A linkage control method and device for electric arc laser hybrid welding and a storage medium

Abstract

The application discloses a kind of electric arc laser composite welding linkage control method, device and storage medium in the field of welding technology, method includes: real-time measurement is at the electric arc voltage rate of change when base value current;In response to the occurrence of n times electric arc voltage rate of change greater than or equal to the preset electric arc voltage rate of change threshold value in the preset inverter cycle, the base value current is down-regulated and maintained after the preset down-regulation time is recovered to base value current;Pulse is obtained from the first time to the time t1 of necking that occurs when climbing to the first time, and the time t2 of the next pulse waveform that begins to climb from the first time necking occurs;When pulse is secondly at the time t s When climbing, control laser-arc composite welding head drives laser to move from near end point a to far end point b by t1 time according to preset direction, and return to near end point a from far end point b by t2 time.The application can strengthen the coupling between electric arc and laser and weaken the interference of laser on droplet drop.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a linkage control method, device and storage medium for arc laser hybrid welding. Background Technology

[0002] The manufacturing industry is moving towards lightweighting, precision, and high reliability, leading to increasingly higher requirements for joint quality and overall performance in structural component welding. However, traditional arc welding suffers from high heat input, significant welding deformation, and low production efficiency, while single-laser welding demands stringent assembly precision and is prone to defects such as porosity and cracks in welding highly reflective materials. Neither approach can meet the high-quality welding requirements of high-end components. Therefore, laser-hybrid welding has emerged, which can relax assembly tolerances, increase weld penetration, and effectively suppress welding deformation, making it suitable for welding various materials and complex structures.

[0003] Currently, in the field of laser welding, relying on precision mechanical structures such as galvanometers, flexible rotation and precise offset control of the laser beam have been achieved. This expands the laser welding range and preheats the plate material, suppressing spatter from highly reflective materials and stabilizing the molten pool morphology to some extent. In the field of electric arc welding, while optimizing the laser process, pulse data can be customized according to its parameters. The laser heat factor can be introduced to optimize the pulse peak value, base value, and duty cycle to adjust the timing and frequency of droplet detachment. The combined adjustment of both plays a role in optimizing the composite welding effect. However, welding is a dynamic process with randomness. Therefore, simply relying on pre-weld numerical adjustments is insufficient to solve the above defects. It is necessary to perform dynamic welding control of the entire heat source system, find the electrical signal characteristic values ​​that are prone to spatter, and strengthen the real-time parameters that enhance the coupling performance between the two. Through closed-loop feedback of characteristic parameters, real-time correction and precise control of process parameters can be achieved.

[0004] In composite welding, the influence of laser on droplet transfer is particularly severe. When multiple drops occur in a single pulse, the smaller droplets are easily blown away by the metal vapor above the keyhole, thus forming large-particle spatter. Even if the droplets are not blown away, there is still a possibility that the molten pool will be disturbed by the laser and spattered by the impact.

[0005] Therefore, there is an urgent need for a linkage control method, device, and storage medium for arc-laser hybrid welding to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a linkage control method, device and storage medium for arc-laser hybrid welding, which can strengthen the coupling between the arc and the laser and reduce the interference of the laser on the droplet shedding.

[0007] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0008] In a first aspect, the present invention provides a linkage control method for arc-laser hybrid welding, applied to an arc-laser head-laser system, wherein the arc-laser head-laser system includes a laser-arc hybrid welding head, and the linkage control method includes:

[0009] In response to pulse welding performed by the laser-arc hybrid welding head, the rate of change of arc voltage at the base current is measured in real time.

[0010] In response to the occurrence of n consecutive arc voltage change rate values ​​greater than or equal to the preset arc voltage change rate threshold within a preset inverter cycle, the base current is reduced and maintained for a preset reduction time before being restored to the base current.

[0011] Acquire the time from the initial pulse rise to the occurrence of necking. The time from the first necking to the start of the next pulse waveform rise. ;

[0012] When the pulse is at its second ramp-up moment, the laser-arc hybrid welding head is controlled to drive the laser in a preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time travels from the far endpoint b back to the near endpoint a.

[0013] Furthermore, the laser-arc hybrid welding head includes an arc welding gun and a laser head;

[0014] The near end point a of the laser head falls into the working area of ​​the arc welding gun, and the line connecting the far end point b of the laser head and the near end point a is the diameter of the working area of ​​the laser head.

[0015] Furthermore, it also includes:

[0016] The previous pulse unit cycle of the arc welding torch in the laser-arc hybrid welding head As the current oscillation laser cycle of the laser head in the laser-arc hybrid welding head, the intervention time is controlled by a preset delay. Then, control the laser spot emitted by the laser head to move to the far end b and stop. After the next pulse ends and the necking adjustment is completed, control the laser spot emitted by the laser head to move from the far end b to the near end a and stop.

[0017] The distal end point b is the point farthest from the laser spot when the molten droplet lands, and the proximal end point a is the point closest to the laser spot when the molten droplet lands.

[0018] Furthermore, it also includes:

[0019] In response to the and The unequal values ​​are controlled by a galvanometer in the laser-arc hybrid welding head, which drives the laser to... Time moves from the near endpoint a to the far endpoint b, in order to Simultaneously with the time shifting from the distal endpoint b to the proximal endpoint a, the time from the pulse's second rise to the occurrence of necking is acquired. The time from the second necking to the start of the next pulse waveform rise. ;

[0020] When the pulse is in its third climbing phase At that time, the galvanometer controlling the laser-arc hybrid welding head drives the laser in a direction opposite to the preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time travels from the far endpoint b back to the near endpoint a.

[0021] Furthermore, the arc-laser head-laser system also includes a laser, and further includes:

[0022] In response to the determination of the droplet necking moment, the focal length of the laser-arc hybrid welding head is reduced. To defocus to zero, reduce the laser power. Maintain a preset safe time until the preset low power threshold is reached. Then, the focal length of the laser-arc hybrid welding head and the power of the laser are restored to the preset values.

[0023] Secondly, the present invention provides a linkage control device for arc-laser hybrid welding, comprising:

[0024] The voltage change rate acquisition module is used to measure the arc voltage change rate in real time when the laser-arc hybrid welding head is in pulse welding, in response to the pulse welding. ;

[0025] The current regulation module is used to respond to the occurrence of n consecutive arc voltage change rate values ​​greater than or equal to the preset arc voltage change rate threshold within a preset inverter cycle, by lowering the base current and maintaining it for a preset lowering time before restoring it to the base current.

[0026] The time acquisition module is used to acquire the time from the initial rise of the pulse to the occurrence of necking. The time from the first necking to the start of the next pulse waveform rise. ;

[0027] The laser head control module is used to control the laser-arc hybrid welding head to drive the laser in a preset direction when the pulse is in its second ramp-up phase. Time moves from the near endpoint a to the far endpoint b, in order to Time returns from the far end b to the near end a, responding to the moment when droplet necking is determined, reducing the focal length of the laser-arc hybrid welding joint. Defocus to zero and maintain the preset safe time. Then, the focal length of the laser-arc hybrid welding head is restored to the preset value.

[0028] Furthermore, it also includes a laser control module for reducing the laser power in response to the determination of a droplet necking moment. Maintain a preset safe time until the preset low power threshold is reached. Then, restore the laser power to the preset value.

[0029] Thirdly, the present invention provides an electronic terminal, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method described in any of the preceding claims are performed.

[0030] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0031] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0032] This invention proposes a linkage control method for arc-laser hybrid welding, which measures the rate of change of arc voltage at a base current and responds to a preset cycle. Continuous occurrence within Arc voltage change rate Greater than or equal to the preset threshold for arc voltage change rate , base current Lower and maintain Restored to after a period of time Record the time from the first pulse rise to the occurrence of necking. The time from the first necking to the start of the next pulse waveform rise. During the second pulse ramp-up, the laser-arc hybrid welding head is controlled to drive the laser in a preset direction. Time moves from the near endpoint a to the far endpoint b, in order to The time is returned from the far end b to the near end a to complete the linkage control; the electrical signal parameters before the droplet falls off are collected to adjust the pulse waveform and transmit the time in real time for laser welding, thereby reducing the probability of small-diameter droplets being blown away from the arc welding aspect;

[0033] Because the pulse peak and base time directly affect and If the peak and base time differences in the pulse data are too large, and the laser rotates continuously clockwise or counterclockwise, it will cause a certain difference in the laser trajectory on both sides of the weld bead. This application addresses this by controlling the laser-arc hybrid welding head to drive the laser... Time moves from the near endpoint a to the far endpoint b, in order to Simultaneously with the time shifting from the distal endpoint b to the proximal endpoint a, the time from the pulse's second rise to the occurrence of necking is acquired. The time from the second necking to the start of the next pulse waveform rise. When the pulse is in its third climbing phase At that time, the laser-arc hybrid welding head is controlled to drive the laser in a direction opposite to the preset direction. Time moves from the near endpoint a to the far endpoint b, in order to The time was changed from the far end point b back to the near end point a, which solved the problem of inconsistent heat input on both sides of the weld.

[0034] By adjusting the laser parameters, the oscillations caused by the laser acting on the molten pool at the moment of droplet detachment are reduced, thus achieving dynamic adjustment of the electric arc and the laser. Attached Figure Description

[0035] Figure 1 This is a flowchart of a linkage control method for arc-laser hybrid welding provided in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of pulsed arc control in a linkage control method for arc-laser hybrid welding provided in an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the oscillating laser control in a linkage control method for arc-laser hybrid welding provided in an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the swing walking path in a linkage control method for arc-laser hybrid welding provided in an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the arc-laser head-laser system structure in an arc-laser hybrid welding linkage control method provided in an embodiment of the present invention. Detailed Implementation

[0040] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0041] In this invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B together, or B alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0042] Before detailing this method, the following additional points need to be noted:

[0043] The linkage control method for arc-laser hybrid welding disclosed in this embodiment is applied to an arc-laser head-laser system and acts on a substrate. The arc-laser head-laser system is as follows: Figure 5 As shown, it includes a laser-arc hybrid welding head. The laser-arc hybrid welding head includes an arc welding gun and a laser head. The laser head includes a focusing lens, and the shortest distance between the focusing lens and the substrate is zero defocus. The near end point a of the laser head falls within the working area of ​​the arc welding gun, and the line connecting the far end point b of the laser head and the near end point a is the diameter of the working area of ​​the laser head.

[0044] Example 1:

[0045] Figure 1 This is a flowchart of the linkage control method for arc-laser hybrid welding according to Embodiment 1 of the present invention. This flowchart only illustrates the logical sequence of the method described in this embodiment. Provided there are no conflicts, different methods may be used in other possible embodiments of the present invention. Figure 1 Complete the steps shown or described in the order indicated.

[0046] Step 1: In response to pulse welding performed by the laser-arc hybrid welding head, the arc voltage change rate at the base current is measured in real time. The base current refers to the low current range current in one cycle of pulse welding. It is the basic small current used to stabilize the arc between two peak pulses, and the droplet transfer mainly occurs in this stage under normal pulse welding conditions.

[0047] Step Two: As Figure 2 As shown, in response to a preset inverter cycle Continuous occurrence within Arc voltage change rate Greater than or equal to the preset threshold for arc voltage change rate This indicates that the molten droplet at the tip of the welding wire is necking and about to detach, and it can eliminate occasional abnormal voltage fluctuations, thus reducing the base current. Lower And maintain the preset reduction time. The current then returns to the base value. This is used to reduce the energy input during the necking-to-shedding phase. It has already detached over time.

[0048] Step 3: Obtain the time from the initial pulse rise to the occurrence of necking. The time from the first necking to the start of the next pulse waveform rise. .

[0049] Step Four: As Figure 3 and Figure 4 As shown in Method 1, when the pulse is in the second ramp-up phase... At the same time, the galvanometer controlling the laser-arc hybrid welding head ( Figure 5 (Not shown in the image) Drives the laser in a preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time travels from the far endpoint b back to the near endpoint a.

[0050] The linkage control method for arc-laser hybrid welding disclosed in this embodiment also includes:

[0051] The previous pulse waveform signal is synchronized to the laser head controller of the laser-arc hybrid welding head, and the previous pulse unit cycle of the arc welding torch in the laser-arc hybrid welding head is synchronized. As the current oscillation laser cycle of the laser head in the laser-arc hybrid welding head, the intervention time is controlled by a preset delay. After the delay control intervention time, the galvanometer starts to work simultaneously with the pulse droplet transition. Before intervention, it always rotates according to the initial cycle of the oscillating laser, thereby autonomously adjusting the voltage feedback intervention timing, controlling the laser spot emitted by the laser head to move from any current position to the distal end b and stop. After the next pulse ends and the necking adjustment is completed, the laser spot emitted by the laser head is controlled to move from the distal end b to the proximal end a and stop, thus completing the initial position reset.

[0052] The distal end point b is the point farthest from the laser spot when the molten droplet lands, and the proximal end point a is the point closest to the laser spot when the molten droplet lands.

[0053] The linkage control method for arc-laser hybrid welding disclosed in this embodiment also includes:

[0054] like Figure 4 As shown in method 2, in response to the and The unequal heat input leads to uneven heat input on both sides of the weld bead. This affects the galvanometer controlling the laser-arc hybrid welding head, which in turn drives the laser to... Time moves from the near endpoint a to the far endpoint b, in order to Simultaneously with the time shifting from the distal endpoint b to the proximal endpoint a, the time from the pulse's second rise to the occurrence of necking is acquired. The time from the second necking to the start of the next pulse waveform rise. ;

[0055] When the pulse is in its third climbing phase At that time, the galvanometer controlling the laser-arc hybrid welding head drives the laser in a direction opposite to the preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time travels from the far endpoint b back to the near endpoint a.

[0056] In this application, when the pulse is in the second ramp-up phase... At that time, the galvanometer controlling the laser-arc hybrid welding head drives the laser to move in a preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time travels from the far endpoint b back to the near endpoint a and when the pulse is in its third climb phase. At that time, the galvanometer controlling the laser-arc hybrid welding head drives the laser in a direction opposite to the preset direction. Time moves from the near endpoint a to the far endpoint b, in order to The time interval, from the far end point b back to the near end point a, together constitutes a control cycle for the laser head.

[0057] In this embodiment, the preset direction can be clockwise or counterclockwise, and the opposite direction to the preset direction is either counterclockwise or clockwise.

[0058] The arc-laser head-laser system also includes a laser ( Figure 5 (Not shown in the image), the linkage control method for arc-laser hybrid welding disclosed in this embodiment also includes:

[0059] While adjusting the laser head, the pulse voltage signal is synchronized to the laser controller. The defocusing amount and laser power are used as adjustment parameters for droplet transition. When the droplet detaches, the defocusing amount is reduced to decrease the stirring effect of the laser on the molten pool, and the laser power is reduced to decrease the vaporization and evaporation of the substrate metal. Splashing is reduced from both droplet detachment and molten pool splashing aspects. Specifically:

[0060] In response to the determination of the droplet necking moment, i.e., within a preset period... Continuous occurrence within Arc voltage change rate Greater than or equal to the preset threshold for arc voltage change rate At any given moment, the focal length of the laser-arc hybrid welding head will be reduced. To defocus to zero, reduce the laser power. Maintain a preset safe time until the preset low power threshold is reached. Then, the focal length of the laser-arc hybrid welding head and the power of the laser are restored to the preset values.

[0061] Example 2:

[0062] Embodiment 2 of the present invention provides a linkage control device for arc-laser hybrid welding, comprising:

[0063] The voltage change rate acquisition module is used to measure the arc voltage change rate in real time when the laser-arc hybrid welding head is in pulse welding, in response to the pulse welding. ;

[0064] The current regulation module is used to respond to n consecutive arc voltage change rates occurring within a preset inverter cycle. Greater than or equal to the preset threshold for arc voltage change rate , base current Lower And maintain the preset reduction time. The current then returns to the base value. ;

[0065] The time acquisition module is used to acquire the time from the initial rise of the pulse to the occurrence of necking. The time from the first necking to the start of the next pulse waveform rise. ;

[0066] The laser head control module is used when the pulse is in its second ramp-up phase. At that time, the laser-arc hybrid welding head is controlled to drive the laser in a preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time returns from the far end b to the near end a, responding to the moment when droplet necking is determined, reducing the focal length of the laser-arc hybrid welding joint. Defocus to zero and maintain the preset safe time. Then, the focal length of the laser-arc hybrid welding head is restored to the preset value.

[0067] The linkage control device for arc-laser hybrid welding provided in this embodiment also includes a laser control module, used to reduce the laser power in response to the determination of a droplet necking moment. Maintain a preset safe time until the preset low power threshold is reached. Then, restore the laser power to the preset value.

[0068] The linkage control device for arc-laser hybrid welding provided in Embodiment 2 of the present invention can execute the linkage control method for arc-laser hybrid welding provided in Embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0069] Example 3:

[0070] Embodiment 3 of the present invention also provides an electronic terminal, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and the processor is used to perform operations according to the instructions to execute the steps of the method described in Embodiment 1.

[0071] The electronic terminal provided in Embodiment 3 of the present invention can execute the linkage control method for arc-laser hybrid welding provided in Embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0072] Example 4:

[0073] Embodiment 4 of the present invention also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the method described in Embodiment 1, and has the corresponding functional modules and beneficial effects of the method.

[0074] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A linkage control method for arc-laser hybrid welding, characterized in that, Applied to an arc-laser head-laser system, wherein the arc-laser head-laser system includes a laser-arc hybrid welding head, the linkage control method includes: In response to pulse welding performed by the laser-arc hybrid welding head, the rate of change of arc voltage at the base current is measured in real time. In response to the occurrence of n consecutive arc voltage change rate values ​​greater than or equal to the preset arc voltage change rate threshold within a preset inverter cycle, the base current is reduced and maintained for a preset reduction time before being restored to the base current. Acquire the time from the initial pulse rise to the occurrence of necking. The time from the first necking to the start of the next pulse waveform rise. ; When the pulse is at its second ramp-up moment, the laser-arc hybrid welding head is controlled to drive the laser in a preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time travels from the far endpoint b back to the near endpoint a.

2. The linkage control method for arc-laser hybrid welding according to claim 1, characterized in that, The laser-arc hybrid welding head includes an arc welding gun and a laser head; The near end point a of the laser head falls into the working area of ​​the arc welding gun, and the line connecting the far end point b of the laser head and the near end point a is the diameter of the working area of ​​the laser head.

3. The linkage control method for arc-laser hybrid welding according to claim 2, characterized in that, Also includes: The previous pulse unit cycle of the arc welding torch in the laser-arc hybrid welding head As the current oscillation laser cycle of the laser head in the laser-arc hybrid welding head, the intervention time is controlled by a preset delay. Then, control the laser spot emitted by the laser head to move to the far end b and stop. After the next pulse ends and the necking adjustment is completed, control the laser spot emitted by the laser head to move from the far end b to the near end a and stop. The distal end point b is the point farthest from the laser spot when the molten droplet lands, and the proximal end point a is the point closest to the laser spot when the molten droplet lands.

4. The linkage control method for arc-laser hybrid welding according to claim 2, characterized in that, Also includes: In response to the and The values ​​are not equal; the galvanometer controlling the laser-arc hybrid welding head drives the laser to... Time moves from the near endpoint a to the far endpoint b, in order to Simultaneously with the time shifting from the distal endpoint b to the proximal endpoint a, the time from the pulse's second rise to the occurrence of necking is acquired. The time from the second necking to the start of the next pulse waveform rise. ; When the pulse is in its third climbing phase At that time, the galvanometer controlling the laser-arc hybrid welding head drives the laser in a direction opposite to the preset direction. Time moves from the near endpoint a to the far endpoint b, in order to Time travels from the far endpoint b back to the near endpoint a.

5. The linkage control method for arc-laser hybrid welding according to claim 1, characterized in that, The arc-laser head-laser system also includes a laser, and further includes: In response to the determination of the droplet necking moment, the focal length of the laser-arc hybrid welding head is reduced. To defocus to zero, reduce the laser power. Maintain a preset safe time until the preset low power threshold is reached. Then, the focal length of the laser-arc hybrid welding head and the power of the laser are restored to the preset values.

6. A linkage control device for arc-laser hybrid welding, characterized in that, include: The voltage change rate acquisition module is used to measure the arc voltage change rate in real time when the base current is in response to pulse welding of the laser-arc hybrid welding head. The current regulation module is used to respond to the occurrence of n consecutive arc voltage change rate values ​​greater than or equal to the preset arc voltage change rate threshold within a preset inverter cycle, by lowering the base current and maintaining it for a preset lowering time before restoring it to the base current. The time acquisition module is used to acquire the time from the initial rise of the pulse to the occurrence of necking. The time from the first necking to the start of the next pulse waveform rise. ; The laser head control module is used to control the laser-arc hybrid welding head to drive the laser in a preset direction when the pulse is in its second ramp-up phase. Time moves from the near endpoint a to the far endpoint b, in order to Time returns from the far end b to the near end a, responding to the moment when droplet necking is determined, reducing the focal length of the laser-arc hybrid welding joint. Defocus to zero and maintain the preset safe time. Then, the focal length of the laser-arc hybrid welding head is restored to the preset value.

7. The linkage control device for arc-laser hybrid welding according to claim 1, characterized in that, It also includes a laser control module for reducing the laser power in response to the determination of a droplet necking moment. Maintain a preset safe time until the preset low power threshold is reached. Then, restore the laser power to the preset value.

8. An electronic terminal, characterized in that, It includes a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it performs the steps of the method as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 5.

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