fixedly connected to the connecting member (6).

8. The multi-degree-of-freedom swing laser composite welding system applicable to narrow spaces according to claim 7, characterized in that, The first rotary adjusting device (7) includes a first arc-shaped chute (71), a second pin shaft (72), and a second fastener. The first arc-shaped chute (71) is formed on the Y-Z plane of the connecting member (6). One end of the second pin shaft (72) is fixedly arranged on the mounting base of the Y-direction adjusting device (5), and the other end slides in the first arc-shaped chute (71) and is fixed by the second fastener.

9. The multi-degree-of-freedom swing laser hybrid welding system applicable to narrow spaces according to claim 8, wherein, The second rotary adjusting device (8) includes a second arc-shaped chute (81), a third pin shaft (82), and a third fastener. The second arc-shaped chute (81) is formed on the X-Z plane of the connecting member (6). One end of the third pin shaft (82) is fixedly arranged on the mounting sleeve (10), and the other end slides in the second arc-shaped chute (81) and is fixed by the third fastener. The arc welding torch (2) is fixedly arranged on the mounting sleeve (10).

10. The multi-degree-of-freedom swinging laser hybrid welding system applicable to narrow spaces according to claim 9, characterized in that, The radian range of the first arc-shaped chute (71) is -45° to +45°; the radian range of the second arc-shaped chute (81) is -30° to +30°.

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