Welding device with CYZ three-dimensional freedom

Abstract

The utility model relates to a kind of welding device with CYZ three-way freedom, including bracing plate, the top of bracing plate is equipped with rotary mechanism, the working end of rotary mechanism is equipped with horizontal moving sliding table, the output end of horizontal moving sliding table is connected with lifting mechanism, and the working end of lifting mechanism is connected with rotary mechanism by mounting seat;The working end of lifting mechanism is connected with laser welding head, mounting seat is respectively equipped with wire feeding group, weld tracking sensor, and the wire feeding group is laser welding head conveying welding wire.By setting horizontal moving sliding table, lifting mechanism, rotary mechanism, weld tracking sensor, the position of laser welding head and wire feeding electrically conductive nozzle can be automatically adjusted, so that laser welding head and wire feeding electrically conductive nozzle are always aligned with weld position, improve welding quality and welding efficiency.

Description

Technical Field

[0001] This utility model relates to the field of laser welding technology, and in particular to a welding device with CYZ three-dimensional degrees of freedom. Background Technology

[0002] Laser welding machines are used in the automotive manufacturing industry to weld body structures, parts, and powertrains, enabling high-speed, high-quality welding and improving the structural strength and safety of automobiles.

[0003] In related technologies, the structure of a laser welding machine typically includes a laser welding head, a wire feeding assembly, and a frame. The wire feeding assembly is integrated and mounted on the laser welding head. The laser welding head is mounted on the frame via an XYZ three-axis transmission device. The XYZ three-axis transmission device drives the laser welding head to move above the weld seam, thereby automatically welding the weld seam.

[0004] However, traditional laser welding machines lack weld seam tracking capabilities. The XYZ three-axis transmission device can only drive the laser welding head to move along a pre-set fixed trajectory. When processing different batches of workpieces, there will be deviations in the weld seams on the workpieces. At this time, it is necessary to manually adjust the movement trajectory parameters of the laser welding head to ensure welding quality. This operation is cumbersome and reduces production efficiency. At the same time, since the wire feeding assembly is integrated and mounted on the laser welding head, it is impossible to adjust the spot size of the laser welding head independently, which affects welding accuracy. Utility Model Content

[0005] To address the shortcomings of existing production technologies, the applicant provides a welding device with three degrees of freedom in the CYZ axes. By incorporating a transverse slide, a lifting mechanism, and a rotation mechanism, the welding device can achieve ±185° rotation in the C-axis and reciprocating linear motion in the Y and Z axes. This ensures that the laser welding head and the wire feeding nozzle are always aligned with the weld position, improving welding quality, and resulting in a high degree of automation and production efficiency. Furthermore, the lifting mechanism allows for independent adjustment of the laser welding head height, changing the spot size and thus improving welding accuracy.

[0006] The technical solution adopted in this utility model is as follows:

[0007] A welding device with three degrees of freedom in the CYZ direction includes a support plate, a rotary mechanism mounted on the top of the support plate, a transverse slide mounted on the working end of the rotary mechanism, the output end of the transverse slide being connected to a lifting mechanism, and the lifting mechanism being connected to the working end of the rotary mechanism via a mounting base.

[0008] The working end of the lifting mechanism is connected to the laser welding head, and the mounting base is equipped with a wire feeding assembly and a weld seam tracking sensor. The wire feeding assembly feeds the welding wire to the laser welding head.

[0009] The transverse slide table drives the laser welding head and the mounting base to move linearly along the horizontal Y direction through the lifting mechanism, thereby aligning the laser welding head and the wire feeding assembly with the weld seam.

[0010] The lifting mechanism drives the laser welding head to move linearly along the vertical Z direction, thereby adjusting the diameter of the laser spot irradiated on the weld by the laser welding head;

[0011] The rotary mechanism drives the mounting base to rotate in the C direction, so that the weld seam tracking sensor is always kept at the front end of the laser welding head and wire feeding assembly.

[0012] As a further improvement to the above technical solution:

[0013] The lifting mechanism has the following structure: it includes a lifting fixed seat, a lifting drive component is fixed on the lifting fixed seat, the output end of the lifting drive component is connected to a lifting connecting seat, and a connecting plate is fixed on the side of the lifting connecting seat. The connecting plate is used to assemble with a laser welding head.

[0014] The lifting drive lifting connecting seat moves linearly in the vertical direction, thereby driving the laser welding head to move linearly in the vertical direction through the connecting plate.

[0015] An auxiliary motion component is installed between the connecting plate and the lifting fixed base. The auxiliary motion component includes several lifting slide rails fixed to the end face of the lifting fixed base. Several lifting sliders are installed on each lifting slide rail, and the lifting sliders are fixed to the connecting plate.

[0016] The structure of the lifting drive component is as follows: it includes a lifting motor fixed on the lifting fixed base, the output end of the lifting motor is connected to a lead screw, and a lifting connecting base is mounted on the outer circumferential surface of the lead screw;

[0017] The lifting motor drives the lead screw to rotate, thereby causing the lifting connecting seat to move linearly along the axis of the lead screw, and then driving the laser welding head to move linearly in the vertical direction through the connecting plate.

[0018] The structure of the slewing mechanism is as follows: it includes a slewing fixed base fixed to the top of the support plate, a slewing motor fixed on the slewing fixed base, the output end of the slewing motor connected to a drive gear, the drive gear meshing with the external teeth of the slewing bearing, and a mounting plate fitted on the top of the slewing bearing.

[0019] The rotary motor drives the drive gear to rotate, thereby causing the mounting plate to rotate through the slewing bearing.

[0020] A lubrication gear is rotatably mounted on the top of the support plate, and the lubrication gear meshes with the external teeth of the slewing bearing.

[0021] A sliding assembly is fitted between the mounting base and the rotary mechanism. The sliding assembly includes an auxiliary slide rail fixed to the top surface of the mounting plate. Several auxiliary sliders are mounted on the auxiliary slide rail, and the tops of the auxiliary sliders are fixed to the mounting base.

[0022] The bottom of the mounting plate is equipped with a dust collection component, which includes a dust collection nozzle connected to an external negative pressure source. The external negative pressure source generates negative pressure, and the dust generated during the welding process is collected through the dust collection nozzle.

[0023] The weld seam tracking sensor and the wire feeding assembly are both mounted on the mounting base.

[0024] The support plate is mounted on the frame.

[0025] The beneficial effects of this utility model are as follows:

[0026] This utility model has a compact and reasonable structure and is easy to operate. By setting up a transverse slide, lifting mechanism, rotation mechanism and weld seam tracking sensor, it can automatically adjust the position of the laser welding head and wire feeding contact tip, thereby ensuring that the laser welding head and wire feeding contact tip are always aligned with the weld seam position, improving welding quality and welding efficiency.

[0027] This utility model also has the following advantages:

[0028] (1) By setting up a lifting mechanism, this utility model can independently adjust the height of the laser welding head relative to the weld, thereby adjusting the diameter of the laser spot irradiated on the weld by the laser welding head to meet various welding process requirements.

[0029] (2) By setting a rotary mechanism, the weld seam tracking sensor can always be located at the front end of the laser welding head and wire feeding assembly, so as to detect the position of the weld seam that has not been welded in real time.

[0030] (3) By setting a first slide, a second slide, a connecting frame and a third slide, the position of the wire feeding contact tip can be adjusted, so that the welding wire output by the wire feeding contact tip can always intersect with the spot of the laser welding head on the weld, thereby improving the welding quality.

[0031] (4) By setting a sliding component, the sliding table can provide support when the mounting base moves in a straight line in the horizontal direction, thereby ensuring its smooth movement.

[0032] (5) By setting up a dust collection component, the present invention can collect the fumes generated during the welding process through the dust collection nozzle. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of this utility model.

[0034] Figure 2 For the explosion of this utility model Figure 1 .

[0035] Figure 3 for Figure 1 The main view.

[0036] Figure 4 for Figure 1 The right view.

[0037] Figure 5 For the explosion of this utility model Figure 2 (Partial)

[0038] Figure 6 This is a schematic diagram of the present invention in its working state.

[0039] The components include: 1. Transverse slide; 2. Lifting mechanism; 3. Rotation mechanism; 4. Frame; 5. Support plate; 6. Mounting base; 7. Wire feeder; 8. Sliding assembly; 9. Laser welding head; 10. Wire feeding contact tip; 11. Weld seam tracking sensor; 12. Weld seam detection sensor; 13. Air gun; 14. Dust suction nozzle; 15. First slide; 16. Second slide; 17. Third slide; 18. First mounting bracket; 19. Second mounting bracket; 20. Third mounting bracket; 21. Fourth mounting bracket; 22. Connecting bracket.

[0040] 201. Lifting motor; 202. Lifting fixed base; 203. Lead screw; 204. Lifting connecting base; 205. Connecting plate; 206. Lifting slide rail; 207. Lifting slider;

[0041] 301. Rotary motor; 302. Drive gear; 303. Slewing bearing; 304. Lubrication gear; 305. Slewing mounting base; 306. Mounting plate;

[0042] 801. Auxiliary slide rail; 802. Auxiliary slider. Detailed Implementation

[0043] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0044] The structure and function of this utility model are as follows:

[0045] like Figures 1-6As shown, a welding device with three degrees of freedom in the CYZ direction includes a support plate 5, a rotary mechanism 3 mounted on the top of the support plate 5, a transverse slide 1 mounted on the working end of the rotary mechanism 3, and an output end of the transverse slide 1 connected to a lifting mechanism 2. The lifting mechanism 2 is connected to the working end of the rotary mechanism 3 via a mounting base 6, which is slidably mounted to the working end of the rotary mechanism 3. The working end of the lifting mechanism 2 is connected to a laser welding head 9. A wire feeding assembly and a weld seam tracking sensor 11 are mounted on the mounting base 6. The wire feeding assembly feeds welding wire to the laser welding head 9. The transverse slide 1 drives the laser welding head 9 and the mounting base 6 to move linearly in the horizontal Y direction via the lifting mechanism 2, thereby aligning the laser welding head 9 and the wire feeding assembly with the weld seam. The lifting mechanism 2 drives the laser welding head 9 to move linearly in the vertical Z direction, thereby adjusting the diameter of the laser spot irradiated on the weld seam by the laser welding head 9. The rotary mechanism 3 drives the mounting base 6 to rotate in the C direction, thereby keeping the weld seam tracking sensor 11 always at the front end of the laser welding head 9 and the wire feeding assembly.

[0046] The welding device of this utility model includes a transverse slide table 1, a lifting mechanism 2, a rotating mechanism 3, a support plate 5, a mounting base 6, a sliding assembly 8, a laser welding head, a wire feeding assembly, and a weld seam tracking sensor 11; wherein,

[0047] When the welding device of this utility model is in use, the support plate 5 is mounted on the frame 4. The frame 4 is used to support the welding device of this utility model and to place the workpiece.

[0048] The wire feeding assembly is used to provide welding wire. Its structure includes a wire feeding conductive nozzle 10, the output end of which corresponds to the output end of the laser welding head 9. The input end of the wire feeding conductive nozzle 10 is connected to the output end of the wire feeder 7 through a wire feeding tube. The wire feeding tube is also equipped with a wire pulling device and a wire pushing device to drive the movement of the welding wire in the wire feeding tube.

[0049] Driven by the wire drawing device and the wire pushing device, the welding wire is fed from the wire feeder 7 through the wire feeding tube to the wire feeding conductive nozzle 10, and is output in a directional manner through the wire feeding conductive nozzle 10, thereby cooperating with the laser output by the laser welding head 9 to weld the weld seam.

[0050] like Figure 6 As shown, the wire feeder 7 can be integrated onto the frame 4.

[0051] like Figures 2-5 As shown, the weld seam tracking sensor 11 and the wire feeding assembly are both mounted on the mounting base 6 and move along the C and Y directions with the mounting base 6;

[0052] A sliding component 8 is installed between the mounting base 6 and the rotary mechanism 3. When the transverse slide 1 drives the mounting base 6 to move linearly in the horizontal Y direction, it can improve the motion stability of the mounting base 6.

[0053] The weld seam tracking sensor 11 is mounted on the mounting base 6 via the first mounting bracket 18. The weld seam tracking sensor 11 is used to detect the position of the weld seam that has not been welded in real time.

[0054] In addition, a weld detection sensor 12 is mounted on the mounting base 6 via a second mounting bracket 19. The weld detection sensor 12 is used to detect the quality of the weld that has been welded in real time.

[0055] A third mounting bracket 20 is also fixed on the mounting base 6. A first slide 15 is fixed at the bottom of the third mounting bracket 20. The output end of the first slide 15 is connected to the second slide 16. The output end of the second slide 16 is connected to the connecting bracket 22. A third slide 17 is fixed on the connecting bracket 22. The output end of the third slide 17 is connected to the wire feeding conductive nozzle 10.

[0056] The first slide 15 drives the second slide 16 to move linearly in the horizontal X direction, thereby driving the wire feeding conductive nozzle 10 to move linearly in the horizontal X direction through the connecting frame 22 and the third slide 17.

[0057] The second slide 16 drives the connecting frame 22 to move linearly along the horizontal Y direction, thereby driving the wire feeding conductive nozzle 10 to move linearly along the horizontal Y direction through the third slide 17. The horizontal Y direction is perpendicular to the horizontal X direction.

[0058] The connecting frame 22 is L-shaped, with its horizontal end face connected to the output end of the second slide table 16, and its vertical end face equipped with a third slide table 17, so that the third slide table 17 can drive the wire feeding conductive nozzle 10 to move linearly in the vertical direction.

[0059] By setting the first slide 15, the second slide 16, the connecting frame 22 and the third slide 17, the position of the wire feeding contact tip 10 can be adjusted so that the welding wire output by the wire feeding contact tip 10 can always intersect with the spot of light irradiated on the weld by the laser welding head 9, thereby improving the welding quality.

[0060] The mounting base 6 is equipped with a gas supply assembly via the fourth mounting bracket 21. The gas supply assembly includes a gas gun 13. The input end of the gas gun 13 is connected to an external shielding gas source. During the welding process, the shielding gas source blows shielding gas to the welding position through the gas gun 13 to prevent oxidation of the welding area on the workpiece.

[0061] The support plate 5 serves as the overall mounting frame for the welding device of this utility model. When the welding device of this utility model is in use, the entire welding device of this utility model can be fixed to the frame 4 by fixing the support plate 5 to the frame 4.

[0062] The top of the support plate 5 is equipped with a rotating mechanism 3, such as... Figures 1-4As shown, the structure of the rotary mechanism 3 is as follows: it includes a rotary fixed base 305 fixed to the top of the support plate 5, a rotary motor 301 fixed on the rotary fixed base 305, the output end of the rotary motor 301 connected to the drive gear 302, the drive gear 302 meshing with the external teeth of the rotary support 303, and a mounting plate 306 mounted on the top of the rotary support 303; the rotary motor 301 drives the drive gear 302 to rotate, thereby driving the mounting plate 306 to rotate through the rotary support 303. The rotary mechanism 3 is used to drive the lifting mechanism 2, the transverse slide 1, the mounting base 6 and its components (including the laser welding head 9) to rotate horizontally in the C direction.

[0063] The working end of the rotary mechanism 3 corresponds to the mounting plate 306. The transverse slide 1 is fixed to the top of the mounting plate 306, and the mounting base 6 is mounted on the top of the mounting plate 306 via a sliding assembly 8. The sliding assembly 8 includes an auxiliary slide rail 801 fixed to the top end face of the mounting plate 306, and several auxiliary sliders 802 are mounted on the auxiliary slide rail 801. The tops of the auxiliary sliders 802 are fixed to the mounting base 6. The sliding assembly 8 is used to support the mounting base 6 when the transverse slide 1 drives it to move linearly in the horizontal direction, thereby ensuring its smooth movement.

[0064] In addition, the lifting mechanism 2's lifting fixed seat 202 is fixedly installed on the top of the mounting seat 6, so that the rotary mechanism 3 can drive the lifting mechanism 2 to rotate through the mounting seat 6.

[0065] A through hole is provided in the middle of the mounting plate 306, which allows the mounting base 6 to pass through the mounting plate 306 and be fitted with the component arranged below the mounting plate 306; in addition, it also provides space for the mounting base 6 to move linearly in the horizontal direction.

[0066] In addition, a clearance hole is provided in the middle of the mounting base 6, through which the end of the laser welding head 9 extends to the bottom of the support plate 5.

[0067] The outer circumferential surface of the outer ring of the slewing bearing 303 is provided with gear teeth, and the slewing bearing 303 meshes with the drive gear 302 through these gear teeth; the inner ring of the slewing bearing 303 is fixed to the support plate 5, and the outer ring of the slewing bearing 303 is fixed to the mounting plate 306, so that when the rotary motor 301 drives the drive gear 302 to rotate, the mounting plate 306 can be rotated relative to the support plate 5 through the slewing bearing 303.

[0068] A lubrication gear 304 is rotatably mounted on the top of the support plate 5, and the lubrication gear 304 meshes with the external teeth of the slewing bearing 303. The lubrication gear 304 is used to provide lubrication for the meshing transmission between the slewing bearing 303 and the drive gear 302, ensuring the working stability of the slewing mechanism 3.

[0069] In addition, the bottom of the mounting plate 306 is equipped with a dust collection component, which includes a dust collection nozzle 15. The dust collection nozzle 15 is connected to an external negative pressure source. The external negative pressure source generates negative pressure and collects the fumes generated during the welding process through the dust collection nozzle 15.

[0070] like Figures 1-4 As shown, the lifting mechanism 2 has the following structure: it includes a lifting fixed seat 202, on which a lifting drive component is fixed. The output end of the lifting drive component is connected to a lifting connecting seat 204. A connecting plate 205 is fixed to the side of the lifting connecting seat 204. The connecting plate 205 is used to mate with the laser welding head 9. The lifting drive lifts the connecting seat 204 in a vertical direction, thereby driving the laser welding head 9 in a vertical direction through the connecting plate 205. The lifting mechanism 2 is used to drive the laser welding head 9 in a linear motion along the Z-direction (i.e., the vertical direction), enabling the laser welding head 9 to move vertically upward or downward relative to the mounting seat 6. This allows the laser welding head 9 to move vertically upward or downward relative to the wire feeding contact tip 10, thereby independently adjusting the position of the laser welding head 9 and facilitating the adjustment of the diameter of the laser spot irradiating the weld. This allows the welding device of this invention to meet the requirements of different welding processes.

[0071] In this utility model, the lifting drive can be a linear drive device such as an electric cylinder or a pneumatic cylinder, or a lifting motor 201 can be used as the drive device. Specifically, when a lifting motor 201 is used, its structure includes a lifting motor 201 fixed on a lifting fixed base 202, the output end of the lifting motor 201 is connected to a lead screw 203, and a lifting connecting seat 204 is mounted on the outer circumferential surface of the lead screw 203. The lifting motor 201 drives the lead screw 203 to rotate, thereby causing the lifting connecting seat 204 to move linearly along the axial direction of the lead screw 203, and then drives the laser welding head 9 to move linearly in the vertical direction through the connecting plate 205.

[0072] An auxiliary motion assembly is installed between the connecting plate 205 and the lifting fixed base 202. The auxiliary motion assembly includes several lifting slide rails 206 fixed to the end face of the lifting fixed base 202. Each lifting slide rail 206 is equipped with several lifting sliders 207, and the lifting sliders 207 are fixed to the connecting plate 205. By setting the lifting slide rails 206 and the lifting sliders 207, the motion stability of the connecting plate 205 relative to the lifting fixed base 202 can be improved.

[0073] A single lifting slide rail 206 is arranged parallel to the axial direction of the lead screw 203, and both the lifting slide rail 206 and the lead screw 203 are arranged in the vertical direction.

[0074] The working process of this utility model is as follows:

[0075] like Figure 6As shown, the welding device of this utility model is supported by the frame 4;

[0076] Place the workpiece below the laser welding head 9, so that the overall extension direction of the weld seam on the workpiece is perpendicular to the arrangement direction of the auxiliary slide rail 801 (i.e., the direction in which the transverse slide 1 drives the laser welding head 9 to move in a straight line), and make the laser welding head 9 and the wire feeding contact tip 10 face the starting point of the weld seam on the workpiece.

[0077] The lifting mechanism 2 drives the laser welding head 9 to move in a straight line in the vertical direction, thereby adjusting the diameter of the laser spot output by the laser welding head 9 falling on the workpiece so that the diameter of the laser spot meets the welding process requirements.

[0078] Start the wire feeding assembly, the wire feeding contact tip 10 outputs welding wire, start the laser welding head 9, and the laser welding head 9 outputs laser;

[0079] The workpiece is moved at a constant speed in the horizontal direction (which can be achieved by configuring a conveying device). The weld seam tracking sensor 11 detects and feeds back the position of the weld seam on the workpiece in real time. The transverse slide table 1 drives the laser welding head 9 and the mounting base 6 to move linearly in the horizontal direction according to the position information, thereby adjusting the position of the laser welding head 9 and the wire feeding contact tip 10 in real time. This ensures that the laser welding head 9 and the wire feeding assembly can always be aligned with the weld seam, ensuring the welding quality until the entire weld seam is welded.

[0080] According to the direction of the workpiece's movement during the welding process, the rotary mechanism 3 drives the mounting base 6 to rotate, thereby enabling the weld seam tracking sensor 11 to detect the position of the weld seam that has not been welded during the welding process (so that the weld seam tracking sensor 11 is always kept at the front end of the laser welding head 9 and the wire feeding assembly).

[0081] The above description is an explanation of the present utility model and not a limitation thereof. The scope of the present utility model is defined by the claims. Within the protection scope of the present utility model, any form of modification may be made.

Claims

1. A welding device with three degrees of freedom in the CYZ directions, characterized in that: Includes a support plate (5), the top of which is equipped with a rotary mechanism (3), the working end of which is equipped with a transverse slide (1), the output end of which is connected to a lifting mechanism (2), and the lifting mechanism (2) is connected to the working end of the rotary mechanism (3) through a mounting base (6); The working end of the lifting mechanism (2) is connected to the laser welding head (9). The mounting base (6) is equipped with a wire feeding assembly and a weld seam tracking sensor (11). The wire feeding assembly is used to feed the welding wire to the laser welding head (9). The transverse slide (1) drives the laser welding head (9) and the mounting base (6) to move linearly along the horizontal Y direction through the lifting mechanism (2), thereby aligning the laser welding head (9) and the wire feeding assembly with the weld seam. The lifting mechanism (2) drives the laser welding head (9) to move in a straight line along the vertical Z direction, thereby adjusting the diameter of the laser spot irradiated by the laser welding head (9) on the weld. The rotary mechanism (3) drives the mounting base (6) to rotate in the C direction, so that the weld seam tracking sensor (11) is always kept at the front end of the laser welding head (9) and the wire feeding assembly.

2. The welding device with CYZ three-dimensional degrees of freedom as described in claim 1, characterized in that: The structure of the lifting mechanism (2) is as follows: it includes a lifting fixed seat (202), a lifting drive component is fixed on the lifting fixed seat (202), the output end of the lifting drive component is connected to the lifting connecting seat (204), a connecting plate (205) is fixed on the side of the lifting connecting seat (204), and the connecting plate (205) is used to assemble with the laser welding head (9); The lifting connecting seat (204) moves in a straight line in the vertical direction, thereby driving the laser welding head (9) to move in a straight line in the vertical direction through the connecting plate (205).

3. The welding device with CYZ three-dimensional degrees of freedom as described in claim 2, characterized in that: An auxiliary motion component is installed between the connecting plate (205) and the lifting fixed seat (202). The auxiliary motion component includes several lifting slide rails (206) fixed on the end face of the lifting fixed seat (202). Several lifting sliders (207) are installed on each lifting slide rail (206). The lifting sliders (207) are fixed to the connecting plate (205).

4. The welding device with CYZ three-dimensional degrees of freedom as described in claim 2, characterized in that: The structure of the lifting drive component is as follows: it includes a lifting motor (201) fixed on the lifting fixed base (202), the output end of the lifting motor (201) is connected to a lead screw (203), and a lifting connecting seat (204) is mounted on the outer circumferential surface of the lead screw (203). The lifting motor (201) drives the lead screw (203) to rotate, thereby causing the lifting connecting seat (204) to move linearly along the axis of the lead screw (203), and then drives the laser welding head (9) to move linearly in the vertical direction through the connecting plate (205).

5. The welding device with CYZ three-dimensional degrees of freedom as described in claim 1, characterized in that: The structure of the rotary mechanism (3) is as follows: it includes a rotary fixing seat (305) fixed to the top of the support plate (5), a rotary motor (301) fixed on the rotary fixing seat (305), the output end of the rotary motor (301) is connected to the drive gear (302), the drive gear (302) meshes with the external teeth of the rotary bearing (303), and the top of the rotary bearing (303) is equipped with a mounting plate (306). The rotary motor (301) drives the drive gear (302) to rotate, thereby driving the mounting plate (306) to rotate through the slewing bearing (303).

6. The welding device with CYZ three-dimensional degrees of freedom as described in claim 5, characterized in that: A lubrication gear (304) is rotatably mounted on the top of the support plate (5), and the lubrication gear (304) meshes with the external teeth of the slewing bearing (303).

7. A welding device with three degrees of freedom in the CYZ direction as described in claim 5, characterized in that: A sliding assembly (8) is installed between the mounting base (6) and the rotary mechanism (3). The sliding assembly (8) includes an auxiliary slide rail (801) fixed to the top end face of the mounting plate (306). Several auxiliary sliders (802) are mounted on the auxiliary slide rail (801). The top of the auxiliary sliders (802) is fixed to the mounting base (6).

8. A welding device with three degrees of freedom in the CYZ direction as described in claim 5, characterized in that: The bottom of the mounting plate (306) is equipped with a dust collection component, which includes a dust collection nozzle (15). The dust collection nozzle (15) is connected to an external negative pressure source. The external negative pressure source generates negative pressure and collects the fumes generated during the welding process through the dust collection nozzle (15).

9. A welding device with three degrees of freedom in the CYZ direction as described in claim 1, characterized in that: The weld seam tracking sensor (11) and the wire feeding assembly are both mounted on the mounting base (6).

10. A welding device with three degrees of freedom in the CYZ direction as described in claim 1, characterized in that: The support plate (5) is mounted on the frame (4).

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