An ultrasonic embedding device for irregularly shaped curved heating films

Abstract

This utility model relates to the field of electric heating film technology, and in particular to an ultrasonic embedding device for irregularly shaped curved heating films. Traditional ultrasonic embedding devices cannot achieve a complete fit between the heating film substrate and the fixture support surface—the film material is prone to localized warping, suspension, or stretching deformation, resulting in uneven distribution of contact pressure between the ultrasonic welding head and the heating wire and the film material. By configuring a detachable vacuum adsorption fixture, and utilizing the vacuum holes on the fixture surface to connect with an external vacuum system to create negative pressure, a comprehensive and tight adsorption and fixation of the irregularly shaped curved heating film is achieved. This ensures that the heating film completely fits the irregular curved surface contour of the fixture, effectively reducing warping, suspension, or stretching deformation of the film material before processing. Simultaneously, it ensures the uniformity of pressure exerted by the ultrasonic embedding head on the contact surface between the heating wire and the film material, improving the consistency of embedding quality and the overall product yield of the irregularly shaped curved heating film.

Description

Technical Field

[0001] This utility model relates to the field of electric heating film technology, and in particular to an ultrasonic embedding device for heating films with irregular curved surfaces. Background Technology

[0002] As the automotive industry upgrades towards intelligence and personalization, headlights, as a core component of vehicle appearance and safety, are increasingly developing towards complex, multi-curvature curved surfaces. These surfaces must meet aerodynamic requirements for smooth lines while achieving visual integration with the vehicle through unique curved shapes. Consequently, the irregular curved surface structure of headlight covers has become mainstream in the industry. To address the issue of light attenuation caused by fogging on headlight surfaces in rainy or foggy weather, the industry commonly employs a solution of attaching a heating film to the inner surface of the headlight cover and embedding heating wires, utilizing the electrothermal effect to achieve rapid defogging. Among these methods, ultrasonic wire embedding technology has become the core technical approach for embedding heating wires because it can achieve a stable bond between the heating wires and the film material at low temperatures and causes minimal damage to the light transmittance of the transparent film.

[0003] However, existing ultrasonic wire embedding technology relies on equipment that is ill-suited for processing irregularly shaped curved heating films. This is primarily due to a significant deficiency in surface fit. Traditional embedding fixtures are mostly rigid, fixed structures, with their support surfaces and positioning areas designed according to preset planar or single curvature parameters. When dealing with the multi-curvature irregular surfaces of automotive headlight covers, the heating film substrate cannot achieve full fit with the fixture's support surface—the film material is prone to warping, suspension, or stretching deformation in certain areas, resulting in uneven pressure distribution between the ultrasonic welding head and the heating wire and the film material. This pressure difference not only causes inconsistent embedding depths of the heating wire, but also may lead to incomplete connections in some areas due to insufficient pressure, or breakage of the heating wire due to excessive pressure, directly affecting the electrical performance stability of the heating film after energization, and even causing localized overheating or open circuit risks. Simultaneously, the difficulty in ensuring positioning accuracy further restricts the processing quality of irregularly shaped curved heating films. The trajectory of the heating wire embedded in the irregularly shaped curved heating film needs to be designed as a three-dimensional spatial curve based on the distribution of areas prone to fogging in the headlights. However, traditional fixtures lack a three-dimensional spatial positioning benchmark for irregularly shaped curved surfaces and can only rely on manual alignment. Manual alignment not only makes it difficult to accurately capture the spatial coordinates of each point on the curved surface, but also easily causes the trajectory of the heating wire embedded in the film to deviate due to operational errors. This ultimately causes the heating area of ​​the heating film to be misaligned with the actual fogging area of ​​the headlights, significantly weakening the defogging effect. At the same time, the heating film with the deviated trajectory requires additional manual correction or scrapping, which increases production process costs and reduces the overall processing yield.

[0004] In summary, the dual limitations of existing ultrasonic embedding equipment in terms of surface fit and positioning accuracy have become the core bottleneck restricting the large-scale application of ultrasonic embedding technology for irregular curved automotive headlight heating films. This has resulted in irregular curved automotive headlight heating films facing long-term problems such as low processing yield, poor performance stability, and high production costs. Developing dedicated embedding equipment adapted to irregular curved surfaces has become a key requirement for promoting the implementation of automotive irregular curved headlight heating film technology. Utility Model Content

[0005] Therefore, it is necessary to provide an ultrasonic wire embedding device for irregular curved surface heating films, including a controller, to address the above-mentioned shortcomings. The machine tool, wherein the controller is located inside the machine tool; A robotic arm is fixed to the machine platform. An ultrasonic wire embedding head is provided at the top of the robotic arm, and a clamping block is fixed at the top of the robotic arm. The ultrasonic wire embedding head is fixed to the top of the robotic arm through the clamping block. A placement plate, which is fixed to the upper surface of the machine tool and located next to the robotic arm; A vacuum adsorption fixture is detachably mounted on the upper surface of the placement plate. The surface of the vacuum adsorption fixture for placing the heating film is provided with several vacuum holes, which are connected to an external vacuum system for vacuum adsorption and fixing of the irregular curved surface heating film. A wire feeding mechanism, which is mounted on the machine base, is used to provide heated wire. A scissor device, which is fixed to the placement plate and located next to the vacuum adsorption fixture; The controller is used to control the robotic arm to complete action commands, to control the vacuum adsorption fixture to start vacuum adsorption, and to control the scissor device to cut the heating wire.

[0006] Preferably, the placement plate has a plurality of mounting holes arranged in a periodic dot matrix.

[0007] Preferably, the robotic arm is a seven-axis robotic arm.

[0008] Preferably, the robotic arm is equipped with a CCD camera for visual positioning.

[0009] Preferably, the top of the robotic arm is provided with a nozzle for cooling, and the nozzle is connected to an external air source through a pipe.

[0010] Preferably, the wire feeding mechanism includes a wire feeding spool and a wire pressing shaft. The wire pressing shaft is detachably fixed to the placement plate and spaced apart from the vacuum adsorption fixture. The wire feeding spool is located above the wire pressing shaft.

[0011] Preferably, the scissor device includes: a fixed base detachably fixed to the placement plate, a telescopic cylinder fixed to the fixed base, and scissors fixed to the telescopic end of the telescopic cylinder, wherein the telescopic cylinder is connected to an external air source through a pipeline.

[0012] Preferably, the front side of the machine is provided with several buttons that are electrically connected to the controller. The buttons are used to control the start of vacuum adsorption and ultrasonic wire embedding.

[0013] The aforementioned ultrasonic embedding equipment for irregularly shaped curved heating films utilizes a detachable vacuum adsorption fixture. By connecting the vacuum holes on the fixture surface with an external vacuum system to create negative pressure, it achieves comprehensive and tight adsorption and fixation of the irregularly shaped curved heating film. This ensures that the heating film completely conforms to the irregular curved contour of the fixture, effectively reducing warping, suspension, or stretching deformation of the film material before processing. Simultaneously, it ensures the uniformity of the pressure exerted by the ultrasonic embedding head on the contact surface between the heating wire and the film material, thereby improving the consistency of the embedding quality of the irregularly shaped curved heating film and the overall product yield. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of an ultrasonic embedding device for an irregular curved surface heating film in one embodiment of the present invention; Figure 2 This is a schematic diagram of the ultrasonic wire embedding device for irregular curved surface heating film in one embodiment of the present invention (some parts of the machine are omitted). Figure 3 This is a schematic diagram of the structure of the robotic arm used in an ultrasonic embedding device for irregular curved surface heating film in one embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of the placement plate with the pressure shaft installed in an ultrasonic embedding device for an irregular curved surface heating film according to one embodiment of the present invention. Figure 5 This is a schematic diagram of the structure of a vacuum adsorption fixture for an ultrasonic wire embedding device for an irregular curved surface heating film in one embodiment of the present invention. Figure 6 This is a schematic diagram of the scissor device of an ultrasonic wire embedding device for an irregularly shaped curved heating film in one embodiment of the present invention.

[0015] Explanation of reference numerals in the attached drawings: 100-Machine platform, 110-Button, 200-Robot arm, 210-Ultrasonic wire embedding head, 220-Clamping block, 230-CCD camera, 300-Placement plate, 300a-Mounting hole, 400-Vacuum adsorption fixture, 400a-Vacuum extraction hole, 500-Wire feeding mechanism, 510-Wire feeding spool, 520-Wire pressing shaft, 600-Scissors device, 610-Fixed base, 620-Telescopic cylinder, 630-Scissors. Detailed Implementation

[0016] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0017] This utility model discloses an ultrasonic embedding device for irregularly shaped curved surface heating films, such as... Figures 1-6 As shown, the device includes a machine base 100 for supporting various components. A controller for controlling these components is installed within the machine base 100. A robotic arm 200 is fixed to the upper surface of the machine base 100. An ultrasonic wire embedding head 210 is detachably fixed to the top of the robotic arm 200 via a clamping block 220 and is equipped with a pressure sensor and a tension wire feeding control unit. The controller is electrically connected to the robotic arm 200 and controls the robotic arm 200 to embed irregularly shaped curved surfaces in three-dimensional space through an editable preset program. A placement plate 300 is provided on the upper surface of the machine base 100, which is covered by the robotic arm 200. The placement plate 300 is used to mount components such as a vacuum adsorption fixture 400, a wire feeding mechanism 500, and a scissor device 600. The vacuum adsorption fixture 400 is detachably mounted on the placement plate 300. The surface of the vacuum adsorption fixture 400 for placing the heating film has several vacuum holes 400a, which are connected to an external vacuum system for vacuum adsorption and fixing of the irregularly shaped curved heating film. The vacuum holes 400a are arranged in a periodic matrix according to the actual needs of the heating film being processed, ensuring that the heating film will not warp, be suspended, or be stretched when placed on the vacuum adsorption fixture 400. The wire feeding mechanism 500 mainly includes a wire feeding drum 510 and a wire pressing shaft 520. The wire pressing shaft 520 is mounted on the placement plate 300, and the wire feeding drum 510 is positioned above it. Heating wire is wound on the wire feeding drum 510, continuously supplying heating wire to the equipment over a long period. The wire pressing shaft 520 is used to regulate the travel path of the heating wire, preventing interference between the heating wire and the robot arm 200 or other components during processing, thus affecting the processing quality. The scissor device 600 is usually located next to the vacuum adsorption fixture 400 and is used to cut the heating wire when needed.

[0018] The working process of the ultrasonic embedding device for irregular curved surface heating film provided by this utility model is as follows: First, the irregular curved surface heating film to be processed is placed on the working surface of the vacuum adsorption fixture 400 (i.e., the surface with several vacuum holes 400a). The controller sends a control signal to the vacuum adsorption fixture 400 to start the external vacuum system. The vacuum system performs vacuum treatment on the contact surface between the irregular curved surface heating film and the vacuum adsorption fixture 400 through the vacuum holes 400a. The atmospheric pressure difference is used to tightly adsorb and fix the irregular curved surface heating film on the vacuum adsorption fixture 400, ensuring that the heating film fits the curved surface shape of the vacuum adsorption fixture 400 and avoiding warping, suspension or stretching deformation during processing. Subsequently, the controller sends an instruction to the tension wire feeding control unit of the robot 200 to feed the heating wire. The wire feeding mechanism 500 passively feeds the heating wire to the ultrasonic embedding head according to the preset parameters. Simultaneously, the controller sends action commands to the robot arm 200. The robot arm 200, following a preset irregular curved surface embedding trajectory, moves the ultrasonic embedding head 210 to the embedding starting position of the heating film. Driven by the robot arm 200, the ultrasonic embedding head 210 moves along the preset trajectory of the irregular curved surface heating film. During this process, ultrasonic vibration causes the contact surface between the heating wire and the heating film substrate to melt instantaneously, embedding the heating wire into the heating film. After completing the embedding of a section of the trajectory or the entire embedding operation, the controller sends an action signal to the scissor device 600. The scissor device 600 starts and cuts off the excess heating wire, completing a single embedding process. Throughout the process, the controller coordinates the motion precision of the robot arm 200, the adsorption state of the vacuum adsorption fixture 400, the wire feeding rate of the tension wire feeding control unit, and the wire cutting timing of the scissor device 600, forming a complete automated embedding process.

[0019] Traditional rigid fixtures, due to their pre-defined planar or single-curvature support surfaces, cannot achieve full fit with irregularly shaped curved heating films, easily leading to film warping, suspension, or tensile deformation, which in turn results in uneven pressure distribution from the ultrasonic welding head. In contrast, the vacuum adsorption fixture 400 in this solution can be customized to fit the shape of the irregularly shaped curved heating film. Several vacuum holes 400a on its surface, connected to an external vacuum system, utilize atmospheric negative pressure to adsorb and fix the heating film onto the curved surface of the vacuum adsorption fixture 400 from all angles, completely eliminating film warping and suspension problems and ensuring the stability of the heating film substrate. Based on this, when the robotic arm 200 drives the ultrasonic wire embedding head 210 to embed the wire along a pre-defined trajectory, the ultrasonic wire embedding head 210... The 10-type heating element maintains a consistent contact posture with the heating film and heating wire, ensuring that the pressure applied to each point is evenly transmitted to the contact surface. This effectively avoids defects such as uneven heating wire embedding depth deviation, localized poor connection, or breakage caused by uneven pressure. It not only guarantees the consistency and stability of the heating wire embedding, but also ensures stable resistance values ​​of the heating film after power-on, eliminating the risk of localized overheating or open circuit. It also preserves the light transmittance and structural integrity of the film material. Furthermore, due to the detachable design of the vacuum adsorption fixture 400, it can be adapted to different specifications of irregularly shaped curved heating films by replacing the vacuum adsorption fixture 400, greatly improving the equipment's versatility and meeting the diverse and rapidly iterating production needs of the automotive lighting industry. This significantly improves the embedding quality and product yield of irregularly shaped curved automotive lighting heating films.

[0020] In one embodiment, such as Figure 1 , Figure 2 , Figure 4 As shown, the placement plate 300 has several mounting holes 300a arranged in a periodic matrix. The mounting holes 300a on the placement plate 300 form a periodic matrix layout at fixed intervals, providing a standardized and universal installation reference for components such as the vacuum adsorption fixture 400 and the scissor device 600 that need to be installed on the placement plate 300. Various components can select matching mounting hole positions in the matrix according to their own installation size and position requirements, and achieve a detachable connection with the placement plate 300 by fasteners such as bolts passing through the mounting holes 300a. When it is necessary to disassemble or replace components, disassembly can be completed simply by loosening or removing the fasteners. Furthermore, when replacing components of different specifications or types... Without requiring additional drilling or modification to the placement plate, the mounting position and fixed posture of components can be adjusted directly using different combinations of dot matrix mounting holes 300a, adapting to the installation needs of various components. At the same time, the periodic dot matrix arrangement ensures the positioning accuracy of components during installation, avoiding installation deviations caused by messy hole positions. This greatly improves the ease of disassembly and assembly of various components on the placement plate 300 and the installation flexibility, reduces the operational difficulty of component replacement and position adjustment, saves time costs for equipment debugging and model changeover, and enhances the adaptability of the placement plate 300 to components of different specifications.

[0021] In one embodiment, such as Figures 1-3As shown, the robotic arm 200 is a seven-axis robotic arm. Compared with the traditional six-axis robotic arm, the seven-axis robotic arm in this example adds a redundant rotary axis. This redundant axis, under the coordinated control of the controller, drives the ultrasonic wire embedding head 210, which is fixed at the top by the clamping block 220, to achieve multi-dimensional and high-degree-of-freedom posture adjustment. When embedding wires on irregular curved heating films, the controller will drive the joints of the seven-axis robotic arm to move together according to the preset three-dimensional embedding trajectory of the irregular curved surface. Its redundant axis can compensate for the posture deviation of the robotic arm end in real time, so that the ultrasonic wire embedding head 210 always maintains an appropriate angle with the normal direction of each point on the curved surface of the heating film, while flexibly avoiding... The interference from surrounding components such as the placement plate 300 and the vacuum adsorption fixture 400 precisely drives the ultrasonic wire embedding head 210 to move along the complex trajectory of the irregular curved surface, ensuring the embedding depth and fitting accuracy of the heating wire in each area of ​​the irregular curved surface. Moreover, the motion flexibility of the seven-axis structure can adapt to the embedding trajectory requirements of irregular curved surface heating films with different curvatures and sizes, without the need for frequent adjustments to the overall layout of the equipment. This greatly improves the motion flexibility and posture adaptability of the ultrasonic wire embedding head 210, ensuring the accuracy of the embedding trajectory of the irregular curved surface heating film. At the same time, it enhances the equipment's adaptability to irregular curved surface heating films of different specifications and reduces the risk of component interference during operation.

[0022] In one embodiment, such as Figures 1-3 As shown, the robotic arm 200 is equipped with a CCD camera 230 for visual positioning. The CCD camera 230 is integrated into a suitable position on the robotic arm 200 (such as next to the end ultrasonic wire embedding head 210 or on the arm of the robotic arm 200). Before the equipment starts the wire embedding operation, the CCD camera 230 first acquires images of the irregular curved heating film on the vacuum adsorption fixture 400, obtaining visual information such as the actual placement position of the heating film, the curved surface contour features, and the reference points of the preset wire embedding trajectory, and transmits this image data to the controller in real time. The controller has a built-in image recognition and positioning algorithm, which compares the actual image data acquired by the CCD camera 230 with the preset three-dimensional model of the heating film and the wire embedding trajectory parameters to accurately calculate the deviation between the actual position and the theoretical position of the heating film. The difference is then automatically adjusted based on the deviation value, and the movement trajectory and posture of the robot arm 200 are automatically adjusted. During the wire embedding process, the CCD camera 230 can also capture the relative position of the ultrasonic embedding head 210 with the heating wire and heating film in real time, and dynamically monitor the embedding trajectory. If a deviation occurs, it is immediately fed back to the controller, which drives the robot arm 200 to perform real-time posture and position compensation, ensuring that the ultrasonic embedding head 210 always completes the embedding operation of the irregular curved surface heating film along the preset precise trajectory. Through visual positioning, the precise calibration and dynamic correction of the heating film position and embedding trajectory are realized, which greatly improves the positioning accuracy and trajectory accuracy of the ultrasonic embedding of the irregular curved surface heating film, and effectively avoids embedding defects caused by heating film placement deviation or robot arm 200 movement error.

[0023] In one embodiment, the top of the robotic arm 200 is equipped with a cooling nozzle, which is connected to an external air source via a pipe. The cooling nozzle is installed on the top of the robotic arm 200 and adjacent to the ultrasonic wire embedding head 210. It forms a closed loop with the external high-pressure air source through a dedicated pipe. When the equipment performs ultrasonic wire embedding operations, the controller will synchronously trigger the external air source to supply air. The high-pressure airflow is delivered to the cooling nozzle through the pipe and then sprayed directionally by the nozzle towards the working end of the ultrasonic wire embedding head 210 and the heating film area where the wire embedding has just been completed. On the one hand, the ultrasonic wire embedding head 210 generates a large amount of heat during high-frequency vibration. The airflow from the nozzle can quickly remove the heat from the welding head, avoiding the problems of deformation, wear, or unstable energy output of the ultrasonic wire embedding head 210 due to continuous high temperature. On the other hand, the heating film area where the wire embedding has just been completed is in a high-temperature softened state due to ultrasonic melting. The cooling airflow can promote the rapid cooling and shaping of this area, preventing the heating wire from shifting or falling off before the substrate cools down. At the same time, the controller can adjust the air supply pressure of the external air source according to different stages of the wire embedding process to achieve dynamic adaptation of the cooling intensity and ensure the coordinated matching of the cooling effect and the wire embedding rhythm. The cooling nozzle in this example can not only cool the ultrasonic wire embedding head 210 in real time to maintain its working stability and service life, but also quickly solidify the heating film embedding area to ensure the embedding accuracy of the heating wire. At the same time, it can achieve precise linkage between the cooling process and the embedding process, thereby improving the overall quality and efficiency of the embedding operation.

[0024] In one embodiment, such as Figure 1 , Figure 2 , Figure 6As shown, the scissor device 600 includes: a fixed base 610 detachably fixed to a placement plate 300, a telescopic cylinder 620 fixed to the fixed base 610, and scissors 630 fixed to the telescopic cylinder 620. The telescopic cylinder 620 is connected to an external air source via a pipe. The scissor device 600 is mounted on the placement plate 300 via the detachable fixed base 610, providing stable mounting support for the telescopic cylinder 620 and the scissors 630. The detachable design of the fixed base 610 facilitates adjustment of the overall installation position of the device or disassembly and maintenance according to processing requirements. The telescopic cylinder 620 is fixed to the fixed base 610 and connected to the external air source via a pipe. Connected to an external air source, during the entire ultrasonic wire embedding process, once the controller determines that the heating wire has been embedded along a preset trajectory, it sends an action command to the telescopic cylinder 620. The external air source then supplies gas to the telescopic cylinder 620, driving its telescopic end to extend and retract. This, in turn, drives the scissors 630 fixed on the telescopic cylinder 620 to open and close, precisely cutting off excess heating wire and completing the final step of a single wire embedding operation. Furthermore, the controller can adjust the air source pressure to match the telescopic cylinder 620's extension and retraction rate, achieving precise control of the scissors 630's opening and closing force and timing, meeting the cutting requirements of heating wires of different specifications. In this embodiment, the scissors device 600 not only achieves automated and precise cutting of the heating wire but also improves the ease of disassembly and maintenance and the flexibility of its installation location through the detachable fixed base 610. Simultaneously, the air source control ensures the stability and adaptability of the wire cutting action, effectively improving the overall automation and finishing efficiency of the wire embedding operation.

[0025] In one embodiment, such as Figure 1 , Figure 2As shown, the front side of the machine 100 is provided with several buttons 110 that are electrically connected to the controller. The buttons 110 are used to control the start of vacuum adsorption and ultrasonic wire embedding. Several buttons 110 on the front side of the machine 100 are electrically connected to the controller, and each button 110 corresponds to an independent control function for starting vacuum adsorption and starting ultrasonic wire embedding. According to the operation process of the wire embedding process, the operator can first press the button 110 corresponding to start vacuum adsorption. The button 110 then sends an electrical signal to the controller. After receiving the signal, the controller drives the external vacuum system to start, so that the vacuum adsorption fixture 400 generates negative pressure through the vacuum hole 400a, which tightly adsorbs and fixes the irregular curved surface heating film. After the heating film is stable, the operator presses the button 110 to start ultrasonic wire embedding. The button 110 transmits the wire embedding start signal to the controller. The controller then coordinates a series of linked actions, such as the wire feeding mechanism 500 passively feeding the wire, the robot arm 200 driving the ultrasonic wire embedding head 210 to move along the preset trajectory, and the ultrasonic wire embedding head 210 vibrating to embed the wire. At the same time, the button 110 is placed close to the operator's operating area, which is convenient for real-time control of the start and stop of the process. Moreover, the independent function of each button 110 can avoid accidental operation that triggers non-target processes. The buttons 110 in this embodiment enable convenient manual start and stop control of the vacuum adsorption and ultrasonic wire embedding processes, simplifying the human-machine interaction process, making it easier for operators to control the work rhythm in real time, while reducing the probability of accidental triggering of the process and improving the safety and convenience of equipment operation.

[0026] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0027] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An ultrasonic embedding device for irregularly shaped curved surface heating films, comprising a controller, characterized in that, include: The machine (100) has a controller located inside it. A robotic arm (200) is fixed on the machine base (100). The top of the robotic arm (200) is provided with an ultrasonic wire embedding head (210). A clamping block (220) is fixed to the top of the robotic arm (200). The ultrasonic wire embedding head (210) is fixed to the top of the robotic arm (200) through the clamping block (220). Placement plate (300), the placement plate (300) is fixed to the upper surface of the machine base (100) and located next to the robot arm (200); A vacuum adsorption fixture (400) is detachably disposed on the upper surface of the placement plate (300). The surface of the vacuum adsorption fixture (400) for placing the heating film is provided with a plurality of vacuum holes (400a). The vacuum holes (400a) are connected to an external vacuum system and are used for vacuum adsorption to fix the irregular curved surface heating film. A wire feeding mechanism (500) is provided on the machine base (100) and is used to provide heating wire; A scissor device (600) is fixed on the placement plate (300) and located next to the vacuum adsorption fixture (400); The controller is used to control the robotic arm (200) to complete action commands, to control the vacuum adsorption fixture (400) to start vacuum adsorption, and to control the scissor device (600) to cut the heating wire.

2. The ultrasonic embedding device for irregularly shaped curved surface heating films according to claim 1, characterized in that, The placement plate (300) has a plurality of mounting holes (300a) arranged in a periodic dot matrix.

3. The ultrasonic embedding device for irregularly shaped curved surface heating films according to claim 2, characterized in that, The robotic arm (200) is a seven-axis robotic arm.

4. The ultrasonic embedding device for irregularly shaped curved surface heating films according to claim 2, characterized in that, The robotic arm (200) is equipped with a CCD camera for visual positioning.

5. The ultrasonic embedding device for irregularly shaped curved surface heating films according to claim 2, characterized in that, The top of the robotic arm (200) is equipped with a nozzle for cooling, and the nozzle is connected to an external air source through a pipe.

6. The ultrasonic embedding device for irregular curved surface heating films according to claim 2, characterized in that, The wire feeding mechanism (500) includes a wire feeding drum (510) and a wire pressing shaft (520). The wire pressing shaft (520) is detachably fixed on the placement plate (300) and spaced apart from the vacuum adsorption fixture (400). The wire feeding drum (510) is located above the wire pressing shaft (520).

7. The ultrasonic embedding device for irregularly shaped curved surface heating films according to claim 2, characterized in that, The scissor device (600) includes: a fixed base (610) detachably fixed to the placement plate (300), a telescopic cylinder (620) fixed to the fixed base (610), and scissors (630) fixed to the telescopic end of the telescopic cylinder (620). The telescopic cylinder (620) is connected to an external air source through a pipeline.

8. The ultrasonic embedding device for irregularly shaped curved surface heating films according to claim 1, characterized in that, The front side of the machine (100) is provided with several buttons (110) that are electrically connected to the controller. The buttons (110) are used to control the start of vacuum adsorption and start of ultrasonic wire embedding.

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