Hybrid laser arc welding system and method suitable for complex welding structure

Abstract

The present invention relates to the technical field of hybrid laser welding devices, in particular to a hybrid laser arc welding system suitable for a complex welding structure, which is suitable for a complex welding structure, such as a welded part that is provided with multiple weld seams and multiple joints and meets requirements for multiple welding poses, and is suitable for batch welding thereof. The welding orientations for laser welding and arc welding do not need to be manually adjusted, which saves time and labor, facilitates and speeds up operations of adjustment and welding, and greatly improves the working efficiency. Also, it can be effectively ensured that the same welding condition and welding orientation are used for multiple weld seams, the accuracy is high, and after welding, the welding quality of a welded workpiece is ensured. Moreover, further provided is a hybrid laser welding method, which matches the described hybrid laser welding system, according to which, after adjustment to basic welding parameters is completed, subsequent welding of batch-welded members only needs to be adjusted on the basis of process requirements, and automated adjustment can be achieved, thus completing efficient and high-quality batch welding.

Description

A laser-arc hybrid welding system and method suitable for complex welding structures TECHNICAL FIELD

[0001] The present application relates to the technical field of laser hybrid welding equipment, and particularly relates to a laser-arc hybrid welding system and method suitable for complex welding structures. BACKGROUND

[0002] Laser-arc hybrid welding is an advanced welding process that combines laser welding and arc welding technologies, fully utilizes the high energy density and deep penetration capability of laser beams, and the arc heat source supplementary heating and wire feeding functions of arc welding, to obtain greater welding penetration and achieve efficient and high-quality welding process. In batch production of laser-arc hybrid welding, for complex welding structures such as multi-weld, multi-joint form, and multi-welding pose welding components, the relative pose and spatial parameters of laser and arc need to be adjusted to meet the process requirements. The adjustment process is complex, and manual adjustment is time-consuming and laborious, which is difficult to meet the efficient and high-quality production requirements. SUMMARY

[0003] The present application aims to provide a laser-arc hybrid welding system suitable for complex welding structures, which can quickly adjust the spatial pose parameters of laser and arc welding in the batch production process of complex welding structures such as multi-weld, multi-joint form, and multi-welding pose laser hybrid welding, and achieve efficient and high-quality welding. The present application also provides a welding method.

[0004] To solve the above technical problems, the technical solution provided by the present application is as follows:

[0005] In one aspect, the present application provides a laser-arc hybrid welding system suitable for complex welding structures, which includes a manipulator, a laser welding device, an arc welding device, a rotating device, and an adjusting device.

[0006] The laser welding device moves in different directions through the manipulator. The arc welding device is connected to the laser welding device through the adjusting device, which is used to adjust the relative position between the arc welding device and the laser welding device. The rotating device is arranged between the adjusting device and the arc welding device, and is used to adjust the relative welding angle of the arc welding device.

[0007] On the basis of the above technical solution, the rotating device includes a servo motor and a transmission mechanism. The servo motor is fixed on the arc welding gun of the arc welding device through a connecting piece. The servo motor drives the arc welding gun to rotate through the transmission mechanism.

[0008] On the basis of the above technical scheme, the transmission mechanism comprises a gear and a rack, the gear is fixedly arranged at the output end of the servo motor and is driven to rotate by the servo motor, the rack is fixedly arranged on the fixed seat, the fixed seat is fixedly connected to the bottom end of the adjusting device, and the gear is engaged with the rack.

[0009] On the basis of the above technical scheme, the transmission mechanism further comprises a sliding rail and a sliding block, the sliding rail is fixedly arranged on the fixed seat, and the sliding block is fixedly arranged on the connecting piece, the sliding block is matched with the sliding rail and is in sliding connection.

[0010] On the basis of the above technical scheme, the adjusting device comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, which are respectively used for driving the movement of the electric arc welding device in the x-axis, y-axis and z-axis directions, and the first driving mechanism, the second driving mechanism and the third driving mechanism have the same structure.

[0011] On the basis of the above technical scheme, the first driving mechanism comprises a driving motor, a lead screw and a nut, the driving motor is arranged on the fixed seat, the lead screw is driven to rotate by the driving motor, and the nut is sleeved on the lead screw and is in sliding connection, the second driving mechanism is arranged on the nut of the first driving mechanism, the third driving mechanism is arranged on the nut of the second driving mechanism, and the laser welding device is arranged on the nut of the third driving mechanism.

[0012] On the basis of the above technical scheme, the transmission mechanism comprises a gear and a rack, the gear is fixedly arranged at the output end of the servo motor and is driven to rotate by the servo motor, the rack is fixedly arranged on the fixed seat, the fixed seat is fixedly connected to the bottom end of the adjusting device, and the gear is engaged with the rack.

[0013] Step one: laser welding posture adjustment; the movement of the laser welding device in different directions is driven by the manipulator to determine the defocusing amount and the spot size of the laser welding device, and then the laser welding device is driven to deflect to the required welding angle of laser welding;

[0014] Step two: light wire centering adjustment; the position of the electric arc welding device in the x-axis direction is adjusted by the adjusting device to ensure that the laser beam action point of the laser welding device and the end of the electric arc welding wire are centered in the x-axis direction, that is, the line connecting the laser beam action point and the end of the electric arc welding wire is parallel to the weld;

[0015] Step three: light wire spacing and relative height adjustment; the position of the electric arc welding device in the y-axis direction is adjusted by the adjusting device to determine the light wire spacing, and the position of the electric arc welding device in the z-axis direction is adjusted to adapt to the electric arc welding height after the laser welding posture adjustment in step one;

[0016] Step four: electric arc welding angle adjustment; the relative angle value of the electric arc welding device and the laser welding device is adjusted by the rotating device to meet the required welding angle of electric arc welding.

[0017] Step five: welding; after the welding parameter adjustment in the above steps is completed, welding is performed, after a weld is welded, the overall welding system is translated to the next weld position by using a manipulator, and welding is performed by adjusting the required laser welding posture and arc welding posture.

[0018] On the basis of the above technical solution, the arc welding angle adjustment process in step four comprises:

[0019] The line connecting the laser beam action point and the arc welding wire tail is taken as the rotation axis, the arc welding wire tail of the arc welding device is taken as the center of the circle, the vertical plane of the rotation axis is taken as the rotation plane, and the distance from the connecting point of the arc welding device and the connecting piece to the rotation axis is taken as the rotation radius, and the arc welding gun rotation plane of the arc welding device is located in the vertical plane of the rotation axis.

[0020] The arc welding gun is controlled to rotate by the rotating device, the arc welding wire tail position is always located on the rotation axis and remains unchanged, that is, the relative position of the laser beam action point and the arc welding wire does not change with the rotation of the arc welding gun.

[0021] On the basis of the above technical solution, the rotation angle range of the arc welding device relative to the laser welding device is -70°-70°.

[0022] The technical solution provided by the present application has the following beneficial effects:

[0023] 1. The laser-arc composite welding system provided in the present application is suitable for welding pieces with complex welding structures such as multi-welding seam, multi-joint form, and multi-welding pose requirements and batch welding thereof, does not need manual adjustment of the welding postures of laser welding and arc welding, saves time and effort, and is convenient and fast for adjustment and welding operation, greatly improves work efficiency, and can effectively ensure that multiple welds adopt the same welding conditions and welding postures, has high accuracy, and guarantees the welding quality of the welded workpiece after welding.

[0024] 2. The composite welding method provided in the present application cooperates with the laser composite welding system as described above, after the basic welding parameter adjustment is completed, the welding process of the subsequent multiple welds and the welding process of other batch welding components only need to adjust the laser welding posture and the arc welding posture according to the process requirements, and can be automatically adjusted without manual participation, which is more convenient for adjustment operation, saves time and effort, and completes efficient and high-quality batch welding. BRIEF DESCRIPTION OF DRAWINGS

[0025] Fig. 1 is a schematic diagram of the three-dimensional structure of the present application;

[0026] Fig. 2 is a schematic diagram of the three-dimensional structure of the present application from another angle;

[0027] Fig. 3 is a schematic diagram of the structure of the rotating device in the present application;

[0028] Fig. 4 is a schematic diagram of the structure of the adjusting device in the present application;

[0029] Fig. 5 is a schematic diagram of the structure of the first driving mechanism in the present application;

[0030] Fig. 6 is a schematic diagram of the principle of the rotating axis and the vertical plane; the left arrow represents the laser beam, and the right arrow represents the position of the electric arc welding gun;

[0031] Fig. 7 is the welding posture of the laser beam and the electric arc welding gun in the laser-arc hybrid welding process in Example 2;

[0032] Fig. 8 is a sectional view of A-A in Fig. 7;

[0033] Fig. 9 is a schematic diagram of the welding posture transition process of the symmetrical weld in the present application; Embodiment of the present application

[0034] The present application will be further described below in conjunction with the drawings and examples:

[0035] In the present application, unless otherwise explicitly specified and limited, the terms “mounting”, “connecting”, “connecting”, “fixing” and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0036] In the description of the present application, it should be understood that the terms “left”, “right”, “front”, “back”, “top”, “bottom”, etc. indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0037] Example 1

[0038] As shown in Figs. 1 to 6, a laser-arc hybrid welding system suitable for complex welding structures includes a manipulator, and further includes a laser welding device 1, an electric arc welding device 2, a rotating device 3, and an adjusting device 4;

[0039] The laser welding device 1 is moved in different directions by a mechanical arm, the arc welding device 2 is connected with the laser welding device 1 through an adjusting device 4, the adjusting device 4 is used for adjusting the relative position between the arc welding device 2 and the laser welding device 1, and the rotating device 3 is arranged between the adjusting device 4 and the arc welding device 2 and is used for adjusting the relative welding angle of the arc welding device 2.

[0040] The laser composite welding system provided in the application is suitable for welding pieces with complex welding structures such as multi-welding seam, multi-joint form and multi-welding pose requirements and batch welding, does not need to manually adjust the welding poses of laser welding and arc welding, saves time and effort, is convenient and fast to adjust and weld, greatly improves work efficiency, and effectively guarantees that multiple welding seams adopt the same welding conditions and welding poses, has high accuracy, and guarantees the welding quality of the welded workpiece after welding.

[0041] Specifically, the mechanical arm controls the movement of the laser welding device 1 in different directions and the welding angle required to be adjusted, wherein the mechanical arm structure is not shown in the figure; meanwhile, the arc welding device 2 is arranged on the laser welding device 1 through the rotating device 3 and the adjusting device 4, the mechanical arm drives the laser welding device 1 to move, and simultaneously drives the whole laser composite welding system to move, the relative position such as the relative height and the light wire spacing between the arc welding device 2 and the laser welding device 1 is adjusted through the adjusting device 4; the relative angle value between the arc welding gun and the laser beam is adjusted through the rotating device 3, that is, the automatic adjustment of the required arc welding angle is realized; the operation is convenient, the efficiency is improved, time and effort are saved, and the consistency of the welding quality can be guaranteed during batch welding.

[0042] It should be noted that in the laser composite welding process, the defocusing amount refers to the distance between the laser beam focus and the welding workpiece relative to the position of the workpiece surface, and the light wire spacing refers to the distance between the laser beam focus and the arc welding wire.

[0043] On the basis of the above technical scheme, the rotating device 3 comprises a servo motor 31 and a transmission mechanism, the servo motor 31 is fixedly sleeved on the arc welding gun of the arc welding device 2 through a connecting piece 32, and the servo motor 31 drives the arc welding gun to rotate through the transmission mechanism.

[0044] On the basis of the above technical scheme, the transmission mechanism comprises a gear 33 and a rack 34, the gear 33 is fixedly arranged on the output end of the servo motor 31 and is driven to rotate by the servo motor 31, the rack 34 is fixedly arranged on a fixed seat 5, the fixed seat 5 is fixedly connected to the bottom end of the adjusting device 4, and the gear 33 is engaged with the rack 34.

[0045] In the present application, the relative angle value of the electric arc welding gun and the laser beam is adjusted by the rotating device 3, the electric arc welding gun is automatically rotated, and the welding angle of the electric arc welding gun is met; in the welding process of complex welding structures such as welding seams, multi-joint forms, and multi-welding pose welding requirements, the welding pose can be automatically adjusted, which is convenient and fast. Specifically, the servo motor 31 is connected with the electric arc welding gun through the connecting piece 32, and preferably, the rack 34 and the slide rail 35 are both arranged in a circular arc shape; the servo motor 31 drives the gear 33 to rotate, the gear 33 is engaged with the rack 34 and moves along the circular arc slide rail, thereby driving the servo motor 31 and the electric arc welding gun to rotate, and the rotation center at this time is always the end of the electric arc welding wire, the end of the electric arc welding wire is stationary, and the action point of the laser beam maintains a fixed distance, that is, the key welding process parameters such as the light-wire distance are unchanged, thereby ensuring the welding quality of the weld.

[0046] On the basis of the above technical solution, the transmission mechanism further comprises a slide rail 35 and a sliding block 36, the slide rail 35 is fixedly arranged on the fixed seat 5, and the sliding block 36 is fixedly arranged on the connecting piece 32, the sliding block 36 is adapted to the slide rail 35 and is in sliding connection with the slide rail 35.

[0047] Specifically, the slide rail 35 is fixedly arranged at the bottom end of the rack 34, and the sliding block 36 is arranged on the connecting piece 32 and located at the bottom end of the servo motor 31. By arranging the slide rail 35 and the sliding block 36 on the connecting piece 32 of the electric arc welding gun, that is, by sliding the sliding block 36 along the arc-shaped slide rail 35, a good guiding effect is achieved, and the electric arc welding device 2 runs more stably during the adjustment of the angle.

[0048] On the basis of the above technical solution, the adjusting device 4 comprises a first driving mechanism 41, a second driving mechanism 42, and a third driving mechanism 43, which are respectively used for driving the electric arc welding device 2 to move in the x-axis, y-axis, and z-axis directions, and the first driving mechanism 41, the second driving mechanism 42, and the third driving mechanism 43 have the same structure.

[0049] On the basis of the above technical solution, the first driving mechanism 41 comprises a driving motor 411, a lead screw 412, and a nut 413, the driving motor 411 is arranged on the fixed seat 5, the lead screw 412 is driven to rotate by the driving motor 411, and the nut 413 is sleeved on the lead screw 412 and is in sliding connection, the second driving mechanism 42 is arranged on the nut of the first driving mechanism 41, the third driving mechanism 43 is arranged on the nut of the second driving mechanism 2, and the laser welding device 1 is arranged on the nut of the third driving mechanism 43.

[0050] By setting the first driving mechanism 41, the second driving mechanism 42 and the third driving mechanism 43, the position adjustment of the electric arc welding device 2 in the x-axis, y-axis and z-axis three-dimensional directions can be realized, the automatic adjustment of the light wire centering, the light wire spacing and the relative height adapted to the laser welding device and other parameters in the laser-arc hybrid welding process can be realized, the operation is more convenient, and the precision is high. Preferably, the first driving mechanism 41, the second driving mechanism 42 and the third driving mechanism 43 all adopt the structure of a motor, a lead screw and a nut to realize driving, and the movement of the electric arc welding device in the three-dimensional directions can be realized by arranging in the x-axis, y-axis and z-axis directions respectively.

[0051] It should be noted that the x-axis, y-axis and z-axis mentioned above are defined according to the attached drawing 4, which is only for the convenience of the description and understanding of the technical scheme of the present application, and does not constitute a limitation on the present application.

[0052] The present application also provides a hybrid welding method, which adopts the above-mentioned laser-arc hybrid welding system suitable for complex welding structure, and comprises the following steps:

[0053] Step one: laser welding posture adjustment; the movement of the laser welding device 1 in different directions is driven by the manipulator, the defocusing amount and the spot size of the laser welding device 1 are determined, and then the laser welding device 1 is driven to deflect to the required welding angle of the laser welding;

[0054] Step two: light wire centering adjustment; the position of the electric arc welding device 2 in the x-axis direction is adjusted by the adjusting device 4 to ensure that the laser beam action point of the laser welding device 1 and the end of the electric arc welding wire are centered in the x-axis direction, that is, the connecting line between the laser beam action point and the end point of the electric arc welding wire is parallel to the weld;

[0055] Step three: light wire spacing and relative height adjustment; the position of the electric arc welding device 2 in the y-axis direction is adjusted by the adjusting device 4 to determine the light wire spacing; the position of the electric arc welding device 2 in the z-axis direction is adjusted to adapt to the electric arc welding height after the laser welding posture adjustment in step one;

[0056] Specifically, after the position and welding posture of the laser welding device 1 are determined, the arc welding device is moved in the x, y, and z axis directions by the adjusting device 4 to adjust the relative position of the arc welding device and the laser welding device 1; as shown in FIG. 4, the position of the arc welding device 2 in the x axis direction is adjusted by the first driving mechanism 41, so that the laser beam focal point and the arc welding wire are located on the same straight line and are parallel to the weld, and the light-wire centering adjustment is realized; the height of the arc welding device 2 in the z direction is adjusted to adapt to the relative change in the height of the laser beam action point; that is, the laser defocusing amount is realized by changing the height of the laser head of the laser welding device 1 driven by the manipulator, and the height of the arc welding device 2 also changes accordingly, so the relative height of the arc welding device 2 in the z axis direction needs to be adjusted by the adjusting device 4 to adapt to the height of the laser beam action point.

[0057] Step four: arc welding angle adjustment; the relative angle value of the arc welding device 2 and the laser welding device 1 is adjusted by the rotating device 3 to meet the welding angle required by the arc welding;

[0058] Step five: welding; after the welding parameter adjustment in the above steps is completed, welding is performed, and after a weld is welded, the overall welding system is translated to the next weld position by the manipulator, and the required laser welding posture and arc welding posture are adjusted for welding.

[0059] It should be noted that after the welding work of a weld is completed, the manipulator drives the overall laser composite welding system to move to the next weld position to be welded, and the welding posture is adjusted according to the actual process requirements; if the welding posture is the same as that of the previous weld, no adjustment is needed and batch welding can be directly performed; if the welding posture is different from that of the previous weld, the welding parameter adjustment steps are repeated, and welding is performed after the adjustment is completed. In batch welding operations with multiple welds, multiple joints, and multiple welding postures, the operation is more convenient, manual operation is reduced, welding efficiency is high, manual adjustment errors are reduced, and the welding quality of the weld is good.

[0060] In a more preferred embodiment, the position of the arc welding wire and the laser beam action point in the x direction is adjusted; after the welding parameter adjustment of steps one to four is completed, the laser and the arc have reached the formal welding posture; but in some specific working conditions, due to process requirements, the end of the arc welding wire and the laser beam action point need to have a position difference in the x direction, that is, a relative displacement amount is needed, at this time, only the relative position difference adjustment of the end of the arc welding wire and the laser beam action point in the x direction is realized by using the adjusting device 4 on the basis of completing steps one to four.

[0061] After the basic welding parameters are adjusted, the subsequent welding process of the multiple welds and the welding process of other batch welding components only need to adjust the laser welding posture and the arc welding posture according to the process requirements, and automatic adjustment can be realized without manual participation in manual adjustment, so that the adjustment operation is more convenient, time and labor are saved, and efficient batch welding with high quality is completed.

[0062] On the basis of the above technical solution, the arc welding angle adjustment process in step four comprises:

[0063] The line connecting the laser beam action point and the end of the arc welding wire is taken as the rotation axis L, the end of the arc welding wire of the arc welding device 2 is taken as the center of the circle, the vertical plane P of the rotation axis L is taken as the rotation plane, the distance from the connecting point A of the arc welding device 2 and the connecting piece 32 to the rotation axis L is taken as the rotation radius, and the rotation plane of the arc welding gun of the arc welding device 2 is located in the vertical plane P of the rotation axis L.

[0064] The rotation device 3 controls the rotation of the arc welding gun, and the position of the end of the arc welding wire is always located on the rotation axis L and remains unchanged, that is, the relative position of the laser beam action point and the arc welding wire does not change with the rotation of the arc welding gun.

[0065] Specifically, the line connecting the laser beam action point and the end of the arc welding wire is taken as the rotation axis, the rotation plane of the arc welding gun is located in the vertical plane P of the rotation axis L, the holding point A of the arc welding gun is located in the vertical plane P of the rotation axis L, and the rotation of the arc welding gun takes the end of the arc welding wire as the center of rotation, takes the distance between the holding point of the arc welding gun and the end of the arc welding wire as the radius of rotation, and takes the radius of rotation to determine the circular arc to determine the rack and the slide rail. Such a setting can ensure that the center of rotation and the radius of rotation of the arc welding gun remain unchanged, that is, the light-wire distance remains unchanged, and the weld quality is guaranteed.

[0066] On the basis of the above technical solution, the rotation angle range of the arc welding device 2 relative to the laser welding device 1 is-70°-70°. The automatic angle rotation range of the arc welding device 2 in the application is-70°-70°, which is suitable for most laser-arc hybrid welding processes, has a wide adjustment range, has better applicability, and the actual rotation angle can be designed according to the actual working condition.

[0067] Embodiment 2

[0068] In this embodiment, the batch welding of the welding piece with symmetrical welds is described by taking the welding of a U-shaped structure workpiece with two T-shaped welding joints as an example.

[0069] As shown in FIG. 7 and FIG. 8, when the two welds in the embodiment need to be welded, the welding direction needs to be kept the same. Especially for the welding piece with two symmetrical T-shaped weld structures, when laser-arc hybrid welding is used, the postures of the laser and the arc are different, and the position needs to be adjusted manually each time. For the batch production of welding workpieces, the adjustment process is complicated, time-consuming and labor-intensive, which affects the production efficiency. At the same time, manual adjustment is prone to errors in the welding angle and the light wire spacing, which affects the quality of the final weld, that is, the welding quality of the two symmetrical welds is different, which affects the production quality of the welding workpiece.

[0070] For example, the U-shaped welding workpiece includes two symmetrical T-shaped welding joints, as shown in FIG. 9, which shows the adjustment process of the welding posture of the laser beam and the arc welding gun during the welding of the two symmetrical welds. The laser beam angle α required by the laser welding process is 10°, and the arc welding gun angle β required by the arc welding process is 45°. Before welding, the defocusing amount needs to be determined and adjusted. The position of the laser welding device is adjusted by the manipulator, and then the laser welding angle of the laser welding device is adjusted. That is, the whole laser hybrid welding system is rotated 10° by the manipulator. Then the light wire centering, light wire spacing and relative height are adjusted by the adjusting device to adapt to the welding position of the laser welding device. Then the remaining 35° is rotated by the rotating device to meet the angle required by the arc welding, and then the welding process is carried out. After the welding of the first weld is completed, the whole laser hybrid welding system is driven by the manipulator to the next symmetrical weld structure. If the laser welding posture and the arc welding posture need to be adjusted, the laser beam and the arc welding gun are adjusted by the manipulator and the rotating device, and then the welding is carried out. Under the condition of keeping the same welding direction as the first weld, the welding posture of the second symmetrical weld is converted, as shown in the step-by-step conversion process in A-D in FIG. 9, to complete the welding of the other symmetrical weld. Similarly, when batch welding workpieces are welded, manual adjustment is not required, and the position and angle of the laser beam and the arc welding gun can be automatically adjusted, which is high in working efficiency and can keep the welding quality of the symmetrical welds.

[0071] The basic principles and main features of the present application are shown and described above. It is obvious for those skilled in the art that the present application 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 application 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 application.

[0072] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes every feature or implementation described herein. The specification can include implicit combinations of explicitly mentioned features and / or implicit combinations of implicitly mentioned features. Such combinations are also expressly included within the scope of the specification and an embodiment.

Claims

1. A laser arc hybrid welding system suitable for complex welding structures, including a manipulator, characterized in that: It also includes a laser welding device (1), an arc welding device (2), a rotating device (3) and an adjusting device (4); The laser welding device (1) is moved in different directions by a manipulator, the arc welding device (2) is connected to the laser welding device (1) via an adjusting device (4), the adjusting device (4) is used to adjust the relative position between the arc welding device (2) and the laser welding device (1), and the rotating device (3) is arranged between the adjusting device (4) and the arc welding device (2) and is used to adjust the relative welding angle of the arc welding device (2).

2. The laser arc hybrid welding system suitable for complex welding structures according to claim 1, characterized in that: The rotating device (3) comprises a servo motor (31) and a transmission mechanism. The servo motor (31) is fixedly mounted on the arc welding gun of the arc welding device (2) via a connecting piece (32). The servo motor (31) drives the arc welding gun to rotate via the transmission mechanism.

3. The laser arc hybrid welding system suitable for complex welding structures according to claim 2, characterized in that: The transmission mechanism comprises a gear (33) and a rack (34), wherein the gear (33) is fixedly arranged at the output end of the servo motor (31) and is driven to rotate by the servo motor (31), and the rack (34) is fixedly arranged on a fixing seat (5), and the fixing seat (5) is fixedly connected to the bottom end of the adjustment device (4), and the gear (33) is meshed with the rack (34).

4. The laser arc hybrid welding system suitable for complex welding structures according to claim 3, characterized in that: The transmission mechanism further comprises a slide rail (35) and a slider (36), wherein the slide rail (35) is fixedly arranged on the fixing seat (5), and the slider (36) is fixedly arranged on the connecting member (32), and the slider (36) is adapted to and slidably connected to the slide rail (35).

5. The laser arc hybrid welding system suitable for complex welding structures according to claim 3, characterized in that: The regulating device (4) comprises a first driving mechanism (41), a second driving mechanism (42) and a third driving mechanism (43), which are respectively used to drive the arc welding device (2) to move in the x-axis, y-axis and z-axis directions, and the first driving mechanism (41), the second driving mechanism (42) and the third driving mechanism (43) have the same composition structure.

6. The laser arc hybrid welding system suitable for complex welding structures according to claim 5, characterized in that: The first driving mechanism (41) includes a driving motor (411), a lead screw (412) and a nut (413), wherein the driving motor (411) is arranged on a fixing seat (5), the lead screw (412) is driven to rotate by the driving motor (411), the nut (413) is sleeved on the lead screw (412) and is slidably connected, the second driving mechanism (42) is arranged on the nut of the first driving mechanism (41), the third driving mechanism (43) is arranged on the nut of the second driving mechanism (2), and the laser welding device (1) is arranged on the nut of the third driving mechanism (43).

7. A hybrid welding method, using the laser arc hybrid welding system suitable for complex welding structures according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: adjusting the laser welding posture; using a manipulator to drive the laser welding device (1) to move in different directions, determining the defocus amount and spot size of the laser welding device (1); then driving the laser welding device (1) to deflect to the welding angle required for laser welding; Step 2: adjusting the centering of the light wire; adjusting the position of the arc welding device (2) in the x-axis direction by means of the adjusting device (4) to ensure that the laser beam action point of the laser welding device (1) and the end of the arc welding wire are aligned in the x-axis direction, that is, the line connecting the laser beam action point and the end of the arc welding wire is parallel to the weld seam; Step 3: Adjusting the distance between the light wires and the relative height; adjusting the position of the arc welding device (2) in the y-axis direction by the adjusting device (4) to determine the distance between the light wires; adjusting the position of the arc welding device (2) in the z-axis direction to adapt to the arc welding height after the laser welding posture is adjusted in step 1; Step 4: adjusting the arc welding angle; adjusting the relative angle between the arc welding device (2) and the laser welding device (1) by the rotating device (3) to meet the welding angle required for arc welding; Step 5: Welding: After the welding parameters are adjusted in the above steps, welding is carried out. After completing one weld, the robot is used to move the entire welding system to the next weld position, and the required laser welding posture and arc welding posture are adjusted for welding.

8. A hybrid welding method according to claim 7, characterized in that: The arc welding angle adjustment process in step 4 includes: The line connecting the laser beam action point and the end of the arc welding wire is used as the rotation axis (L), the end of the arc welding wire of the arc welding device (2) is used as the center of the circle, the plane (P) perpendicular to the rotation axis (L) is used as the rotation plane, the distance from the connection point (A) between the arc welding device (2) and the connecting member (32) to the rotation axis (L) is used as the rotation radius, and the rotation plane of the arc welding gun of the arc welding device (2) is located in the plane (P) perpendicular to the rotation axis (L); The arc welding gun is controlled to rotate by the rotating device (3), and the end position of the arc welding wire is always located on the rotation axis (L) and remains stationary, that is, the relative position of the laser beam action point and the arc welding wire does not change as the arc welding gun rotates.

9. A hybrid welding method according to claim 7, characterized in that: The rotation angle range of the arc welding device (2) relative to the laser welding device (1) is -70° to 70°.

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