Oscillating laser-submerged arc hybrid welding method for single-sided welding and double—sided forming of medium-thick plates and device

Abstract

The present invention provides an oscillating laser-submerged arc hybrid welding method for single—sided welding and double-sided forming of medium-thick plates and a device. By combining the high penetration capability of a ten-kilowatt—class laser heat source with the high deposition efficiency of a submerged arc heat source, efficient and high—quality welding of medium—thick plates can be achieved. The welding method specifically includes the steps of: employing a Y-shaped groove on butt joint faces of two plates to be welded; positioning the oscillating laser heat source in front along a welding direction, followed by the submerged are heat source behind, with both heat sources aligned on the same straight line and sharing a common weld pool; and melting a submerged arc welding wire into the weld pool under the joint action of the oscillating laser heat source and the submerged are heat source during welding, and welding a singlesided groove. FIG. 1

Description

OSCILLATING LASER-SUBMERGED ARC HYBRID WELDING METHOD FOR SIN GLE-SIDED WELDING AND DOUBLESIDED FORMING OF MEDIUM-THICK PLATES AND DEVICE TECHNICAL FIELD The present invention relates to a welding method, and specically to an oscillating laser-submerged arc hybrid welding method for single-sided welding and double-sided forming of mediumthick plates and a device, falling within the technical eld of welding manufacturing. BACKGROUND Laser-arc hybrid welding is a novel welding method that integrates the energy of both laser welding and arc welding heat sources, which are applied to the workpiece in a specic manner to generate a unied weld pool. This method achieves highquality and efcient welding of materials through the synergistic interaction between the two heat sources. Laserarc hybrid welding inherits the advantages of both standalone laser welding and arc welding, while compensating for each other's shortcomings, making it an advanced welding process with signicant application potential. Laserarc hybrid welding is not a simple superposition of laser and arc heat sources. During welding, the two heat sources interact in a series of ways, resulting in a high-speed and stable welding process that achieves a " l+l>2" welding effect. Laserarc hybrid welding methods mainly include lasernon-consumable electrode gas shielded welding (tungsten inert gas welding and plasma arc welding) and laser- consumable electrode gas shielded welding (metal inert gas welding (MIG) and metal active gas welding (MAG)). Currently, kilowatt-class laser-arc hybrid welding is widely used in elds such as marine engineering, pressure vessels, oil pipelines, construction machinery, aerospace, and others. In recent years, as China's industrial lasers have entered the era of ten-kilowatt-class lasers, ber lasers have experienced signicant cost reductions, stable output power, and consistent beam quality, penetrating into elds such as national defense and military, marine engineering, rail transit, and others. In ten-kilowatt-class laser-MIG / MAG hybrid welding, as the laser power increases, the weld penetration depth gradually increases. However, when the singlesided welding penetration depth exceeds 12 mm, the porosity of weld seam signicantly increases, and crack defects are present at a bottom of the weld seam. Traditional ten-kilowatt-class laserMIG / MAG hybrid welding struggles to achieve highquality and efcient single-sided welding with double-sided forming for medium- thick plates. SUMMARY In view of this, the present invention provides an oscillating laser-submerged arc hybrid welding method for single-sided welding and double-sided forming of medium- thick plates. By combining the high penetration capability of a ten-kilowatt-class laser heat source with the high deposition efciency of a submerged arc heat source, efcient and high-quality welding of medium-thick plates can be achieved. The oscillating laser-submerged arc hybrid welding method for single-sided welding and double-sided forming of mediumthick plates includes the steps of: employing a Y- shaped groove on butt joint faces of two plates to be welded; positioning the oscillating laser heat source in front along a welding direction, followed by the submerged arc heat source behind, with both heat sources aligned on a same straight line and sharing a common weld pool, where the oscillating laser heat source is inclined forward relative to a normal direction of the plate to be welded, and an axis of the submerged arc heat source is tilted back along or relative to the normal direction of the plate to be welded; and melting a submerged arc welding wire into the weld pool under the joint action of the oscillating laser heat source and the submerged arc heat source during welding, and welding a singlesided groove. In a preferable solution of the present invention, a bafe plate is arranged between the oscillating laser heat source and the submerged arc heat source during welding. In a preferable solution of the present invention, a gap between the bafe plate and a surface of the plate to be welded is 1.0 mm-l.5 mm; an included angle between the bafe plate and the normal direction of the plate to be welded ranges from 50 to 50 (where a negative angle indicates a backward tilt and a positive angle indicates a forward tilt); and a width of the bafe plate is 6 mmlO mm greater than a groove width. In a preferable solution of the present invention, a plate thickness range of the plate to be welded is 15 mm-35 mm, and the Y-shaped groove has a root face of 5 mm-25 mm and a groove angle of 300-600. In a preferable solution of the present invention, a front tilt angle of the oscillating laser heat source is ISO-35°, and an included angle between the submerged arc heat source and the normal direction of the plate to be welded ranges from 50 to 0°. In a preferable solution of the present invention, a distance between a laser beam generated by the oscillating laser heat source and the submerged arc welding wire is 15 mm-20 mm. In a preferable solution of the present invention, the oscillating laser heat source employs a ber laser or a yttrium aluminum garnet (YAG) solidstate laser, with a power range of 10 kW-20 kW, and an oscillation amplitude of 0 mm-5 mm, an oscillation frequency of 0 Hz-500 Hz, and a defocusing distance of laser gun ranging from 10mm to +10mm. In a preferable solution of the present invention, a diameter of the submerged arc welding wire is 1.6 mm3.2 mm, a power supply of the submerged arc heat source is congured for direct current reverse polarity (DCRP) or alternating current (AC), and the submerged arc heat source operates at a current of 400 A7OO A and a voltage of 25 V35 V. In a preferable solution of the present invention, in the submerged arc heat source, a welding ux ow rate is 20 L / min35 L / min; in the laser heat source, a shielding gas ow rate is 20 L / min25 L / min; and a welding speed is 0.6 m / min-2 m / min. In a preferable solution of the present invention, during welding, xtures for the plates to be welded employ anti-deformation measures, with an anti-deformation angle being 1°- 5°. In addition, the present invention provides an oscillating laser-submerged arc hybrid welding device for singlesided welding and doublesided forming of medium-thick plates, including a hybrid welding gun, a traveling mechanism and a platform base, and the traveling mechanism is mounted on the platform base, and the hybrid welding gun is mounted on the traveling mechanism; the hybrid welding gun includes: a connecting plate, an oscillating laser and a submerged arc welding gun mounted on the connecting plate; the connecting plate is connected to the traveling mechanism through an adapter plate; and on the connecting plate, the oscillating laser is positioned at a front, followed by the submerged arc welding gun at a rear, with an oscillation center of the oscillating laser and the submerged arc welding gun aligned on a same straight line to ensure a common weld pool during welding; and the travel mechanism is used for moving the hybrid welding gun along X, Y, and Z axes to facilitate the positional adjustment of the hybrid welding gun, and drive the hybrid welding gun to travel along the welding direction, where the X-axis corresponds to the welding direction, the Z-axis corresponds to the normal direction of the plate to be welded, and the Y-axis corresponds to a direction perpendicular to the X-axis within the plane of the plate to be welded. In a preferable solution of the present invention, the bafe plate is arranged between the oscillating laser and the submerged arc welding gun, and connected to the submerged arc welding gun through a limit plate C; an arc-shaped slot serving as a limit slot of the bafe plate is arranged on the limit plate C; and the bafe plate is capable of sliding along the limit slot for positional adjustment, facilitating the adjustment of a rear tilt angle of the bafe plate. In a preferable solution of the present invention, two arc-shaped grooves are arranged on the connecting plate, serving as a limit slot of the oscillating laser and a limit slot of the submerged arc welding gun; the oscillating laser is xed in the limit slot of the oscillating laser through a limit plate A, and a position of the oscillating laser is capable of being adjusted by the limit plate A moving along the limit slot of the oscillating laser, facilitating the adjustment of a front tilt angle of the oscillating laser; and the submerged arc welding gun is xed in the limit slot of the submerged arc welding gun through a limit plate B, and a position of the submerged arc welding gun is capable of being adjusted by the limit plate B moving along the limit slot of the submerged are welding gun, and facilitating the adjustment of a rear tilt angle of the submerged arc welding gun. In a preferable solution of the present invention, the submerged arc welding gun has a cross sliding table, and the cross sliding table has two adjustment degrees of freedom, used for adjusting a height and a wireto-laser distance of the submerged arc welding gun. Benecial effects 1. In the present invention, the MIG / MAG heat source is replaced with the submerged are heat source. Compared with MIG / MAG heat source, the submerged arc heat source offers higher heat input, while the ux provides excellent thermal insulation, resulting in a long and deep weld pool in submerged arc welding. By introducing the submerged arc heat source, the solidication time of the weld pool in ten-kilowatt-class laser welding is extended, thereby reducing the porosity and crack susceptibility of the weld seam. 2. In the present invention, a method for oscillating the laser beam is employed, which can improve the distribution of microstructure during the welding process, and enhance the mechanical properties of the welded joint. 3. In the present invention, by arranging the bafe plate between the laser heat source and the submerged arc heat source, it can prevent the ux of the submerged arc heat source from entering the laser welding zone. 4. In the present invention, the MIG / MAG heat source is replaced with the submerged arc heat source. Due to the large diameter of submerged arc welding wire, the introduction of large-diameter submerged arc welding wire can increase the deposition efciency of welding process. 5. In the present invention, the welding method employs a large laser nozzle inclination and small welding groove to reduce the weld pool volume, DCRP or AC, and employs low submerged arc welding current and voltage to reduce the submerged arc welding penetration depth, ensuring single-sided welding with doublesided forming through a combination of these measures. 6. In the present invention, this welding method can realize highquality protection of the weld. Shielding gas is arranged at a front of the laser to protect the laser welding zone, and the ux melts to form a slag shell that protects the submerged arc welding zone. Therefore, a dual protection method is employed to enhance the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a Yshaped groove form employed in Embodiment 1; FIG. 2 is a schematic structural diagram of a laser-submerged arc hybrid welding gun; FIG. 3 is a schematic structural diagram of a hybrid welding device in Embodiment 2; FIG. 4 is a schematic structural diagram of an Xray pore detection after welding; FIG. 5 shows a welding surface and cross-sectional view after welding by using an ultra-high power laser-submerged arc hybrid welding method; FIG. 6 is a schematic diagram of a welded joint microstructure after welding by using the ultra-high power laser-submerged arc hybrid welding method; FIG. 7 is a fracture morphology diagram of welded joint tensile specimen; and FIG. 8 is a fracture morphology diagram of welded joint impact. Reference numerals and denotations thereof: l-laser; 2-shielding gas pipe; 3- submerged arc welding gun; 4-bafe plate; 5-cross sliding table; 6-Yaxis moving unit; 7 adapter plate; 8X-axis driving mechanism; 9linear guide rail; lOZaxis drive motor; 11 submerged arc welding wire feed reel; lZ-submerged arc ux funnel; l3-platform base; and l4-connecting plate. DETAILED DESCRIPTION The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more denitive denition of the scope of protection for the present invention. Embodiment 1 To address the defects such as porosity and cracks that are prone to occur in traditional high-power laserMIG / MAG hybrid welding, this embodiment provides an oscillating lasersubmerged arc hybrid welding method for single-sided welding and double-sided forming of medium-thick plates. the MIG / MAG heat source is replaced with the submerged arc heat source. Compared with MIG / MAG heat source, the submerged arc heat source offers higher heat input, while the ux provides excellent thermal insulation, resulting in a long and deep weld pool in submerged arc welding. By introducing the submerged arc heat source, the solidication time of the weld pool in tenkilowatt-class laser welding is extended, thereby reducing the porosity and crack susceptibility of the weld seam. This hybrid welding method combines the high penetration capability of a high-power laser heat source with the high deposition efciency of a submerged are heat source, achieving efcient and high-quality welding of mediumthick plates with a single sided welding penetration depth of 15 mm-35 mm. Before welding, pre-welding preparation is required, which involves pre-welding treatment. During this process, grooves are machined on the welding surfaces of the two plates to be welded. After the grooves are processed, the plates are placed in xtures for welding. Specically, the groove type and dimensions are designed based on a thickness of the plates to be welded. As shown in FIG. 1, a Y-shaped groove is used; and the plate thickness range of the plate to be welded is 15 mm-35 mm, and the Y-shaped groove has a root face of 5 mm-25 mm and a groove angle of 300-600. In an example, when machining the groove, an electrical discharge wirecutting machine is used for processing based on the designed specic groove dimensions, with a machining accuracy requirement of i0.1 mm. The groove completed by wire-cutting is processed using a grinding machine to remove surface oxides, followed by using alcohol or acetone to remove surface oil stains. In an example, during welding, xtures for the plates to be welded employ anti- deformation measures, with an antideformation angle being l°-5°. Welding is a thermal contraction process, and the amount of anti-deformation offsets the amount of thermal contraction. Referring to FIG. 2, during welding, the laser heat source (i.e., a laser 1) is positioned in front along a welding direction, followed by the submerged arc heat source (i.e., a submerged arc welding gun 3) behind (if the submerged arc heat source is in front, the ux following the submerged arc heat source will cover the weld surface, creating a solid slag shell, and the slag shell will interfere with the welding stability of the laser beam, thus it is necessary to position the laser heat source in front and the submerged arc heat source behind), with both heat sources aligned on the same straight line and sharing a common weld pool. The laser heat source is oscillating (i.e., an oscillation center of the laser heat source and the submerged arc heat source are on the same straight line). For ease of description, the angle tilting forward relative to the normal direction of the plate to be welded is dened as positive, and the angle tilting backward is dened as negative. The oscillating laser heat source is inclined forward relative to a normal direction of the plate to be welded, with a front tilt angle of 150-350 (i.e., an included angle between the laser 1 and the normal direction of the plate to be welded), and an axis of the submerged arc heat source is tilted back along or relative to the normal direction of the plate to be welded, with an included angle of 50 to 0° between the submerged arc welding gun 3 and the normal direction of the plate to be welded. To prevent the ux from the submerged arc heat source from entering the laser welding zone during welding and interfering with the laser light, a bafe plate 4 is arranged between the oscillating laser heat source and the submerged arc heat source: a gap between the bafe plate 4 and a surface of the plate to be welded is 1.0 mm-l.5 mm. If the gap between the bafe plate 4 and the surface of the plate to be welded is too small, the bafe plate 4 may collide with the surface of the plate during the welding process, affecting the stability of the welding process. If the gap is too large, it will not effectively prevent the ux from entering the laser welding zone. A width of the bafe plate 4 is 6 mm-10 mm greater than a groove width. If the width of bafe plate 4 is too small, it cannot effectively block the ux from entering the laser welding zone. If the width of bafe plate 4 is too large, it is prone to collision. The material of bafe plate 4 is high-temperature ceramic plate or copper plate. An included angle between the bafe plate 4 and the normal direction of the plate to be welded ranges from 0° to 5 °. If the included angle of bafe plate 4 is too small, it may interact with the submerged arc heat source. If the included angle is too large, the laser heat source may hit the bafe plate 4. In addition, a shielding gas pipe 2 is arranged for the laser heat source, which is known as gas shielded laser welding. A gas outlet of the shielding gas pipe 2 is located in an action zone of the laser heat source, which can blow away the ux in the action zone of the laser heat source while achieving gas protection. Therefore, the inuence of the ux from the submerged arc heat source on the laser is avoided through the action of the bafe plate 4 and the shielding gas pipe 2. The shielding gas pipe 2 is arranged in front of a gun head of the laser 1 to protect the laser welding zone. The role of the welding shielding gas is to protect the laser welding keyhole zone, remove ux that falls into the welding position through the bafe plate 4, and blow away a portion of the plasma generated by the laser, thereby enhancing the protection effect and stability of the welding process. The combination of the laser heat source and the submerged arc heat source is in a cascade form, with the laser heat source in front and the submerged arc heat source at the back. During welding, the laser heat source and the submerged arc heat source output heat simultaneously, and a submerged arc welding wire is melted into the weld pool under the joint action of the oscillating laser heat source and the submerged arc heat source, welding a single-sided groove and achieving single-sided welding and double-sided forming. In this hybrid welding method, the MIG / MAG heat source is replaced with the submerged arc heat source. Compared with MIG / MAG heat source, the submerged arc heat source offers higher heat input, while the ux provides excellent thermal insulation, resulting in a long and deep weld pool in submerged arc welding. By introducing the submerged arc heat source, the solidication time of the weld pool in tenkilowatt-class laser welding is extended, thereby reducing the porosity and crack susceptibility of the weld seam. In an example, the oscillating laser heat source employs a ber laser or a YAG solid state laser, with an optical ber core diameter being 300um~600um, and a power range of 10 kW-20 kW. The laser beam oscillation modes include but are not limited to: circular oscillation, linear oscillation, elliptical oscillation, and triangular oscillation, etc. An oscillation amplitude is 0 mm-5 mm, an oscillation frequency is 0 Hz-500 Hz, and a defocusing distance of laser gun ranges from -10mm to +10mm. In an example, the submerged arc heat source employs a direct current (DC) or AC power supply; and a diameter of the submerged arc welding wire is 1.6 mm-3.2 mm, a power supply of the submerged arc heat source is congured for DCRP or AC, and the submerged arc heat source operates at a current of 400 A700 A and a voltage of 25 V35 V. In an example, a wire-to-laser distance (i.e., the distance between the laser beam oscillation center and the submerged arc welding wire) is 15 mm-20 mm. If the wire-to- laser distance is too close, the ux from the submerged are heat source during the welding process will fall into the keyhole of the laser welding, while excessive ux will interact with the laser, causing the ux to vaporize and generate plasma, leading to unstable welding process and reducing the weld penetration. If the wireto-laser distance is too far, it will not achieve the effect of a composite heat source. In an example, a welding speed is 0.6 m / min2 m / min. In an example, in the submerged arc heat source, a welding ux ow rate is 20 L / min- 35 L / min. If the ux ow rate is too low, it will not protect the weld pool effectively. If the ux ow rate is too high, excessive ux will ow into the laser welding zone, reducing the stability of the welding process. In an example, a shielding gas ow rate delivered by the shielding gas pipe 2 in the laser heat source is 20 L / min25 L / min. If the shielding gas ow rate is too low, the protective effect during the welding process will be poor. If the shielding gas ow rate is too high, it will disrupt the submerged are heat source, causing the welding process to prone to porosity. The shielding gas can be argon or helium. An embodiment of welding using the ultra-high power laser-submerged arc hybrid welding method is specically given below. The base material (i.e., the plate to be welded) is 20mm thick 35# steel. The submerged arc welding wire used is 3mm diameter ER50-6 welding wire, and the ux used is SJ 101. The groove type is a Y-shaped groove with dimensions: root face of 8mm and groove angle of 60°. When machining the groove, an electrical discharge wire-cutting machine is used for processing based on the designed specic groove dimensions, with a machining accuracy requirement of i0.lmm. The groove completed by wire-cutting is processed using a grinding machine to remove surface oxides, followed by using alcohol or acetone to remove surface oil stains. The xture is set with a 2° anti-deformation angle, and the plate to be welded is placed in the xture for welding preparation. The laser heat source is a ber laser with an optical ber core diameter of 300 um. The laser heat source is positioned in front, and the submerged arc heat source is positioned behind, with both aligned on the same straight line and sharing a common weld pool. The front tilt angle of the laser heat source is 30°, and the submerged arc heat source is tilted backward by 2° (i.e., the included angle between the submerged arc welding gun 3 and the normal direction of the plate to be welded is -2°). The material of bafe plate 4 is high- temperature ceramic plate, with the gap between bafe plate 4 and the surface of the plate to be welded being1.0mm, the width of bafe plate 4 being 30mm, and the front tilt angle of the bafe plate being 5°. When using this welding method, the laser heat source, submerged arc heat source, bafe plate, and a water chiller for the laser heat source and submerged arc heat source are xed together to form a laser-submerged arc hybrid welding gun, which travels along the weld seam driven by the traveling mechanism. The welding parameters are as follows: the laser power is set to 10 kW, the laser beam oscillation mode is elliptical oscillation with an oscillation amplitude of 2 mm and oscillation frequency of 200 Hz, and the defocusing distance of the laser gun is 10 mm. The power characteristics of the submerged arc heat source are DCRP, with a current of 550 A and a voltage of 30 V. The Wire-tolaser distance is 18 mm, the welding speed is 0.6 m / min, the ux ow rate is 20 L / min, the shielding gas ow rate is 20 L / min, and the shielding gas is argon. Before welding, it is necessary to check the operating status of the water chiller, the laser, the submerged arc welding gun, and other equipment of the laser and submerged arc power source. After conrming that all equipment is in normal operating status, the water chiller and the traveling mechanism are started, and the traveling mechanism drives the laser-submerged arc hybrid welding gun to perform welding. After the welding is completed, the slag shell on the weld surface is removed to nish the welding process. After welding using the above oscillating laser-submerged arc hybrid welding method, the results of the Xray porosity inspection on the weld seam are shown in FIG. 4. The results indicate that there are no defects such as porosity or cracks inside the weld seam. The weld surface and cross-sectional view are shown in FIG. 5, and the front and back of the weld seam are well-formed, showing that the oscillating laser-submerged arc hybrid welding method can achieve good single-sided welding with double-sided forming for medium-thick plates in one pass. FIG. 6 is a schematic diagram of a welded joint microstructure after welding by using this hybrid welding method. The metallographic morphology of a weld seam zone is shown in FIG. 6(a), with a structure of acicular ferrite + bainite. The metallographic morphology of a fusion zone is shown in FIG. 6(b). The metallographic morphology of an overheated zone is shown in FIG. 6(c), with a structure of martensite + pearlite + bainite. The metallographic morphology of a normalized zone is shown in FIG. 6(d), with a structure of martensite + pearlite + bainite. The metallographic morphology of a partially normalized zone is shown in FIG. 6(e), with a structure of ferrite + pearlite + martensite. The metallographic morphology of a base material zone is shown in FIG. 6(f), with a structure of ferrite + pearlite, and slight spheroidization of pearlite. The mechanical properties of the welded joint using this hybrid welding method are shown in Table 1. An average yield strength of the welded joint is 494 MPa, an average tensile strength is 638 MPa, an average elongation is 16.5%, and an average impact toughness is 85 J. Table 1 Mechanical properties of hybrid welded joint Elongation Impact îoughness Yield strength Tensile strength Serial __ A tensile fracture morphology of the tensile specimen of the welded joint using this hybrid welding method is shown in FIG. 7. Before the welded joint fractures, a signicant necking phenomenon occurs, and the dimples on the fracture surface of the welded joint are relatively large, which is a typical characteristic of plastic fracture. An impact fracture morphology of the welded joint is presented in FIG. 8, which reveals a relatively smooth fracture surface. The dimples on the fracture surface exhibit typical characteristics of plastic fracture. Embodiment 2 Based on the above Embodiment 1, this embodiment provides a hybrid welding device using this hybrid welding method. Referring to FIG. 3, the hybrid welding device includes a hybrid welding gun, a traveling mechanism and a platform base 13, in which the traveling mechanism is mounted on the platform base 13, and the hybrid welding gun is mounted on the traveling mechanism. The traveling mechanism can adjust the position of the hybrid welding gun and drive it to move along the welding direction, forming a weld seam. Referring to FIG. 2, the hybrid welding gun includes: a connecting plate 14, a laser 1 and a submerged arc welding gun 3 mounted on the connecting plate 14, in which the laser 1 is an oscillating laser that generates an oscillating laser beam, and the connecting plate 14 is connected to the traveling mechanism through an adapter plate 7, thereby mounting the hybrid welding gun onto the traveling mechanism. On the connecting plate 14, the laser 1 is positioned at a front, followed by the submerged arc welding gun 3 at a rear, with an oscillation center of the laser 1 and the submerged arc welding gun 3 aligned on the same straight line to ensure a common weld pool during welding. Specically, the connecting plate 14 is an arc-shaped plate, two arc- shaped grooves are arranged on the connecting plate 14, serving as a limit slot of the laser 1 and a limit slot of the submerged arc welding gun 3; and the laser 1 is xed in the limit slot of the laser 1 through a limit plate A, and a position of the laser 1 can be adjusted by the limit plate A moving along the limit slot of the laser 1, facilitating the adjustment of a front tilt angle of the laser 1. After adjusting to the set angle position, the limit plate A is limited within the limit slot of the laser 1 using fastening pieces, thereby xing the laser 1 onto the connecting plate 14. In a similar way, the submerged arc welding gun 3 is xed in the limit slot of the submerged arc welding gun 3 through a limit plate B, and a position of the submerged arc welding gun 3 can be adjusted by the limit plate B moving along the limit slot of the submerged arc welding gun 3, facilitating the adjustment of a rear tilt angle of the submerged arc welding gun 3. After adjusting to the set angle position, the limit plate B is limited within the limit slot of the submerged arc welding gun 3 using fastening pieces, thereby xing the submerged arc welding gun 3 onto the connecting plate 14. The bafe plate 4 is connected to submerged arc welding gun 3 though a limit plate C, and the bafe plate 4 is located between the laser 1 and the submerged arc welding gun 3. An arc-shaped groove is also arranged on the limit plate C, serving as a limit slot of the bafe plate 4, and a position of the bafe plate 4 can be adjusted by a connection portion of the bafe plate 4 moving along this limit slot, facilitating the adjustment of a rear tilt angle of the bafe plate 4. After adjusting to the set angle position, the limit plate C is limited within the limit slot of the bafe plate 4 using fastening pieces, thereby xing the bafe plate 4 onto the submerged arc welding gun 3. In addition, the submerged arc welding gun 3 has a cross sliding table 5, and the cross sliding table 5 has two adjustment degrees of freedom. The cross sliding table 5 can adjust a height and a wire-to-laser distance of the submerged arc welding gun 3 (including a bafe plate 4, which is xed together with submerged arc welding gun 3 as a single unit). For ease of description, the welding direction is dened as an X-axis (i.e., a left-right direction in FIG. 3), the direction perpendicular to the X-axis within the plane of the plate to be welded is dened as a Y-axis (i.e., a front-back direction in FIG. 3), and the normal direction of the plate to be welded is dened as a Z-axis (i.e., an up-down direction in FIG. 3). The traveling mechanism can drive the hybrid welding gun as a whole to move in three axes, including the X-axis moving unit, Yaxis moving unit 6, and Zaxis moving unit. In an example, the Xaxis moving unit includes an X-axis driving mechanism 8 and a linear guide rail 9 arranged along the X-axis. The Y-axis moving unit 6 employs a manual slide table. The Z-axis moving unit includes a Z-axis drive motor 10, in which the Z-axis drive motor 10 is a linear motor. The connecting plate 14 in the hybrid welding gun is connected to the adapter plate 7 through the Yaxis moving unit 6, and the Yaxis moving unit 6 can drive the hybrid welding gun as a whole to move along the Y-axis. The adapter plate 7 is connected to the Z-axis moving unit (specically, connected to a power output end of Z- axis drive motor 10), ensuring that the Zaxis moving unit can drive the hybrid welding gun and the adapter plate 7 as a whole to move along the Z-axis. The Z-axis moving unit is connected to the X-axis moving unit (specically, a power output end of the X-axis driving mechanism 8 is connected to a slider that slidably matches with the linear guide rail 9, and the Z-axis moving unit is connected to this slider), allowing the X-axis moving unit to drive the hybrid welding gun, the adapter plate 7, and the Z-axis moving unit as a whole to move along the X-axis. The linear guide rail 9 is supported on the platform base 13. Additionally, a submerged arc welding wire feed reel 11 and a submerged arc ux funnel 12 are arranged. The submerged arc welding wire feed reel 11 is used for feeding wire to the submerged arc welding gun 3, and the submerged arc ux funnel 12 is used for delivering ux to the submerged arc welding gun 3. Before using this welding device, the state of the welding device is rst adjusted: the laser 1, the submerged arc welding gun 3, and the water cooling system is turned on, adjusting the relative positions of laser 1, submerged arc welding gun 3, and bafe plate 4. The welding parameters are set, such as laser power, defocusing amount, diameter of submerged arc welding wire, power supply characteristics of submerged arc heat source, current of submerged arc heat source, voltage of submerged arc heat source, wire-tolaser distance, welding speed, ux ow rate, and shielding gas ow rate. The operating statuses of the water cooling system, the laser, and the submerged arc welding gun are checked before welding, and the water cooling system and the X-axis moving unit are started, which drives the hybrid welding gun to move along the groove for welding. After welding, the slag shell on the weld surface is removed to complete the welding process. In summary, the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Any modification, equivalent substitution, improvement and the like made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. CLAIMS 1. Oscillating 1-laser-submerged arc hybrid welding method for single-sided welding and double-sided deformation of medium-thick plates, consisting of the steps of: the application of a Y-shaped groove on the butt joint surfaces of two plates to be welded; placing the oscillating laser heat source at the front along a welding direction, followed by the submerged arc heat source behind it, with both heat sources aligned on the same straight line and sharing a common melt pool, where the oscillating laser heat source is tilted forward from a normal direction of the plate to be welded and an axis of the submerged arc heat source is towards the rear tilted along or with respect to the normal direction of the plate to be welded; and the melting of a submerged arc welding wire in the weld pool below the joint action of the oscillating laser heat source and the submerged arc heat source during the welding, and the welding of a single-sided groove. 2. Oscillating laser submerged arc hybrid welding method for single-sided welding and double-sided deformation of medium-thick plates according to requirement l, with a impact plate placed between the oscillating laser heat source and the submerged arc heat source during welding. 3. Oscillating laser-submerged arc hybrid welding method for single-sided welding and double-sided forming of medium thick plates according to claim 2, wherein a gap between the guide plate and a surface of the plate to be welded is 1.0 mm-l .5 mm; an enclosed angle between the guide plate and the normal direction of the plate to be welded varies from -5° to 5°; and a width of the slate plate is 6 mm-10 mm larger than a groove width. 4. Oscillating laser submerged arc hybrid welding method for single-sided welding and double-sided deformation of medium-thick plates according to any of claims 1-3, wherein a plate thickness range of the plate to be welded is 15mm-35mm, and the Y-shaped groove is a root surface has a width of 5 mm-25 mm and a growth angle of 30°-60°. 5. Oscillating laser submerged arc hybrid welding method for single-sided welding and double-sided forming of medium thick plates according to one of the claims l-3, where a forward tilt angle of the oscillating laser heat source is 150-35O and a included angle between the submerged arc heat source and the normal direction of the plate to be welded varies from -50 to 0°. 6. Oscillating laser submerged arc hybrid welding method for single-sided welding and double-sided forming of medium-thick plates according to any of claims 1-3, wherein a distance between a laser beam generated by the oscillating laser heat source and the submerged arc welding wire is 15mm-20mm. 7. Oscillating laser-submerged arc hybrid welding method for single-sided welding and double-sided forming of medium thick plates according to one of the claims 1-3, where the oscillating laser heat source is a beam laser or a yttrium aluminum garnet (YAG) solid-state laser uses, with a power range of 10 kW20 kW, a oscillation amplitude of O mm-5 mm, an oscillation frequency of 0 Hz-500 Hz, and a laser gun tuning distance ranging from -10 mm to +10 mm. 8. Oscillating laser-submerged arc hybrid welding method for single-sided welding and double-sided deformation of medium-thick plates according to any of claims 1-3, wherein the submerged arc heat source uses a direct current (DC) or alternating current (AC) power supply; and a diameter of the submerged arc welding wire is 1.6mm-3.2mm, a power supply of the submerged arc heat source is configured for DC reverse polarity (DCRP) or AC, and the submerged arc heat source operates at a direct current reverse polarity (DCRP) or AC, and the submerged arc heat source operates at a direct current reverse polarity (DCRP) or AC. 6mm-3.2mm is, a power supply from the submerged arc heat source is configured for direct current reversal (DCRP) or alternating current and the submerged arc heat source operates at a current of 400 A-700 A and a voltage of 25 V35 V. 9. Oscillating laser submerged arc hybrid welding method for single-sided welding and double-sided deformation of medium-thick plates according to any of the statements 1-3, where in the submerged arc heat source, a welding current is 20 L / min-35 L / min; in the laser heat source, a shielding gas flow is 20 L / min-25 L / min; and a welding speed is 0.6 m / min-2 m / min is. 10. Oscillating laser submerged arc hybrid welding method for single-sided welding and double-sided deformation of medium-thick plates according to any of claims 1-3, wherein during welding the clamping devices for the plates to be welded anti-deformation measures apply, with an anti-deformation angle of 1°-5°. 11. Oscillating laser submerged arc hybrid welding machine for single-sided welding and double-sided forming of medium thick plates, consisting of a hybrid welding gun, a displacement mechanism and a platform base, the displacement mechanism being mounted on the platform base is mounted and the hybrid welding gun is on the moving mechanism mounted; The hybrid welding gun consists of a connecting plate, an oscillating laser and a submerged arc welding gun mounted on the connecting plate; the connecting plate is connected to the displacement mechanism by means of an adapter plate; and on the connection plate the oscillating laser is positioned at the front, followed by the submerged arc welding gun at the rear, with an oscillation center of the oscillating laser and submerged arc welding gun aligned on the same straight line to ensure a common weld pool during welding; and the displacement mechanism is used to move the hybrid welding gun along the X, Y and Z axis to move to facilitate the position adjustment of the hybrid welding gun and the to move the hybrid welding gun along the welding direction, with the X-axis corresponding to the welding direction, the Z axis corresponds to the normal direction of the plate to be welded and the Y axis axis corresponds to a direction perpendicular to the X-axis within the plane of the plate to be welded. 12. Oscillating laser submerged arc hybrid welding machine for single-sided welding and double-sided forming of medium-thick plates according to requirement 11, in which the slate plate is positioned between the oscillating laser and the submerged arc welding gun and connected is with the submerged arc welding gun via a limit plate C; an arc-shaped slot serving as a boundary slot of the guide plate is arranged on the boundary plate C; and the guide plate can slide along the limit slot for position adjustment, which makes it easier to adjust a backward tilt angle of the guide plate. 13. Oscillating laser submerged arc hybrid welding method for single sided welding and double-sided deformation of medium-thick plates according to requirement 11 or requirement 12, where two arched grooves are provided on the connecting plate, which serve as a boundary slot of the oscillating laser and a boundary slot of the submerged arc welding gun; the oscillating laser is fixed in the limit slot of the oscillating laser by means of a limit plate A, and a position of the oscillating laser can be adjusted by the limit plate A along the limit slot of the oscillating laser, causing the adjustment of a front tilt angle of the oscillating laser is facilitated; and the underwater arc welding gun is fixed in the limit slot of the gun for underwater arc welding by means of a limiting plate B, and a position of the underwater arc welding gun can be adjusted by the limit plate B to move along the limit slot of the underwater arc welding gun, allowing the setting of a rear tilt angle of the gun for arc welding under water is made easier. 14. Oscillating laser submerged arc hybrid welding method for single-sided welding and double-sided deformation of medium-thick plates according to requirement 11 or requirement 12, where the submerged arc gun has a cross slide table and the cross slide table has two degrees of freedom for adjusting a height and a wire-to-laser distance of the submerged powder pistol. FIG.1 FIG.2