Ultrasonic continuous welding equipment capable of moving along any curve and using method

Abstract

The invention discloses ultrasonic continuous welding equipment capable of moving along any curve and a using method, and the equipment comprises a workbench used for placing and fixing a workpiece; a movement mechanism; the welding actuator is connected with the movement mechanism and used for melting the workpiece to achieve welding connection, the welding actuator comprises a pressure maintaining device, an ultrasonic welding machine and a pre-pressing device, the welding actuator makes contact with the workpiece all the time through the pressure maintaining device, ultrasonic continuous welding is achieved through the ultrasonic welding machine, and the workpiece is pressed through the pre-pressing device; and the workpiece is prevented from tilting due to high-temperature melting deformation. The ultrasonic continuous welding device solves the welding quality problem caused by uneven workpiece surfaces during existing ultrasonic continuous welding, solves the limitation that an existing ultrasonic welding device can only weld straight lines in a welding surface or a curved surface, can enable ultrasonic continuous welding to enter any curve in space, and is simple and compact in equipment structure and convenient to operate. The device can be driven by any movement mechanism such as a mechanical arm, a truss and a virtual shaft, and is suitable for industrial popularization and application.

Description

Technical Field

[0001] The invention belongs to the technical field of ultrasonic welding, and in particular relates to an ultrasonic continuous welding device capable of moving along an arbitrary curve and a use method thereof. Background Art

[0002] There are various connection methods used for composite components, mainly including riveting, gluing, bolting and welding. The welding connection methods are mainly composed of resistance welding, induction welding and ultrasonic welding. Existing ultrasonic welding is mainly spot welding, that is, the ultrasonic welding head welds after contacting the workpiece, and then immediately loses contact with the workpiece. The welding range is small and can only be used for small-range connection, and long-distance welding between workpieces cannot be achieved.

[0003] During the ultrasonic continuous welding process, the welding head needs to be in close contact with the workpiece. During the welding process, the workpiece in contact with the welding head melts and deforms, causing the workpiece to tilt at the front end of the welding head movement, affecting the weldability. The tilted workpiece needs to be pressed down at the front of the welding head so that the workpiece in front of the welding head is always in contact with the welded workpiece during the movement. At the same time, where the welding head passes, since the workpiece is in a molten state, it is still necessary to apply pressure to keep the workpiece in full contact with the workpiece for a short period of time. However, the existing ultrasonic continuous welding equipment can only move along the straight line formed by the pre-pressing head-welding head-pressure-keeping head, or the projection of the straight line under the curved surface during the continuous welding process, and cannot make an S-shaped movement on a plane or curved surface, which leads to the limitations of the existing ultrasonic continuous welding. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, the purpose of the present invention is to provide an ultrasonic continuous welding device that can move along an arbitrary curve and a method of using the device.

[0005] In order to achieve the above purpose and the above technical effect, the technical solution adopted by the present invention is:

[0006] An ultrasonic continuous welding device capable of moving along an arbitrary curve, comprising:

[0007] Workbench, used to place and fix workpieces;

[0008] sports organizations;

[0009] The welding actuator is connected to the motion mechanism, and the motion mechanism drives the welding actuator to move. The welding actuator melts the workpiece and realizes the welding connection. The welding actuator includes a pressure holding device, an ultrasonic welder and a pre-pressing device. The pressure holding device is used to achieve constant contact with the workpiece, and the ultrasonic welder is used to achieve ultrasonic continuous welding. The pre-pressing device presses the workpiece to prevent the workpiece from warping due to high-temperature melting deformation.

[0010] Furthermore, the pressure-holding device and the pre-pressing device are respectively installed on the ultrasonic welding machine, and the pressure-holding device and the pre-pressing device are respectively connected to a driving motor, and the driving motor drives the pressure-holding device and the pre-pressing device to rotate around the axis of the ultrasonic welding machine.

[0011] Furthermore, the pressure-maintaining device and the pre-pressing device are respectively installed on two opposite sides of the ultrasonic welding machine.

[0012] Furthermore, the pressure-maintaining device includes a main gear, a sub-gear, a pressure-maintaining turntable, a guide cylinder I, a driving cylinder and a pressure-maintaining head. The main gear is connected to the driving motor, and the main gear and the sub-gear are meshed with each other. The pressure-maintaining turntable is arranged below the sub-gear and is connected to the sub-gear. The guide cylinder I is arranged below the pressure-maintaining turntable and is connected to the pressure-maintaining turntable. The guide cylinder I and the driving cylinder are respectively connected to the pressure-maintaining head. The main gear is driven to rotate by the driving motor, which drives the sub-gear and the pressure-maintaining turntable to rotate, thereby driving the guide cylinder I, the driving cylinder and the pressure-maintaining head to rotate around the axis of the ultrasonic welder. The relative distance between the pressure-maintaining head and the welding head at the end of the ultrasonic welder is adjustable.

[0013] Furthermore, the pressure maintaining head includes a chamber and a pressure rod, the chamber is provided with a groove, a plurality of threaded holes, an air inlet and a common pressure chamber, a plurality of cylindrical chambers are opened at the lower part of the chamber, a plurality of pressure rods are arranged at the lower part of the cylindrical chamber, the pressure rod can reciprocate vertically in the cylindrical chamber, the groove is used to be connected with the guide cylinder I and the driving cylinder, and the distance between the pressure maintaining head and the welding head is fixed by tightening the bolts in the threaded holes, the gas enters the common pressure chamber from the air inlet, so that the air pressure is evenly distributed in the common pressure chamber, the area of ​​all cylindrical chambers is the same, and the pressure on the pressure rod is the same, and when the pressure rod contacts the workpiece, it can retract and contour the surface of the workpiece so that the pressure rod can contact the workpiece as much as possible.

[0014] Furthermore, the ultrasonic welder includes a driving cylinder, a welding machine hardware body and a welding head. The welding machine hardware body can vertically reciprocate under the action of the driving cylinder. The welding head is arranged below the welding machine hardware body and can directly contact the workpiece and melt the workpiece.

[0015] Furthermore, the pre-pressing device includes active teeth, passive teeth, a guide cylinder II and a pre-pressing head. The pre-pressing head presses the workpiece in front of the welding head at the end of the ultrasonic welding machine to prevent the workpiece from warping due to high-temperature melting deformation. The active teeth are connected to the driving motor, the active teeth are meshed with the passive teeth, the guide cylinder II is fixed on the passive teeth, and the guide cylinder II is connected to the pre-pressing head. The driving motor drives the active teeth to rotate, driving the passive teeth, guide cylinder II and pre-pressing head to rotate around the axis of the ultrasonic welding machine. The relative distance between the pre-pressing head and the welding head at the end of the ultrasonic welding machine is adjustable.

[0016] Furthermore, the pre-pressing head comprises a body and a pressing bead, and the pressing bead can rotate arbitrarily in the body.

[0017] Furthermore, the motion mechanism is a robotic arm, a truss motion mechanism, a connecting rod motion mechanism or a virtual axis.

[0018] The present invention also discloses a method for using an ultrasonic continuous welding device that can move along an arbitrary curve, comprising the following steps:

[0019] Step 1: Place the workpiece to be welded on the workbench. The surface of the workpiece is the surface to be welded.

[0020] The motion mechanism drives the welding actuator to a specified distance above the workpiece, and the driving motor drives the pressure holding device, ultrasonic welder, and pre-pressing device to move downward to contact the workpiece. The ultrasonic welding head of the ultrasonic welder starts ultrasonic welding, and the chamber is inflated to make the pressure holding head contact the workpiece.

[0021] Step 2: The welding actuator moves to perform ultrasonic continuous welding. When encountering a turning workpiece, the driving motor connected to the pre-pressing device works to rotate the pre-pressing head around the axis of the welding head. The direction of rotation is the direction of change of the welding surface of the workpiece. While the pre-pressing head rotates around the welding head, the entire welding actuator needs to move along the workpiece direction to ensure that the distance between the pre-pressing head and the welding head remains unchanged.

[0022] Step 3: The welding actuator passes through the corner of the workpiece and performs ultrasonic continuous welding;

[0023] Step 4: When the pressure-maintaining device passes through the bend, the driving motor connected to the pressure-maintaining device drives the pressure-maintaining head to rotate around the welding head, so that the pressure-maintaining head is always in contact with the workpiece. During this process, the pre-pressure head needs to rotate relative to the welding head.

[0024] Step 5: The welding actuator passes through the corner of the workpiece and performs ultrasonic continuous welding;

[0025] Step 6: After welding is completed, the welding actuator is driven away from the workpiece and the workbench through the motion mechanism.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention discloses an ultrasonic continuous welding device that can move along an arbitrary curve and a method for using the device, which solves the welding quality problem caused by the uneven surface of a workpiece during the existing ultrasonic continuous welding, and solves the limitation that the existing ultrasonic welding device can only weld straight lines within a surface or a curved surface, and can enable ultrasonic continuous welding to enter the field of arbitrary curves in space. The overall device has a simple and compact structure, and can be driven by any motion mechanism such as a mechanical arm, a truss, a virtual axis, etc., and is suitable for industrial promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the welding actuator of the present invention;

[0030] Figure 3-4 They are schematic structural diagrams of the pressure-maintaining device of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the ultrasonic welding machine of the present invention;

[0032] Figure 6-7 They are schematic diagrams of the structure of the pre-pressing device of the present invention;

[0033] Figure 8 It is a schematic diagram of the positions of the pressure-maintaining device, ultrasonic welding machine and pre-pressing device of the present invention;

[0034] Fig. 9 It is a structural schematic diagram of the pressure-maintaining head of the present invention;

[0035] Fig.10 This is a layout diagram of the internal chamber of the pressure-maintaining head of the present invention;

[0036] Figure 11-12 They are respectively structural schematic diagrams of the pre-pressing head of the present invention;

[0037] Fig.13 It is a structural schematic diagram of step 1 of the present invention;

[0038] Fig.14 It is a structural schematic diagram of step 2 of the present invention;

[0039] Fig.15 It is a structural schematic diagram of step three of the present invention;

[0040] Fig.16 It is a structural schematic diagram of step 4 of the present invention;

[0041] Fig.17 It is a structural schematic diagram of step five of the present invention;

[0042] Fig.18 It is a structural schematic diagram of step six of the present invention. DETAILED DESCRIPTION

[0043] The present invention is described in detail below 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 definite definition of the protection scope of the present invention.

[0044] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0045] like Figure 1-18 As shown, the present invention discloses an ultrasonic continuous welding device that can move along an arbitrary curve, which solves the problem that the existing ultrasonic continuous welding device can only weld along a straight line in a plane or a projected straight line in a curved surface.

[0046] The present invention discloses an ultrasonic continuous welding device capable of moving along an arbitrary curve, which mainly comprises:

[0047] The motion mechanism, preferably a robot arm 1, a truss motion mechanism, a connecting rod motion mechanism, a virtual axis, etc., mainly provides a motion source for the welding actuator 2;

[0048] The welding actuator 2 is a device part that is in direct contact with the workpiece. Its main function is to convert electrical energy into mechanical energy, generate heat through high-frequency vibration to melt the workpiece to achieve welding connection. The welding actuator 2 mainly includes a mounting frame 4, a driving motor 5, a pressure-maintaining device 6, an ultrasonic welder 7, and a pre-pressing device 8. The pressure-maintaining device 6 is used to achieve constant contact with the workpiece 26, and the ultrasonic welder 7 is used to achieve ultrasonic continuous welding. The pre-pressing device 8 presses the workpiece 26 to prevent the workpiece 26 from warping due to high-temperature melting deformation, so that the quality of the workpiece after welding is better;

[0049] The main function of the workbench 3 is to provide a carrier and support for the placement and fixation of the workpiece 26.

[0050] In the present invention, the pressure-holding device 6 and the pre-pressing device 8 are installed on the ultrasonic welder 7 through a gear structure. The pressure-holding device 6 and the pre-pressing device 8 are respectively connected to a driving motor 5, that is, there are two driving motors 5, and the pressure-holding device 6 and the pre-pressing device 8 are respectively driven by the two driving motors 5 to rotate around the axis of the ultrasonic welder 7.

[0051] The pressure-maintaining device 6 mainly includes a main gear 9, a sub-gear 10, a pressure-maintaining turntable 11, a guide cylinder Ⅰ12, a driving cylinder 13, a pressure-maintaining head 14, etc. The main gear 9 is meshed with the sub-gear 10, and one of the driving motors 5 is connected to the main gear 9 for providing rotational power. The pressure-maintaining turntable 11 is arranged below the sub-gear 10 and is connected to the sub-gear 10. The guide cylinder Ⅰ12 is arranged below the pressure-maintaining turntable 11 and is connected to the pressure-maintaining turntable 11. The guide cylinder Ⅰ12 and the driving cylinder 13 are respectively connected to the pressure-maintaining head 14. The main gear 9 is driven to rotate by the driving motor 5, which drives the sub-gear 10 and the pressure-maintaining turntable 11 to rotate, thereby driving the guide cylinder Ⅰ12, the driving cylinder 13 and the pressure-maintaining head 14 to rotate around the axis of the ultrasonic welder 7. The relative distance between the pressure-maintaining head 14 and the end of the ultrasonic welder 7 can be adjusted by the slide groove at the end of the cylinder.

[0052] The ultrasonic welder 7 includes a driving cylinder 15, a welding machine hardware body 16 and a welding head 17. The welding machine hardware body 16 is a component that converts ultrasonic electrical energy into mechanical energy. The welding head 17 is a component that is in direct contact with the workpiece. The heat generated by the mechanical energy of high-frequency vibration is used to melt the workpiece 26 to achieve welding. The welding machine hardware body 16 can reciprocate up and down or vertically along the axis of the welder under the action of the driving cylinder 15.

[0053] The pressure-maintaining head 14 includes a chamber 18 and a pressure rod 19. The chamber 18 has a groove 20, a plurality of threaded holes 21, an air inlet 22 and a common pressure chamber 23. The groove 20 is used to connect with the guide cylinder Ⅰ12 and the driving cylinder 13. The groove 20 can be stuck at the end of the cylinder (guide cylinder Ⅰ12, driving cylinder 13). The distance between the pressure-maintaining head 14 and the welding head 17 can be freely adjusted at the end, and the distance between the pressure-maintaining head 14 and the welding head 17 can be fixed by tightening the bolts in the threaded holes 21. The gas enters the common pressure chamber 23 from the air inlet 22. A plurality of cylindrical chambers 24 are opened at the lower part of the chamber 18. A plurality of pressure rods 25 are arranged at the lower part of the cylindrical chambers 24. The pressure rods 25 can reciprocate up and down or vertically in the cylindrical chambers 24. The gas enters the common pressure chamber 23 from the air inlet 22, so that the air pressure is evenly distributed in the common pressure chamber 23. Since the areas of the cylindrical chambers 24 are the same, the pressure on the pressure rod 25 is the same. When the pressure rod 25 contacts the workpiece, due to the uneven surface of the workpiece, the traditional flat pressure block cannot completely contact the workpiece, resulting in different consolidation pressures of the workpiece, thereby causing defects. The pressure maintaining head 14 in the present invention is composed of multiple pressure rods 25. When encountering a workpiece with an uneven surface, it can retract and contour the surface of the workpiece so that the pressure rod 25 can contact the workpiece as much as possible, thereby improving the welding forming quality.

[0054] The pre-pressing device 8 includes an active tooth 26, a passive tooth 27, a guide cylinder II 28 and a pre-pressing head 29. The pre-pressing head 29 presses the workpiece 26 in front of the welding head 17 at the end of the ultrasonic welder 7 to prevent the workpiece 26 from curling up due to high-temperature melting deformation. Another driving motor 5 is connected to the active tooth 26 to provide rotational power. The active tooth 26 is meshed with the passive tooth 27. The guide cylinder II 28 is fixed on the passive tooth 27. The guide cylinder II 28 is connected to the pre-pressing head 29. The active tooth 26 is driven to rotate by the driving motor 5, driving the passive tooth 27, the guide cylinder II 28, and the pre-pressing head 29 to rotate around the axis of the ultrasonic welder 7. The relative distance between the pre-pressing head 29 and the end of the ultrasonic welder 7 can be adjusted through the slide groove at the end of the cylinder.

[0055] The pre-pressing head 29 includes a body 30 and a pressing ball 31 . The pressing ball 31 can rotate arbitrarily in the body 30 .

[0056] The present invention also discloses a method for using an ultrasonic continuous welding device that can move along an arbitrary curve, comprising the following steps:

[0057] Step 1: Place the workpiece 26 to be welded on the workbench 3. The surface of the workpiece 26 is the surface to be welded. The workpiece 26 is composed of two parts forming a "7" shape.

[0058] The welding actuator 2 is driven by the motion mechanism to reach a specified distance above the workpiece 26, and the driving motor 5 connected to the pressure-holding device 6, the pushing cylinder 15 of the ultrasonic welder 7, and the driving motor 5 connected to the pre-pressing device 8 are started, and the pressure-holding device 6, the ultrasonic welder 7, and the pre-pressing device 8 are driven to move downward to contact the workpiece 26 respectively, and the ultrasonic welding is started by the welding head 17 of the ultrasonic welder 7, and the chamber 18 is inflated to make the pressure-holding head 14 contact the workpiece;

[0059] Step 2: The welding actuator 2 moves forward to perform ultrasonic continuous welding. When encountering a turning workpiece, the driving motor of the pre-pressing device 8 works to rotate the pre-pressing head 29 around the axis of the welding head 17. The direction of rotation is the direction of change of the welding surface of the workpiece. When the pre-pressing head 29 rotates around the welding head 17, the entire welding actuator 2 needs to move along the workpiece direction to ensure that the distance between the pre-pressing head 29 and the welding head 17 remains unchanged.

[0060] Step 3: The welding actuator 2 passes through the corner of the workpiece and performs ultrasonic continuous welding;

[0061] Step 4: The pressure-maintaining device passes through the bend. At this time, the driving motor of the pressure-maintaining device 6 drives the pressure-maintaining head 14 to rotate around the welding head 17, so that the pressure-maintaining head 14 is always in contact with the workpiece 26. In this process, the pre-pressing head 29 needs to rotate relative to the welding head 17. Therefore, the pre-pressing head 29 and the pressure-maintaining head 14 are linked to ensure that they are always on the workpiece 26 during the welding process.

[0062] Step 5: The welding actuator 2 passes through the corner of the workpiece and performs ultrasonic continuous welding;

[0063] Step 6: After welding is completed, the welding actuator 2 is driven away from the workpiece 26 and the workbench 3 by the motion mechanism.

[0064] Parts or structures not specifically described in the present invention may adopt existing technologies or existing products and will not be described in detail here.

[0065] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An ultrasonic continuous welding device capable of moving along any curve, characterized in that: include: Workbench, used to place and fix workpieces; sports organizations; The welding actuator is connected to the motion mechanism, and the motion mechanism drives the welding actuator to move. The welding actuator melts the workpiece and realizes the welding connection. The welding actuator includes a pressure holding device, an ultrasonic welder and a pre-pressing device. The pressure holding device is used to achieve constant contact with the workpiece, and the ultrasonic welder is used to achieve ultrasonic continuous welding. The pre-pressing device presses the workpiece to prevent the workpiece from warping due to high-temperature melting deformation.

2. The ultrasonic continuous welding device capable of moving along any curve according to claim 1, characterized in that: The pressure-maintaining device and the pre-pressing device are respectively installed on the ultrasonic welding machine, and are respectively connected to a driving motor, and the driving motor drives the pressure-maintaining device and the pre-pressing device to rotate around the axis of the ultrasonic welding machine.

3. The ultrasonic continuous welding device capable of moving along any curve according to claim 2, characterized in that: The pressure-maintaining device and the pre-pressing device are respectively installed on two opposite sides of the ultrasonic welding machine.

4. The ultrasonic continuous welding device capable of moving along an arbitrary curve according to claim 1, characterized in that: The pressure-maintaining device includes a main gear, a sub-gear, a pressure-maintaining turntable, a guide cylinder I, a driving cylinder and a pressure-maintaining head. The main gear is connected to the driving motor, and the main gear and the sub-gear are meshed with each other. The pressure-maintaining turntable is arranged below the sub-gear and is connected to the sub-gear. The guide cylinder I is arranged below the pressure-maintaining turntable and is connected to the pressure-maintaining turntable. The guide cylinder I and the driving cylinder are respectively connected to the pressure-maintaining head. The main gear is driven to rotate by the driving motor, which drives the sub-gear and the pressure-maintaining turntable to rotate, thereby driving the guide cylinder I, the driving cylinder and the pressure-maintaining head to rotate around the axis of the ultrasonic welder. The relative distance between the pressure-maintaining head and the welding head at the end of the ultrasonic welder is adjustable.

5. The ultrasonic continuous welding device capable of moving along an arbitrary curve according to claim 4, characterized in that: The pressure-maintaining head includes a chamber and a pressure rod. The chamber is provided with a groove, a plurality of threaded holes, an air inlet and a common pressure chamber. A plurality of cylindrical chambers are opened at the lower part of the chamber. A plurality of pressure rods are arranged at the lower part of the cylindrical chamber. The pressure rod can reciprocate vertically in the cylindrical chamber. The groove is used to be connected with the guide cylinder I and the driving cylinder. The distance between the pressure-maintaining head and the welding head is fixed by tightening the bolts in the threaded holes. The gas enters the common pressure chamber from the air inlet, so that the air pressure is evenly distributed in the common pressure chamber. The areas of all cylindrical chambers are the same, and the pressure on the pressure rods is the same. When the pressure rod contacts the workpiece, it can retract and contour the surface of the workpiece so that the pressure rod can contact the workpiece as much as possible.

6. The ultrasonic continuous welding device capable of moving along an arbitrary curve according to claim 1, characterized in that: The ultrasonic welder comprises a driving cylinder, a welding machine hardware body and a welding head. The welding machine hardware body can vertically reciprocate under the action of the driving cylinder. The welding head is arranged below the welding machine hardware body and can directly contact with a workpiece and melt the workpiece.

7. The ultrasonic continuous welding device capable of moving along an arbitrary curve according to claim 1, characterized in that: The pre-pressing device includes active teeth, passive teeth, a guide cylinder II and a pre-pressing head. The pre-pressing head presses the workpiece in front of the welding head at the end of the ultrasonic welding machine to prevent the workpiece from warping due to high-temperature melting deformation. The active teeth are connected to the driving motor, the active teeth are meshed with the passive teeth, the guide cylinder II is fixed on the passive teeth, and the guide cylinder II is connected to the pre-pressing head. The active teeth are driven to rotate by the driving motor, driving the passive teeth, the guide cylinder II and the pre-pressing head to rotate around the axis of the ultrasonic welding machine. The relative distance between the pre-pressing head and the welding head at the end of the ultrasonic welding machine is adjustable.

8. The ultrasonic continuous welding device capable of moving along an arbitrary curve according to claim 7, characterized in that: The pre-pressing head comprises a body and a pressing bead, and the pressing bead can rotate arbitrarily in the body.

9. The ultrasonic continuous welding device capable of moving along any curve according to claim 1, characterized in that: The motion mechanism is a mechanical arm, a truss motion mechanism, a connecting rod motion mechanism or a virtual axis.

10. A method for using an ultrasonic continuous welding device that can move along an arbitrary curve, characterized in that: The following steps are involved: Step 1: Place the workpiece to be welded on the workbench. The surface of the workpiece is the surface to be welded. The motion mechanism drives the welding actuator to a specified distance above the workpiece, and the driving motor drives the pressure holding device, ultrasonic welder, and pre-pressing device to move downward to contact the workpiece. The ultrasonic welding head of the ultrasonic welder starts ultrasonic welding, and the chamber is inflated to make the pressure holding head contact the workpiece. Step 2: The welding actuator moves to perform ultrasonic continuous welding. When encountering a turning workpiece, the driving motor connected to the pre-pressing device works to rotate the pre-pressing head around the axis of the welding head. The direction of rotation is the direction of change of the welding surface of the workpiece. While the pre-pressing head rotates around the welding head, the entire welding actuator needs to move along the workpiece direction to ensure that the distance between the pre-pressing head and the welding head remains unchanged. Step 3: The welding actuator passes through the corner of the workpiece and performs ultrasonic continuous welding; Step 4: When the pressure-maintaining device passes through the bend, the driving motor connected to the pressure-maintaining device drives the pressure-maintaining head to rotate around the welding head, so that the pressure-maintaining head is always in contact with the workpiece. During this process, the pre-pressure head needs to rotate relative to the welding head. Step 5: The welding actuator passes through the corner of the workpiece and performs ultrasonic continuous welding; Step 6: After welding is completed, the welding actuator is driven away from the workpiece and the workbench through the motion mechanism.

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