Device and method for regulating residual stress of castings after heat treatment

Abstract

The present invention relates to the technical field of residual stress control of castings, specifically to a device and method for controlling residual stress of castings after heat treatment. In order to solve the problem that the commonly used methods for controlling residual stress of castings after heat treatment have poor control effects on stress concentration areas or internal residual stress of castings, a device and method for controlling residual stress of castings after heat treatment are provided, comprising a vibration aging mechanism and a shot peening strengthening mechanism, wherein the vibration aging mechanism comprises a vibration reduction platform, an elastic pad, and an exciter, and the elastic pad is fixed to the upper surface of the vibration reduction platform; the shot peening strengthening mechanism comprises two linear modules, two six-axis robotic arms, and two sets of shot peening assemblies, and the two six-axis robotic arms are respectively fixed on the two linear modules, and the two sets of shot peening assemblies both comprise shot peening tubes, and the shot peening tubes are fixed to the end of the six-axis robotic arms. When in use, the castings are synchronously coupled and controlled by the vibration aging mechanism and the shot peening strengthening mechanism. The control device described in the present invention has a simple structure and is easy to operate.

Description

Technical Field

[0001] The present invention relates to the technical field of residual stress control of castings, and in particular to a device and method for controlling the residual stress of castings after heat treatment. Background Art

[0002] Residual stress in castings is a common problem in mechanical manufacturing, directly affecting their dimensional stability, fatigue life, and corrosion resistance. Residual stress primarily arises from uneven cooling and phase transformation during heat treatment. If uncontrolled, these residual stresses can cause deformation or even cracking during subsequent processing or use. Therefore, effectively eliminating or regulating residual stress in castings has been a key research focus in the manufacturing industry. Currently, the most commonly used methods for regulating residual stress in castings after heat treatment include heat aging, vibration aging, and shot peening. While heat aging is effective, it has a long cycle and can reduce residual stress while also causing a decrease in material properties. Vibration aging redistributes stress within the casting through mechanical vibration, but its effect primarily homogenizes the overall residual stress distribution, leaving room for improvement in regulating areas of stress concentration. Shot peening, on the other hand, uses high-speed projectiles to impact the surface, introducing surface compressive stress to offset tensile stress. However, its depth of action is limited, resulting in poor regulation of residual stress within the casting and difficulty in addressing the residual stress within the casting. Summary of the Invention

[0003] In order to solve the problem that the commonly used method for regulating the residual stress of castings after heat treatment has poor regulation effect on the stress concentration area or internal residual stress of castings, the present invention provides a new device and method for regulating the residual stress of castings after heat treatment.

[0004] The present invention is achieved by adopting the following technical solutions:

[0005] A device for regulating residual stress of heat-treated castings, comprising a vibration aging mechanism and a shot peening mechanism;

[0006] The vibration aging mechanism includes a vibration reduction platform, an elastic pad for supporting the casting, and an exciter mounted on the casting through a fixture. The elastic pad is fixed to the surface of the vibration reduction platform.

[0007] The shot peening strengthening mechanism includes two linear modules arranged on the left and right sides of the casting, two six-axis robotic arms, and two sets of shot peening components for performing shot peening on the casting. The two linear modules are arranged in the front-to-back direction, and the two six-axis robotic arms are fixed on the two linear modules respectively. The two sets of shot peening components include a shot peening pipe connected to the high-pressure pipe, and the shot peening pipe is fixed to the end of the corresponding six-axis robotic arm.

[0008] Principle: During operation, the vibration aging mechanism and shot peening mechanism operate simultaneously, achieving a coupled process of vibration aging and shot peening. In the vibration aging mechanism, an exciter causes the casting to vibrate, while a vibration damping platform prevents the casting vibration from being transmitted to the shot peening mechanism, which would affect the processing accuracy and service life of the shot peening mechanism. In the shot peening mechanism, a linear module and a six-axis robotic arm are used to position the shot peening assembly, which then performs the shot peening process on the casting.

[0009] Furthermore, the vibration reduction platform includes a working plate, multiple damping spring shock absorbers, air-floating shock absorbers, and multiple conical rubber pads. The air-floating shock absorbers include air tubes, multiple airbags arranged in an array, and airbag slots for accommodating the airbags. The working plate is positioned above the airbags, and the multiple damping spring shock absorbers are adapted to the multiple airbags and arranged between the working plate and the corresponding airbags. The multiple conical rubber pads are distributed below the air-floating shock absorbers. The vibration reduction platform structure is specified and standardized, with a four-stage vibration reduction structure comprising an elastic pad, a damping spring shock absorber, an air-floating shock absorber, and a conical rubber pad. The air-floating shock absorber utilizes the flexibility of the multiple airbags to provide vibration reduction. By adjusting the air pressure to accommodate castings of varying weights, the air-floating shock absorber effectively reduces the impact of vibration from the exciter on components other than the castings.

[0010] Furthermore, there are four elastic pads, which are arranged below the four corners of the casting when in use, so that the structure is concrete and standardized.

[0011] Furthermore, the work plate's upper surface is evenly distributed with multiple first inverted T-shaped slots, all of which run in the front-to-back direction, and multiple second inverted T-shaped slots, all of which run in the left-to-right direction. Four elastic pads are secured to the work plate with T-bolts and nuts, with the T-bolts slidingly fitting within the first and second inverted T-shaped slots. The structural design of the first and second inverted T-shaped slots on the work plate's upper surface allows the four elastic pads to adjust their positions according to the size and shape of the casting, facilitating support for castings of varying sizes and shapes.

[0012] Furthermore, the four elastic pads are all I-shaped rubber pads.

[0013] Furthermore, the vibration aging mechanism also includes a sensor attached to the surface of the casting and used to monitor the vibration state of the casting. The sensor monitors the vibration state of the casting and adjusts the vibration aging process parameters according to the vibration state of the casting, thereby improving its control effect.

[0014] Furthermore, the device also includes an integrated mechanism, which includes a sheet metal protective cover with a transparent observation window and a human-machine interface for setting processing instructions on the front, a sliding door on the back, and a vibration aging mechanism and a shot peening mechanism placed within the sheet metal protective cover. The sheet metal protective cover also houses an electrical control cabinet and a pneumatic control cabinet. The design of the integrated mechanism makes the device integrated and standardized.

[0015] Furthermore, the clamp is a G-shaped fixing clamp, which has a simple structure and is easy to implement.

[0016] A method for regulating residual stress of a heat-treated casting is implemented by using the above-mentioned device for regulating residual stress of a heat-treated casting, that is, synchronous coupling regulation of the casting is performed through a vibration aging mechanism and a shot peening strengthening mechanism.

[0017] A method for regulating residual stress of a heat-treated casting comprises the following steps: 1) establishing a three-dimensional model of the casting using Abaqus finite element simulation software, simulating the temperature field-stress field coupling during the heat treatment of the casting, and using the obtained heat treatment stress field as the initial stress field for regulation; 2) performing synchronous coupling regulation analysis of a vibration aging process and a shot peening process in the Abaqus finite element simulation software using the initial stress field obtained in step 1) as the initial state, and selecting vibration aging process parameters and shot peening process parameters that generate maximum dynamic stress as the vibration aging process parameters and shot peening process parameters for final regulation; and 3) using the above-described device for regulating residual stress of a heat-treated casting to implement synchronous coupling regulation of the vibration aging process and the shot peening process, wherein the vibration aging process parameters and shot peening process parameters are selected from the vibration aging process parameters and shot peening process parameters for final regulation determined in step 2).

[0018] The beneficial effects of the present invention are as follows: 1) A vibration aging-shot peening coupling control device is proposed for the first time, breaking through the bottleneck of the traditional process of "surface-internal" and being difficult to take into account at the same time, and is particularly suitable for high-end castings in the fields of aerospace, heavy machinery, etc.; 2) Through the structural design of the vibration reduction platform, a sufficient suspended structure is provided for the vibration aging process, so that the casting can generate vibration while also reducing the vibration transmission to the six-axis robotic arm, thereby ensuring the movement accuracy of the six-axis robotic arm; 3) High-speed projectiles are ejected synchronously during the vibration process, and the vibration energy is used to enhance the impact effect of the projectile, forming a deeper compressive stress layer on the surface. At the same time, vibration assists in uniformizing the surface compressive stress, making the connection between the surface stress and the internal stress relatively smooth, and making the compressive stress layer introduced by the shot peening process more stable; 4) The present invention It is clear that through the synchronous coupling control of vibration aging and shot peening, effective stress control is achieved on the surface and inside of the casting at the same time, that is, not only the uniform distribution control of the internal stress layer is achieved, but also the high-frequency micro-strain of vibration aging is used to promote the reorganization of the dislocation structure introduced by shot peening, thereby enhancing the uniformity and stability of the compressive stress layer. At the same time, the stress field redistribution effect caused by the transmission of vibration energy through the elastic medium indirectly increases the compressive stress depth, and also reduces the residual stress in the stress concentration area, thereby improving the stress control efficiency to a certain extent; 5) The control device has a simple structure and is easy to operate, and is suitable for industrial applications; 6) The control device can also perform vibration aging processing or shot peening processing on the workpiece separately according to the processing needs of the workpiece, with high resource utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 Schematic diagram of the overall structure of the control device of the present invention;

[0022] Figure 2 for Figure 1 A top view of

[0023] Figure 3 It is a schematic diagram of the assembly structure of the vibration aging mechanism and the shot peening mechanism;

[0024] Figure 4 It is a schematic diagram of the enlarged structure of the shot peening component and the end of the six-axis robotic arm;

[0025] Figure 5 Schematic diagram of the vibration reduction platform after removing the workpiece plate;

[0026] Figure 6 It is a structural diagram of the damping spring shock absorber;

[0027] Figure 7 It is a structural diagram of the air floating shock absorber;

[0028] Figure 8 Schematic diagram of effective stress distribution of casting after heat treatment;

[0029] Figure 9 Schematic diagram of stress distribution in the S11 direction after heat treatment of the casting;

[0030] Figure 10 Schematic diagram of effective stress distribution of castings before and after vibration aging and shot peening;

[0031] Figure 11 Schematic diagram of stress distribution in the S11 direction of the casting before and after vibration aging and shot peening;

[0032] Figure 12 Schematic diagram of effective stress distribution of casting after vibration aging and shot peening processing;

[0033] Figure 13 Schematic diagram of stress distribution in the S11 direction of the casting after vibration aging and shot peening processing;

[0034] Figure 14 Schematic diagram of the stress distribution in the S11 direction at the center line of the casting (surface-interior-surface).

[0035] In the figure: 1- vibration aging mechanism, 101- elastic pad, 102- exciter, 103- working plate, 104- damping spring shock absorber, 105- air floating shock absorber, 1051- air pipe, 1052- air bag, 1053- air bag groove, 106- conical rubber pad, 107- first inverted T-shaped slot, 108- second inverted T-shaped slot, 109- sensor, 2- shot peening mechanism, 201- linear module, 202- six-axis robot arm, 203- shot peening tube, 3- sheet metal protection cover, 4- transparent observation window, 5- human-machine interface, 6- sliding door, 7- casting, 8- electrical control cabinet, 9- air circuit control cabinet. DETAILED DESCRIPTION

[0036] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0037] In the description, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance. It should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, removable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms based on specific circumstances.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all the embodiments.

[0039] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] like Figures 1 to 7 As shown, a device for regulating residual stress of a heat-treated casting includes a vibration aging mechanism 1 and a shot peening strengthening mechanism 2;

[0041] The vibration aging mechanism 1 includes a vibration reduction platform, an elastic pad 101 for supporting the casting 7, and an exciter 102 mounted on the casting 7 through a clamp. The elastic pad 101 is fixed to the upper surface of the vibration reduction platform.

[0042] The shot peening strengthening mechanism 2 includes two linear modules 201 arranged on the left and right sides of the casting 7, two six-axis robotic arms 202, and two sets of shot peening components for performing the shot peening process on the casting 7. The two linear modules 201 are arranged in the front-to-back direction, and the two six-axis robotic arms 202 are fixed on the two linear modules 201 respectively. The two sets of shot peening components include a shot peening pipe 203 connected to the high-pressure pipe, and the shot peening pipe 203 is fixed to the end of the corresponding six-axis robotic arm 202.

[0043] Principle: During operation, the vibration aging mechanism 1 and the shot peening mechanism 2 operate simultaneously, achieving a coupled process of vibration aging and shot peening. In the vibration aging mechanism 1, the exciter 102 causes the casting 7 to vibrate, and the vibration damping platform prevents the vibration of the casting 7 from being transmitted to the shot peening mechanism 2, which would affect the processing accuracy and service life of the shot peening mechanism 2. In the shot peening mechanism 2, the linear module 201 and the six-axis robot arm 202 are used to position the shot peening assembly, which then performs the shot peening process on the casting 7.

[0044] During specific implementation, the vibration reduction platform includes a working plate 103, multiple damping spring shock absorbers 104, an air-floating shock absorber 105, and multiple conical rubber pads 106. The air-floating shock absorber 105 includes an air tube 1051, multiple array-distributed air bags 1052, and an air bag groove 1053 for placing the air bags 1052. The working plate 103 is located above the air bags 1052. The multiple damping spring shock absorbers 104 are adapted to the multiple air bags 1052 and are arranged between the working plate 103 and the corresponding air bags 1052. The multiple conical rubber pads 106 are distributed below the air-floating shock absorber 105. The structure of the vibration reduction platform is concretized and standardized by setting up a four-level vibration reduction structure, namely, an elastic pad 101, a damping spring shock absorber 104, an air-floating shock absorber 105, and a conical rubber pad 106. The air-floating shock absorber 105 provides vibration reduction through the flexibility of multiple air bags 1052. By adjusting the size of the air pressure to adapt to castings 7 of different weights, the influence of the vibration caused by the exciter 102 on other components except the casting 7 is effectively reduced.

[0045] In specific implementation, there are four elastic pads 101. When in use, the four elastic pads 101 are arranged below the four corners of the casting 7, and the structure is concrete and standardized.

[0046] In specific implementation, the upper surface of the working plate 103 is evenly distributed with a plurality of first inverted T-shaped slots 107, all of which are arranged along the front-to-back direction, and a plurality of second inverted T-shaped slots 108, all of which are arranged along the left-to-right direction. The four elastic pads 101 are each secured to the working plate 103 by T-bolts and nuts, with the T-bolts slidingly fitting within the first inverted T-shaped slots 107 and the second inverted T-shaped slots 108. The structural design of the first inverted T-shaped slots 107 and the second inverted T-shaped slots 108 on the upper surface of the working plate 103 facilitates adjustment of the positions of the four elastic pads 101 according to the size and shape of the casting 7, thereby facilitating support of castings 7 of varying sizes and shapes.

[0047] In a specific implementation, the four elastic pads 101 are all I-shaped rubber pads.

[0048] In a specific implementation, the vibration aging mechanism 1 further includes a sensor 109 attached to the surface of the casting 7 and used to monitor the vibration state of the casting 7. The vibration state of the casting 7 is monitored by the sensor 109, and the vibration aging process parameters are set according to the vibration state of the casting 7, thereby improving its control accuracy.

[0049] In specific implementation, the device also includes an integrated mechanism, which includes a sheet metal protective cover 3, a transparent observation window 4 and a human-machine interface 5 for setting processing instructions are provided in front of the sheet metal protective cover 3, a sliding door 6 is provided behind the sheet metal protective cover 3, the vibration aging mechanism 1 and the shot peening strengthening mechanism 2 are placed in the sheet metal protective cover 3, and an electrical control cabinet 8 and a gas circuit control cabinet 9 are also provided in the sheet metal protective cover 3. The design of the integrated mechanism makes the device integrated and standardized.

[0050] In specific implementation, the clamp is a G-shaped fixing clamp, which has a simple structure and is easy to implement.

[0051] A method for regulating residual stress of a heat-treated casting is implemented by using the above-mentioned device for regulating residual stress of a heat-treated casting, that is, the casting 7 is synchronously coupled and regulated by the vibration aging mechanism 1 and the shot peening strengthening mechanism 2.

[0052] A method for regulating residual stress in a heat-treated casting comprises the following steps: 1) establishing a three-dimensional model of the casting 7 using Abaqus finite element simulation software, simulating the temperature field-stress field coupling during the heat treatment of the casting 7, and using the obtained heat treatment stress field as the initial stress field for regulation; 2) performing synchronous coupled regulation analysis of a vibration aging process and a shot peening process in the Abaqus finite element simulation software using the initial stress field obtained in step 1) as the initial state, and selecting vibration aging process parameters and shot peening process parameters that produce maximum dynamic stress as the vibration aging process parameters and shot peening process parameters for final regulation; and 3) implementing synchronous coupled regulation of the vibration aging process and the shot peening process using the above-described device for regulating residual stress in a heat-treated casting, wherein the vibration aging process parameters and shot peening process parameters are selected from the vibration aging process parameters and shot peening process parameters for final regulation determined in step 2).

[0053] In order to verify the effectiveness of the residual pressure control method of the present invention, the stress distribution diagram after processing by the method of the present invention is compared with the stress distribution diagram after vibration aging and then shot peening and heat treatment (the stress distribution after heat treatment is the initial stress distribution during the control method of the present invention): Figure 8 It can be seen from the figure that the internal distribution of the equivalent residual stress after heat treatment is uneven. Figure 9 It can be seen from the figure that after heat treatment, the casting 7 forms a peak tensile stress inside it and a compressive stress on the surface of the casting 7. The stress distribution from the inside to the surface is uneven, forming a high stress gradient. Figure 7 and Figure 8 It can be seen that the present invention is necessary to control the residual stress of the casting 7 after heat treatment. Figure 10 and Figure 12 A comparison revealed: Figure 12The internal stress equalization effect is more effective, and the depth of the surface compressive stress is deeper; Figure 11 and Figure 13 Comparison revealed that: due to the intervention of vibration, the connection between surface stress and internal stress was relatively smooth, the stress gradient on the surface of casting 7 was optimized, the residual compressive stress gradually decreased from the surface to the inside, and the residual stress homogenization effect was significant; in addition, Figure 9 The peak stress in the S11 direction is 164.8 MPa. Figure 11 The peak stress in the S11 direction is 321 MPa. Figure 13 The stress peak in the S11 direction is 150 MPa. It can be seen that the stress in the stress concentration area of the casting 7 is reduced after the control method of the present invention is used.

[0054] In addition, from Figure 14 It can be seen from the schematic diagram of the stress field distribution law that the stress distribution diagram after heat treatment shows that the residual compressive stress on the surface of the casting 7 is relatively large, and the internal residual tensile stress is relatively large, forming a large stress gradient. By comparing the coupling control method described in the present invention with the processing methods before and after vibration aging and shot peening, it can be seen that the surface residual compressive stress value of the casting 7 processed by the coupling control method described in the present invention increases by 60%, the surface compressive stress depth increases by 21%, and the overall stress equalization effect is improved by 16%.

[0055] The above description is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Although detailed descriptions have been made with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents; and such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions of the embodiments, and they should all be included in the scope of protection of the claims.

Claims

1. A device for regulating residual stress of castings after heat treatment, characterized in that: It includes a vibration aging mechanism (1) and a shot peening mechanism (2); The vibration aging mechanism (1) includes a vibration reduction platform, an elastic pad (101) for supporting a casting (7), and an exciter (102) mounted on the casting (7) through a clamp, wherein the elastic pad (101) is fixed on the upper surface of the vibration reduction platform, and the vibration reduction platform includes a working plate (103), a plurality of damping spring dampers (104), an air-floating damper (105), and a plurality of conical rubber pads (106). The air-floating damper (105) includes an air pipe (10 51), a plurality of airbags (1052) distributed in an array and an airbag groove (1053) for placing the airbags (1052), a working plate (103) is located above the airbags (1052), a plurality of damping spring shock absorbers (104) are adapted to the plurality of airbags (1052) and are arranged between the working plate (103) and the corresponding airbags (1052), and a plurality of conical rubber pads (106) are distributed below the air-floating shock absorbers (105); The shot peening strengthening mechanism (2) comprises two linear modules (201) respectively arranged on the left and right sides of the casting (7), two six-axis robotic arms (202), and two sets of shot peening components for performing a shot peening process on the casting (7), the two linear modules (201) are arranged in a front-to-back direction, the two six-axis robotic arms (202) are respectively fixed on the two linear modules (201), and the two sets of shot peening components each comprise a shot peening pipe (203) connected to a high-pressure pipe, and the shot peening pipe (203) is fixed to the end portion of the corresponding six-axis robotic arm (202).

2. The device for controlling residual stress of a heat-treated casting according to claim 1, wherein: There are four elastic pads (101).

3. The device for controlling residual stress of a heat-treated casting according to claim 2, wherein: The upper surface of the working plate (103) is evenly arranged with a plurality of first inverted T-shaped through grooves (107) whose length directions are arranged along the front-to-back direction and a plurality of second inverted T-shaped through grooves (108) whose length directions are arranged along the left-to-right direction. The four elastic pads (101) are fixed to the working plate (103) by T-shaped bolts and nuts, and the T-shaped bolts are slidably adapted in the first inverted T-shaped through grooves (107) and the second inverted T-shaped through grooves (108).

4. The device for controlling residual stress of a heat-treated casting according to claim 3, wherein: The four elastic pads (101) are all I-shaped rubber pads.

5. The device for controlling residual stress of a heat-treated casting according to claim 4, characterized in that: The vibration aging mechanism (1) further includes a sensor (109) adhered to the surface of the casting (7) and used to monitor the vibration state of the casting (7).

6. The device for controlling residual stress of a heat-treated casting according to claim 5, characterized in that: The device further comprises an integrated mechanism, which comprises a sheet metal protective cover (3), a transparent observation window (4) and a human-machine interaction interface (5) for setting processing instructions are provided in front of the sheet metal protective cover (3), a sliding door (6) is provided in the back of the sheet metal protective cover (3), a vibration aging mechanism (1) and a shot peening mechanism (2) are placed in the sheet metal protective cover (3), and an electrical control cabinet (8) and a gas circuit control cabinet (9) are also provided in the sheet metal protective cover (3).

7. The device for controlling residual stress of a heat-treated casting according to claim 6, wherein: The clamp is a G-type fixing clamp.

8. A method for regulating residual stress of a casting after heat treatment, characterized in that: The method is implemented by using a device for regulating residual stress of a heat-treated casting as described in claim 1 or 2 or 3 or 4 or 5 or 6 or 7, that is, the casting (7) is synchronously coupled and regulated by a vibration aging mechanism (1) and a shot peening strengthening mechanism (2).

9. A method for regulating residual stress of a casting after heat treatment, characterized in that: The method comprises the following steps: 1) establishing a three-dimensional model of a casting (7) by using Abaqus finite element simulation software, simulating the temperature field-stress field coupling during the heat treatment of the casting (7), and using the obtained heat treatment stress field as the initial stress field during the regulation; 2) using the initial stress field obtained in step 1) as the initial state in the Abaqus finite element simulation software to perform synchronous coupling regulation analysis of a vibration aging process and a shot peening process, and selecting vibration aging process parameters and shot peening process parameters that generate maximum dynamic stress as vibration aging process parameters and shot peening process parameters during the final regulation; 3) using a residual stress regulation device for a heat-treated casting as described in claim 1 or 2 or 3 or 4 or 5 or 6 or 7 to realize synchronous coupling regulation of a vibration aging process and a shot peening process, wherein the vibration aging process parameters and shot peening process parameters are selected from the vibration aging process parameters and shot peening process parameters during the final regulation determined in step 2).

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