Welding residual stress ultrasonic regulation and control clamping device and clamping method

The invention discloses a welding residual stress ultrasonic regulation and control clamping device and a clamping method. The clamping device comprises a mechanical arm mechanism, an ultrasonic transducer fixing mechanism and a vacuum sucker mechanism, wherein the ultrasonic transducer fixing mechanism is installed in the front end of the mechanical arm mechanism through a pin, the vacuum sucker mechanism is arranged at the lower end of the mechanical arm mechanism and can rotate, a first locking shifting piece, a second locking shifting piece and a third locking shifting piece are arranged on the mechanical arm mechanism, and a detachably-installed ultrasonic transducer body is arranged in the ultrasonic transducer fixing mechanism. According to the invention, the existing welding processes, procedures and equipment of products are not changed, secondary damage to the products is avoided, the structure is simple, the high-energy ultrasonic transducer used for ultrasonic regulation and reduction treatment of