Flexible full-degree-of-freedom ultrasonic applying and workpiece stress dynamic regulating and controlling system and method

Abstract

The invention discloses a compliant full-degree-of-freedom ultrasonic applying and workpiece stress dynamic regulation and control modular device and method which are used for improving the machining precision of complex workpieces, optimizing stress distribution, reducing local loads and improving the surface quality. The device comprises a compliant ultrasonic tool head, a multi-joint posture control mechanism and a multi-source monitoring closed-loop control system, the tool head rotates by 360 degrees through an annular guide rail, the multi-joint posture control mechanism and a compliant connecting structure adapt to a complex curved surface, and efficient coupling of vibration energy is achieved. The monitoring system collects force, acoustic emission and temperature signals in real time, the closed-loop control module dynamically adjusts the ultrasonic direction, amplitude, frequency and position, and local stress optimization and overall homogenization are achieved. According to the method, through graded application, local stress optimization and overall stress homogenization treatment, single-time machining stress accurate control and deformation controllability are achieved, modular design supports rapid switching, the method is suitable for batch production, machining stability, precision and surface quality are remarkably improved, material damage and energy consumption are reduced, and the method has wide industrial application prospects and economic benefits.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic-assisted machining and intelligent manufacturing control technology, specifically to a compliant, fully free-degree-of-freedom ultrasonic application system and its dynamic stress control method for machining processes. Background Technology

[0002] During manufacturing and processing, the stress state of a workpiece typically exhibits significant spatial non-uniformity and dynamic temporal variation. This non-uniform stress state stems from complex processing loads, differences in local material properties, curved surface shapes, frictional contact conditions, and variations in the force transmission path of the cutting tool or mold. When stress concentrates in localized areas, it can lead to problems such as processing defects, decreased processing accuracy, structural deformation, exacerbated surface damage, and reduced subsequent service performance. Therefore, achieving real-time sensing and dynamic control of the workpiece's stress state during processing has become a key technological direction for improving processing quality and structural stability.

[0003] In recent years, ultrasonic-assisted technology has been widely used to improve the stress state during machining due to its advantages such as energy disturbance, friction reduction, load reduction, and improved stress distribution. However, existing ultrasonic application methods are mainly based on fixed directions, fixed installation positions, and fixed transmission paths, and can usually only apply ultrasonic energy vertically, horizontally, or tangentially through tools or molds. These rigid, directional ultrasonic structures are difficult to adapt to the complex geometry of workpiece surfaces, and cannot dynamically intervene in specific target areas according to changes in stress state. This results in a limited range of ultrasonic assistance, low energy utilization efficiency, and insufficient control over local critical areas.

[0004] Currently, although monitoring technologies such as force sensors and acoustic emission sensors can provide information related to the stress state of workpieces, existing systems often lack the ability to use the monitoring results to simultaneously drive the real-time coordinated control of ultrasonic application direction, position, amplitude, and process parameters. Most existing ultrasonic-assisted systems employ open-loop control, meaning the ultrasonic application strategy cannot flexibly change with real-time variations in workpiece stress, thus failing to precisely control dynamically evolving stress concentration areas. Especially in scenarios requiring lateral, oblique, or locally enveloping ultrasonic energy application, the rigid structure of existing systems struggles to meet the requirements of free contact and compliant adaptation.

[0005] To adapt to the complex curved surfaces of machine tool workspaces and workpieces, an ultrasonic application device with high flexibility, conformal contact capability, and free orientation within a confined space is needed. However, in existing technologies, the ultrasonic application end mostly adopts a rigid connection and unidirectional coupling structure, which cannot achieve full-degree-of-freedom attitude adjustment while maintaining stable energy transfer. This results in the inability of ultrasound to effectively couple to any area of ​​the workpiece, severely limiting its application potential in dynamic stress control.

[0006] Furthermore, existing technologies lack a compact and controllable system capable of acquiring workpiece stress state in real time, dynamically adjusting ultrasonic application position and direction based on feedback, possessing compliant contact and full-degree-of-freedom application capabilities, and being suitable for machine tool processing environments. This makes it impossible to actively and precisely control the local stress field of the workpiece. Therefore, there is an urgent need to develop a compliant, full-degree-of-freedom ultrasonic application system and method to achieve intelligent, high-precision, and continuous dynamic control of workpiece stress state. This would effectively improve stress uniformity, suppress defect generation, enhance processing stability and quality, and overcome the inherent limitations of existing ultrasonic-assisted technologies in application direction, energy distribution, and control capabilities. Summary of the Invention

[0007] Based on this, it is necessary to provide a compliant, fully-free-degree-of-freedom ultrasonic application and dynamic stress control system and method for workpieces to address the aforementioned technical problems. By introducing compliant contact, a multi-degree-of-freedom application structure, a ring guide rail layout, and real-time stress feedback control, the system can achieve active, precise, and continuous control of local stress during workpiece processing, thereby significantly improving processing stability, dimensional accuracy, and surface quality. At the same time, it takes into account modularity, scalability, and machine tool integration, providing an intelligent solution for complex workpiece processing.

[0008] To achieve the above objectives, this invention provides a compliant, fully free-degree-of-freedom ultrasonic application system, comprising: a compliant ultrasonic application tool module, a workpiece stress and temperature monitoring module, and a control and adjustment module. The compliant ultrasonic application tool module is fixed to the top of the machine tool via a ring-shaped guide rail and can rotate around the workpiece, achieving 360° omnidirectional coverage. The compliant ultrasonic application tool achieves pitch, lateral, sideways, and oblique multi-degree-of-freedom movement through a multi-joint mechanism, and contacts the workpiece surface through a compliant connecting mechanism, ensuring controllable applied force and adapting to the curved shape of the workpiece, thereby achieving precise energy transfer.

[0009] Furthermore, the workpiece stress and temperature monitoring module includes a force sensor, an acoustic emission sensor, and a temperature sensor. It can collect local stress, acoustic signals, and temperature changes in the workpiece in real time and feed the data back to the control and adjustment module. The control and adjustment module analyzes the stress distribution and temperature effects, generates real-time strategies for optimizing ultrasonic application and process parameters, and dynamically adjusts the position, direction, amplitude, frequency, and process parameters of the application tool. This achieves closed-loop intelligent control, effectively avoiding material property changes caused by local overload or temperature rise, and improving machining accuracy and safety.

[0010] Furthermore, the compliant ultrasonic application tool module includes a compliant connection mechanism, an ultrasonic transducer, an amplitude transformer, an adjustable power ultrasonic generator, and a multi-joint structure. The compliant connection mechanism ensures controllable contact force and adapts to complex curved surfaces. The amplitude transformer efficiently transmits the high-frequency vibration energy generated by the transducer to the target area of ​​the workpiece. The multi-joint structure includes a pitch joint and a cantilever, enabling vertical, lateral, sideways, or oblique movements while ensuring high-degree-of-freedom positioning stability. The ultrasonic generator allows independent adjustment of the transducer's frequency, amplitude, and operating mode, achieving optimized vibration control for different processing stages, such as initial overall stress distribution control and fine stress adjustment in key local areas.

[0011] Furthermore, the compliant ultrasonic application tool is connected to a cantilever via a ball joint. The upper end of the cantilever is fixed to an external annular guide rail at the top of the machine tool via a groove, enabling the ultrasonic tool head to rotate along the guide rail and move with multiple joint degrees of freedom, covering any position and angle of the workpiece. Simultaneously, through compliant contact, local high-frequency excitation, and adjustable vibration parameters, it can improve material flowability, reduce local loads, optimize stress distribution, and enhance surface quality, providing real-time, continuous, and intelligent stress control capabilities for complex workpiece machining.

[0012] This invention provides a method for implementing a compliant, fully free-degree-of-freedom ultrasonic application and dynamic stress control system for workpieces, comprising the following steps: Step S1: System Installation and Debugging S1-1: The compliant ultrasonic application tool module is fixed to the annular guide rail on the top of the machine tool. The guide rail is concentrically arranged relative to the spindle, forming the basis for the application path that can rotate around the workpiece at any angle of 360°. The embedded groove and cantilever structure of the guide rail are supported by sliders and balls, which makes the ultrasonic tool head move smoothly and has high positioning rigidity.

[0013] S1-2: Connect the end of the cantilever to the pitch joint structure. The end of the cantilever is connected to the pitch joint through a ball joint. Each joint is driven by an electric servo and has an angle encoder to achieve full-degree-of-freedom attitude control.

[0014] S1-3: A compliant connection mechanism is installed at the end of the pitch joint. Its interior is composed of elastic body units, which can achieve compliant offset, adaptive contact force adjustment and improved impact resistance within a micro-displacement range.

[0015] S1-4: Install the ultrasonic transducer, amplitude transformer, and compliant end coaxially to ensure minimal loss of ultrasonic vibration energy during transmission. Connect the adjustable power ultrasonic generator, set the initial frequency and amplitude range, and start the self-diagnostic program to verify the vibration impedance, resonance point, and coupling efficiency, ensuring the system operates under optimal conditions.

[0016] Step S2: Workpiece fixing, monitoring module arrangement, and multi-source signal baseline calibration S2-1: The workpiece to be processed is clamped in the machine tool fixture and fixed by three-point positioning and clamping blocks to ensure that the workpiece will not move or shift angle due to ultrasonic application during processing.

[0017] S2-2: Install force sensors and acoustic emission sensors from the monitoring module at key locations on the workpiece. Temperature sensors can be placed in the clamping area. The sensor placement is selected based on the processing area and areas prone to stress concentration to ensure that the multi-field coupled data of stress, acoustics, and temperature accurately reflect the true state of the material.

[0018] S2-3: The control module performs the following sequentially: zero-load calibration of the force sensor, background noise extraction from the acoustic emission sensor, and temperature reference registration of the thermistor. By synchronizing the multi-source data in a unified time, a baseline database for this processing is formed, which is used for subsequent real-time assessment of stress shift, thermal accumulation, and potential damage signs.

[0019] Step S3: Apply path and attitude planning S3-1: Based on the workpiece geometric model, processing task requirements and process parameters, the system executes a geometric scanning algorithm to generate a preliminary trajectory for ultrasonic application, including circumferential trajectory points, application direction vectors (normal / tangential / oblique) and joint posture constraints.

[0020] S3-2: The control module constructs a regional risk model based on the initial stress field information and temperature distribution collected by the sensors, identifies stress concentration areas, heat-sensitive areas, and easily deformable areas, and automatically generates multi-level application strategy classifications.

[0021] S3-3: By using a multi-joint inverse kinematics algorithm and a guide rail and joint co-planning algorithm, the optimal posture of each application point is calculated, so that the ultrasonic direction is optimally coupled with the material flow direction and the stress gradient direction, thereby improving the efficiency of ultrasonic action.

[0022] Step S4: Establishing compliant contact and efficient coupling with ultrasonic vibration S4-1: Drive the ring guide rail to move the ultrasonic tool head to the vicinity of the application point, and then the multi-joint mechanism completes the precise position and attitude positioning, so that the ultrasonic tool head approaches the workpiece surface.

[0023] S4-2: The compliant connection mechanism enters the pre-contact working area and achieves contact force control through the micro-deformation of the compliant unit, avoiding secondary damage to the workpiece caused by instantaneous rigid collision.

[0024] S4-3: Once contact is stable, the system will automatically adjust the contact force to maintain it within the set range, ensuring that the ultrasonic energy can be effectively coupled.

[0025] S4-4: Turn on the ultrasonic transducer. The amplitude transformer transmits high-frequency vibration to the contact end. The compliant mechanism ensures that the vibration direction is consistent with or at an optimized angle to the local force direction of the workpiece, thereby achieving maximum energy coupling efficiency.

[0026] Step S5: Closed-loop intelligent control based on real-time monitoring, analysis, and regulation S5-1: Throughout the entire process of ultrasonic application, the force sensor measures the force fluctuation of the workpiece in real time, the acoustic emission sensor extracts the microcrack initiation signal, and the temperature sensor monitors the change of thermal gradient.

[0027] S5-2: The control module executes a multi-source data fusion algorithm to predict the trends of stress fluctuations, acoustic emission energy, and temperature rise rate, and calculates the local potential overload risk through a stress model.

[0028] S5-3: Combining real-time data, the system automatically adjusts the contact force to avoid stress peaks, regulates ultrasonic amplitude and frequency to achieve localized energy enhancement or reduction, corrects the application angle to ensure optimal coupling between the vibration direction and the stress direction, and adjusts the angle of the annular guide rail and the joint position to move the application area with the processing zone. The entire control process is a millisecond-level closed loop, ensuring optimal stress control without damaging the material.

[0029] Step S6: Local strengthening excitation and overall stress field homogenization treatment S6-1: When the system detects local stress concentration or areas that are difficult to process, it automatically enters the local strengthening excitation mode, including: increasing the amplitude, changing the application direction, and delaying the application time. This process can significantly improve the material's micro-region softening and plastic flow capabilities, and reduce the load.

[0030] S6-2: After local treatment, the system performs overall stress homogenization along the annular guide rail, applying stress for short periods at multiple angles and points to eliminate residual stress, avoid temperature concentration, stabilize workpiece deformation trends, and thus improve surface quality.

[0031] Step S7: After application, gradually reduce the amplitude to zero and stop the ultrasonic output. The multi-joint structure automatically retracts from the workpiece, and the cantilever returns to its initial position along the guide rail.

[0032] The beneficial effects of the technical solution provided by this invention are: (1) Relying on the ring guide rail and multi-joint compliant structure, the ultrasonic head can be positioned and applied in any direction within the machine tool space, adapting to the processing needs of complex curved surfaces and local areas, breaking through the limitations of the traditional fixed ultrasonic application method.

[0033] (2) The compliant mechanism can automatically adjust the contact pressure to ensure that the ultrasonic tool head can achieve stable coupling under different surface conditions, which avoids overload damage and improves the vibration transmission efficiency.

[0034] (3) By integrating force sensors, acoustic emission and temperature monitoring, the present invention can identify local stress state in real time and dynamically adjust the ultrasonic application position, direction, amplitude and process parameters to achieve closed-loop stress control, effectively reduce stress peak and improve material response and processing stability.

[0035] (4) It can perform targeted ultrasonic strengthening on high stress areas or vulnerable areas, reduce local deformation resistance and friction, improve surface quality and shape accuracy and suppress microcrack generation. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the compliant full-degree-of-freedom ultrasonic application and workpiece stress dynamic control system of the present invention; Figure 2 This is a schematic diagram of the structure of the compliant multi-joint ultrasound application tool of the present invention; Among them, 1-force sensor, 2-machining tool or mold, 3-ring guide rail, 4-cantilever structure, 5-ultrasonic generator, 6-pitch joint, 7-amplitude rod, 8-ultrasonic tool housing, 9-ultrasonic tool head, 10-local stress concentration area, 11-clamp, 12-machine tool base, 13-temperature sensor, 14-workpiece, 15-acoustic emission sensor, 16-dynamic closed-loop control, 17-control unit, 18-machine tool top, 19-slide rail channel, 20-ball joint, 21-ultrasonic transducer, 22-compliant connection mechanism. Detailed Implementation

[0037] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0038] like Figure 1 As shown, this embodiment of the invention provides a compliant full-degree-of-freedom ultrasonic application and workpiece stress dynamic control system and method, including a compliant ultrasonic application tool module, a workpiece stress and temperature monitoring module, and a control and adjustment module.

[0039] The compliant ultrasonic application tool module is fixed to the top of the machine tool 18 via an annular guide rail 3 and can rotate around the workpiece 14 to achieve 360° omnidirectional coverage. The cantilever structure 4 supports the multi-joint ultrasonic tool and is connected to the cantilever structure 4 via a ball joint 20, enabling the tool to move vertically, laterally, laterally, and obliquely with multiple degrees of freedom.

[0040] like Figure 2As shown, the compliant multi-joint ultrasonic application tool includes: an ultrasonic tool housing 8, an ultrasonic tool head 9, a compliant connecting mechanism 22, an amplitude transformer 7, and an ultrasonic transducer 21. The compliant connecting mechanism 22 ensures controllable contact force and adapts to changes in the workpiece's surface curvature. The amplitude transformer 7 transmits the high-frequency vibration energy generated by the transducer 21 to the tool head 9. The multi-joint structure includes a pitch joint 6 and a cantilever structure 4, enabling precise positioning of the ultrasonic tool head 9 in any direction and maintaining positioning stability.

[0041] The workpiece stress and temperature monitoring module includes a force sensor 1, a temperature sensor 13, and an acoustic emission sensor 15, which are used to collect local stress, temperature, and acoustic signals of the workpiece 14 in real time and transmit the data to the control unit 17. The control unit 17 analyzes the workpiece stress distribution and temperature changes based on the sensor data, and adjusts the position, direction, amplitude, frequency, and related process parameters of the ultrasonic application tool in real time through dynamic closed-loop control 16, so as to realize active, precise, and continuous control of local stress during processing.

[0042] During implementation, the workpiece 14 is first fixed on the fixture 11, ensuring that the critical local stress concentration area 10 is exposed within the range of action of the ultrasonic tool head 9. Then, the ultrasonic generator 5 is activated, transmitting high-frequency vibrations to the workpiece 14 via the transducer 21 and amplitude transformer 7, achieving overall or local stress control. During processing, sensors 1, 13, and 15 acquire signals in real time, and the control unit 17 and dynamic closed-loop control 16 automatically adjust the posture and vibration parameters of the ultrasonic tool head 9 based on feedback, ensuring a balanced distribution of local stress, reducing local processing loads, and optimizing the workpiece surface quality.

[0043] The ultrasonic generator 5 is an adjustable power output device that can independently control the vibration frequency, amplitude, and operating mode of each transducer 21 to achieve optimized control of vibration parameters at different processing stages. For example, in the initial processing stage of the workpiece, overall stress regulation is implemented to prevent deformation. In the processing stage of local critical areas, high-frequency local excitation is performed to improve material flowability and enhance processing accuracy and surface quality.

[0044] Through the above methods, the present invention can realize closed-loop intelligent control of compliant full-degree-of-freedom ultrasonic energy application and dynamic adjustment of workpiece stress, improve processing stability, dimensional accuracy and surface quality, while taking into account modularity, scalability and machine tool integration, and is suitable for high-precision processing of complex workpieces.

[0045] This invention provides a compliant, fully-free-degree-of-freedom ultrasonic application and dynamic stress control system and method for workpieces, comprising the following steps: Step S1: Clamp the workpiece 14 onto the machine tool fixture 11, ensuring that the local stress concentration area 10 is exposed within the effective range of the compliant ultrasonic application tool 9. Install and fix the cantilever structure 4 and the annular guide rail 3, allowing the multi-joint ultrasonic tool module to rotate around the workpiece, achieving 360° omnidirectional coverage. Adjust the initial position of the ultrasonic tool 9 using the ball joint 20 and the pitch joint 6, ensuring that the ultrasonic tool head 9 forms compliant contact with the workpiece surface, guaranteeing controllable applied force and adaptability to curved surface shapes.

[0046] Step S2: Start the ultrasonic generator 5 to apply high-frequency vibration to the transducer 21, which is transmitted to the ultrasonic tool head 9 through the amplitude transformer 7 to achieve local and overall ultrasonic vibration energy output. Set the initial ultrasonic parameters according to the processing requirements, including amplitude (2~15 μm), frequency (20~40 kHz) and power ratio, to ensure that appropriate vibration is generated in the local area 10 of the workpiece, improve material flowability and reduce local load.

[0047] Step S3: During the machining of workpiece 14, force sensor 1, temperature sensor 13, and acoustic emission sensor 15 collect local stress, temperature, and acoustic signals of workpiece 14 in real time. Control unit 17 analyzes the collected data, and dynamic closed-loop control 16 automatically adjusts the position, direction, amplitude, frequency, and related process parameters of tool head 9 based on feedback to achieve active, continuous, and precise control of local stress, avoiding changes in material properties caused by local overload and temperature rise.

[0048] Step S4: Flexible switching of ultrasonic vibration application based on processing stage requirements: In the initial stage, overall low-amplitude vibration can be implemented to balance the overall stress distribution of the workpiece. High-frequency local vibration can be implemented in critical local areas during processing to enhance material plasticity and improve surface quality and dimensional accuracy. For complex curved surfaces, multi-joint motion can be used to achieve full freedom of application in vertical, horizontal, lateral, and oblique directions, ensuring optimized local stress.

[0049] Step S5: During the processing, based on local stress concentration or temperature rise, the control unit 17 adjusts the ultrasonic tool posture and process parameters in a timely manner through dynamic closed-loop control 16, and can automatically change the ultrasonic vibration application position or amplitude to achieve local stress relief and optimization, and ensure processing stability.

[0050] Step S6: After machining is completed, turn off the ultrasonic generator 5 and the dynamic closed-loop control 16. The cantilever structure 4 drives the ultrasonic tool head 9 to reset along the ball joint 20 and the guide rail 3. Sensors 1, 13, and 15 continue to monitor the stress state of the workpiece 14 to confirm that the residual stress distribution after machining is within a safe range. Remove the workpiece 14 and perform surface quality, dimensional accuracy, and stress distribution tests. If the requirements are met, proceed to the next machining cycle. If not, the parameters can be re-optimized by adjusting the ultrasonic amplitude, frequency, or tool position.

[0051] Step S7: Repeat steps S2 to S6 according to the production process to achieve continuous batch processing. When changing to workpieces of different specifications or shapes, only the end configuration and vibration parameters of the compliant multi-joint tool 9 need to be adjusted to quickly adapt to the new workpiece, ensuring the system's flexibility, high efficiency, and high-precision processing.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A compliant full-degree-of-freedom ultrasonic application and workpiece stress dynamic regulation modular device, characterized in that, The device comprises a workpiece support module, a compliant ultrasonic application module, and a multi-source monitoring and closed-loop control system. The forming workpiece support module comprises a workpiece clamp for fixing the workpiece to be processed, and force sensors, acoustic emission sensors, and temperature sensors are arranged at key processing positions to realize multi-source signal acquisition and baseline calibration. The compliant ultrasonic application module comprises an ultrasonic tool head mounted on a ring guide on the top of the machine tool, a multi-joint attitude control mechanism, and a compliant connection structure. The multi-joint attitude control mechanism is used to realize full freedom positioning of the ultrasonic tool head, and the compliant connection structure is used for micro-displacement compliant offset, adaptive contact force adjustment, and impact resistance to ensure optimal coupling of ultrasonic vibration and local stress direction of the workpiece. The multi-source monitoring and closed-loop control system dynamically adjusts the application direction, amplitude, frequency, and position of the ultrasonic tool head according to the force, acoustic emission, and temperature signals to realize local stress optimization and overall stress homogenization. In the compliant ultrasonic application module, the ultrasonic tool head comprises an ultrasonic transducer, a variable amplitude rod, and a compliant end, which are coaxially mounted and electrically connected with an adjustable power ultrasonic generator to realize independent adjustment of amplitude, frequency, and power.

2. The apparatus of claim 1, wherein, The multi-joint attitude control mechanism comprises a pitch joint, a rotation joint, and a cantilever connecting piece, which are driven by electric servo and controlled by angle encoders to realize full freedom attitude planning and trajectory tracking.

3. The apparatus of claim 1 or 2, wherein, The multi-source monitoring and closed-loop control system performs closed-loop intelligent control, including real-time monitoring of force, acoustic emission, and temperature signals, stress prediction by fusing multi-source data, and dynamic adjustment of ultrasonic application parameters to realize millisecond-level local stress optimization.

4. The apparatus of any one of claims 1 to 3, wherein, The device also comprises a local reinforcement and overall homogenization module, which automatically enhances local vibration excitation when detecting local stress concentration or difficult processing areas, and applies short-time excitation at multiple angles and positions to realize stress field homogenization and residual stress reduction.

5. The apparatus of any one of claims 1 to 4, wherein, The operation method of the device comprises the following steps:

6. The apparatus of any one of claims 1 to 5, wherein, Step one: workpiece clamping and monitoring module arrangement; Step two: generating application trajectory and joint attitude planning, identifying local stress concentration areas and easy deformation areas, and forming a hierarchical application strategy; Step three: driving the ultrasonic tool head to accurately contact the workpiece surface, the compliant mechanism to establish controllable contact force, and starting ultrasonic vibration to realize energy coupling; Step four: closed-loop intelligent control process, real-time dynamic adjustment of application direction, amplitude, frequency, and position to realize local stress optimization and overall homogenization; Step five: local reinforcement and overall homogenization processing; Step six: end operation and system reset, tool retreat from the workpiece, cantilever returns to the initial position along the guide rail, and prepares for the next processing cycle. When changing different specifications of workpieces, only the corresponding clamp and compliant tool head end or the application trajectory needs to be adjusted to quickly switch, realizing the flexibility and high utilization rate of the device.

7. The apparatus of claim 6, wherein, ​

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