A pulsed gas-liquid alternating polishing device and method for complex slender curved tubes

Abstract

This invention discloses a pulsed gas-liquid alternating polishing device and method for complex, slender curved tubes. It includes: a five-axis linkage positioning module; a nozzle-type polishing execution module for spraying polishing fluid or high-pressure gas; a gas-liquid pulse supply module; an ultrasonic transducer auxiliary module; a temperature acquisition module; a flow acquisition module; and a timing control module, which receives temperature and flow signals and generates corresponding control commands according to a preset adaptive control strategy to control the gas-liquid pulse supply module to perform pulsed alternating supply, and synchronously adjusts the polishing fluid spraying time, high-pressure gas spraying time, and ultrasonic transducer output power in the pulse parameters. This invention constructs an adaptive intelligent pulse control scheme that combines the ultrasonic transducer, temperature, flow rate, and pulsed gas-liquid alternating supply mechanism, fundamentally solving the structural blockage problem in the polishing process of the inner wall of slender curved tubes.

Description

Technical Field

[0001] This invention relates to the field of surface treatment technology for special parts, and in particular to a pulsed gas-liquid alternating polishing device and method for complex slender curved tubes. Background Technology

[0002] Complex, slender, and curved tubes (such as endoscope tubes in medical devices, hydraulic fuel lines in aerospace, and irregularly shaped conduits in precision instruments) have always presented a core technical challenge in the field of surface treatment due to their narrow internal channels, large length-to-diameter ratios, and multiple bends. The quality of the inner surface of these tubes directly affects the flow efficiency, fatigue resistance, and safety of the medium, thus requiring high-precision and highly uniform polishing.

[0003] Currently, polishing techniques for the inner walls of slender curved pipes are mainly divided into two categories: mechanical polishing and continuous fluid polishing. However, both of these methods have the following drawbacks when dealing with complex curved pipes: Firstly, mechanical polishing: Mechanical polishing often uses rigid or semi-rigid tools such as grinding heads, grinding rods, and flexible brushes inserted into the pipe for contact polishing. However, this type of polishing method is often prone to tool jamming and blockage when passing through sharp bends due to the geometric constraints of the bend itself, causing physical processing interruptions. At the same time, the inner wall of the bend forms a "processing dead zone" because the tool cannot effectively contact it, resulting in poor polishing uniformity and substandard local roughness. More seriously, the abrasive chips and detached abrasive particles generated during polishing quickly accumulate at the bend, mixing with the polishing fluid to form a viscous polishing paste. This not only exacerbates the blockage but also makes the blockage extremely difficult to clean, severely affecting processing efficiency and workpiece qualification rate.

[0004] Secondly, continuous fluid polishing (such as abrasive flow machining and jet polishing) relies on a continuously pumped polishing fluid flow to carry abrasive particles to scour the pipe wall. Its inherent drawback is that when the polishing fluid carrying solid abrasives flows through a bend, due to centrifugal force and abrupt changes in the flow field, the abrasive concentrates on the outer wall of the bend, while a low-speed vortex zone forms on the inner wall. This non-uniform flow field causes the abrasive to dynamically deposit in specific areas, resulting in a continuously thickening deposit layer over processing time, gradually narrowing the flow channel, and eventually leading to complete structural blockage. Blindly increasing the pumping pressure to clear the blockage often backfires—high pressure further compacts the deposits, exacerbating the blockage and even damaging the workpiece.

[0005] In summary, the fundamental flaw of existing technologies lies in the fact that polishing media (polishing fluid and abrasive) inevitably precipitate, stagnate, and accumulate in the curved flow channel, especially in sharp bends and low-speed zones, and existing methods lack active and dynamic cleaning mechanisms. Once blockage occurs, processing is immediately forced to stop, requiring manual disassembly and cleaning, which severely restricts production efficiency and makes it difficult to guarantee the consistency of polishing quality for large batches of workpieces. Summary of the Invention

[0006] Based on this, in order to address the shortcomings of existing technologies, a pulsed gas-liquid alternating polishing device for complex slender curved tubes is proposed.

[0007] To achieve the above design objectives, the technical solution of the present invention is as follows: A pulsed gas-liquid alternating polishing device for complex, slender curved tubes, comprising: The five-axis linkage positioning module is used to drive the nozzle to perform attitude adjustment and position positioning in three-dimensional space; A nozzle-type polishing execution module is fixed on the five-axis linkage positioning module and connected to the gas-liquid pulse supply module. It is used to spray polishing liquid or high-pressure gas onto the inner wall of a complex, slender, curved pipe. The gas-liquid pulse supply module is used to switch between the polishing slurry supply path and the high-pressure gas supply path to achieve pulsed alternating supply of polishing slurry and high-pressure gas. An ultrasonic transducer auxiliary module is used to apply an adjustable power ultrasonic vibration signal to the complex, slender, curved pipe to be polished and the polishing fluid inside the pipe. Temperature acquisition module, which is used to acquire the temperature signal at the nozzle tip in real time; The flow acquisition module is used to collect the instantaneous flow signal of polishing fluid as it flows into and out of complex, slender, and curved pipes in real time. The timing control module is electrically connected to the temperature acquisition module and the flow acquisition module, respectively. Its control output terminal is connected to the gas-liquid pulse supply module and the ultrasonic transducer auxiliary module, respectively. It is used to receive the temperature signal fed back by the temperature acquisition module and the flow signal fed back by the flow acquisition module, and generate corresponding control commands according to the preset adaptive control strategy. The control commands can control the gas-liquid pulse supply module to perform pulsed alternating supply, and synchronously adjust the polishing liquid injection time, high-pressure gas injection time and ultrasonic transducer output power in the pulse parameters.

[0008] Furthermore, the adaptive control strategy includes a temperature feedback control sub-strategy, which includes: When the temperature value fed back by the nozzle tip temperature signal is lower than the first preset threshold, the current pulse parameters are maintained; When the temperature value fed back by the temperature signal at the nozzle tip is between the first preset threshold and the second preset threshold, the pulse parameters are adjusted to shorten the polishing liquid injection time and extend the high-pressure gas injection time. When the temperature value fed back by the nozzle tip temperature signal exceeds the second preset threshold, the polishing slurry supply path is switched to the high-pressure gas supply path to stop the polishing slurry injection, and high-pressure gas is continuously output until the temperature value fed back by the nozzle tip temperature signal falls back to the temperature safety range, that is, the temperature value fed back by the nozzle tip temperature signal does not exceed the second preset threshold.

[0009] Furthermore, the high-pressure gas injection time is dynamically adjusted based on the temperature value fed back from the nozzle tip temperature signal, and the corresponding adjustment formula is: =

[0010] in, Indicates the high-pressure gas injection time. A reference value representing the high-pressure gas injection time. This indicates the temperature value fed back by the temperature signal at the tip of the nozzle. Indicates the temperature trigger threshold. This represents the temperature correction factor, with a value ranging from 0.1. 0.3.

[0011] Furthermore, the adaptive control strategy also includes a flow feedback control sub-strategy, which includes: When the temperature value fed back by the nozzle end temperature signal is between the first preset threshold and the second preset threshold, the instantaneous flow rate ratio of the polishing fluid flowing into and out of the complex slender bend is calculated simultaneously, and the pulse parameters are adjusted based on the instantaneous flow rate ratio of the polishing fluid. Among them, the instantaneous flow rate ratio of polishing fluid The calculation formula is =

[0012] in, This indicates the instantaneous flow rate of the polishing fluid as it flows into the complex, slender, and curved pipe. This indicates the output flow rate, which is the instantaneous flow rate of the polishing fluid as it flows out of the complex, slender, and curved pipe. The strategy for adjusting the pulse parameters based on the instantaneous flow ratio of the polishing slurry includes: When the instantaneous flow rate of the polishing slurry is... When the flow rate ratio exceeds the first threshold, the current pulse parameters are maintained. When the instantaneous flow rate of the polishing slurry is... When the flow rate is between the first flow rate threshold and the second flow rate threshold, the pulse parameters of the next cycle are adjusted, that is, the high-pressure gas injection time of the next cycle is increased and the polishing fluid pumping speed is reduced. When the instantaneous flow rate of the polishing slurry is... When the flow rate is less than or equal to the second flow ratio threshold and the duration exceeds the threshold, the polishing slurry supply path is switched to the high-pressure gas supply path to stop the polishing slurry injection, and high-pressure gas is continuously output until the instantaneous flow rate of the polishing slurry reaches the threshold. When the flow rate is greater than the first flow ratio threshold, it is in continuous pure gas pulse mode.

[0013] Furthermore, in the continuous pure gas pulse mode, the timing control module controls the ultrasonic transducer auxiliary module to maintain the ultrasonic transducer at less than 50% of its output power to help loosen the blockage.

[0014] Furthermore, the adaptive control strategy includes an ultrasonic transducer differentiated control sub-strategy, which includes: When the temperature value fed back by the nozzle tip temperature signal is lower than the first preset threshold, the ultrasonic transducer of the ultrasonic transducer auxiliary module is controlled to differentiate the output power of the ultrasonic transducer according to the stage of the pulse timing. When the temperature value fed back by the nozzle end temperature signal is between the first preset threshold and the second preset threshold, the ultrasonic transducer auxiliary module is controlled to reduce the output power of the ultrasonic transducer by a certain ratio. When the temperature value fed back by the temperature signal at the nozzle end exceeds the second preset threshold, the ultrasonic transducer auxiliary module is controlled to stop outputting the ultrasonic transducer.

[0015] Furthermore, according to the stage of the pulse timing, the differentiated control of the output power of the ultrasonic transducer specifically includes: During the polishing slurry spraying stage, the ultrasonic transducer is controlled to output full power; During the depressurization phase, the ultrasonic transducer is controlled to output low-power pulses. During the high-pressure gas flushing stage, the ultrasonic transducer is controlled to output low power or be turned off. The pulse timing sequence includes a polishing fluid injection stage, a pressure relief stage, and a high-pressure gas flushing stage.

[0016] Based on the same inventive essence, this application also proposes a pulsed gas-liquid alternating polishing method for complex slender curved tubes, which includes: S1. Through the five-axis linkage positioning module, the nozzle is driven to adjust its attitude and position in three-dimensional space so that the nozzle can be inserted into the cavity of the complex and slender curved tube to be polished. S2. The polishing liquid is sprayed into the inner wall of the bend in the form of a jet through the nozzle-type polishing execution module to polish the inner wall of the bend; at the same time, the ultrasonic transducer is started to apply ultrasonic vibration to the pipe and the polishing liquid inside the pipe. S3. Through the temperature acquisition module and the flow acquisition module, the temperature signal at the nozzle end and the instantaneous flow signal of the polishing fluid when flowing into and out of the complex slender bend are monitored in real time. S4. Based on the nozzle end temperature signal and polishing fluid instantaneous flow signal monitored in step S3, the polishing fluid and high-pressure gas are pulsed and alternately supplied according to the adaptive control strategy preset in the timing control module, and the pulse parameters and the output power of the ultrasonic transducer are dynamically adjusted. S5. Repeat steps S2 to S4 until the polishing precision and cleanliness of the inner wall of the current bend meet the standards.

[0017] Implementing the embodiments of the present invention will have the following beneficial effects: First, the present invention designs a working mode that alternates polishing liquid and high-pressure gas into the bent pipe through timing control, namely a pulsed gas-liquid alternating supply mechanism, which can achieve active cleaning and prevent blockage. Secondly, by combining ultrasonic and sensor feedback signals, a novel intelligent adaptive pulse control system was constructed. This system integrates ultrasonic transducers, temperature, flow rate, and a pulsed gas-liquid alternating supply mechanism to form a triple-coupled mechanism of ultrasonic pre-stripping, chemical polishing, and gas scouring. This not only fundamentally solves the structural blockage problem in the polishing process of the inner wall of slender curved tubes, but also designs a multi-factor control logic that links four parameters: temperature, flow rate, ultrasound, and pulse. This realizes an intelligent adaptive polishing strategy. Therefore, the technical solution of this invention has significant application value and market prospects in the polishing of the inner walls of various complex slender curved tubes, such as medical device endoscope tubes, aerospace hydraulic fuel tubes, and precision instrument shaped conduits. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] in: Figure 1 This is a schematic diagram of the basic module architecture of the pulsed gas-liquid alternating polishing device described in this invention. Figure 2 This is a schematic front view of the pulsed gas-liquid alternating polishing device corresponding to an embodiment of the present invention; Figure 3This is a side view schematic diagram of the structure of the pulsed gas-liquid alternating polishing device corresponding to an embodiment of the present invention; Figure 4 This describes the control process for pulsed gas-liquid alternating polishing corresponding to an embodiment of the present invention.

[0020] In the diagram: 1. Five-axis linkage positioning module; 2. High-pressure gas storage tank; 3. Polishing fluid recovery tank; 4. Nozzle assembly; 11. Five-axis frame; 12. Touch control screen; 13. Double-leaf door; 21. Gas filtration and pressure stabilizing device; 22. Nozzle inlet pipe; 23. Nozzle inlet pipe solenoid valve; 31. Polishing fluid storage tank; 32. Polishing fluid pump; 33. Nozzle inlet pipe; 34. Nozzle inlet pipe pressure relief valve; 35. Nozzle inlet pipe solenoid valve; 41. Workpiece to be polished. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. It is understood that the terms “first,” “second,” etc., as used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, a first element may be referred to as a second element without departing from the scope of this application, and similarly, a second element may be referred to as a first element. Both the first element and the second element are elements, but they are not the same element.

[0023] There is a need in this field to design a polishing device and method that can actively prevent and promptly remove polishing medium deposits and ensure continuous and stable polishing operations, in order to overcome the technical bottleneck of polishing the inner wall of complex slender curved pipes. In essence, this invention designs an ultrasonically coupled pulsed gas-liquid alternation polishing device and method for the inner wall of complex slender curved pipes, so as to realize the polishing operation of polishing liquid and high-pressure gas circulation on the inner wall of the workpiece to be polished.

[0024] Based on the above design framework, this embodiment proposes a pulsed gas-liquid alternating polishing device for complex, slender curved tubes, such as... Figures 1-4 As shown, it includes: The five-axis linkage positioning module is used to drive the nozzle assembly 4 to perform attitude adjustment and position positioning in three-dimensional space; The nozzle-type polishing execution module is fixed on the five-axis linkage positioning module and connected to the gas-liquid pulse supply module. It is used to spray polishing liquid or high-pressure gas onto the inner wall of the complex slender curved tube (i.e., the workpiece 41 to be polished). The gas-liquid pulse supply module is used to switch between the polishing slurry supply path and the high-pressure gas supply path to achieve pulsed alternating supply of polishing slurry and high-pressure gas. The ultrasonic transducer auxiliary module is used to apply ultrasonic vibration signals to the complex, slender, curved pipe to be polished and the polishing fluid inside the pipe. Temperature acquisition module, which is used to acquire the temperature signal at the nozzle tip in real time; The flow acquisition module is used to collect the instantaneous flow signal of polishing fluid as it flows into and out of complex, slender, and curved pipes in real time. The timing control module is electrically connected to the temperature acquisition module and the flow acquisition module, respectively. Its control output terminal is connected to the gas-liquid pulse supply module and the ultrasonic transducer auxiliary module, respectively. It is used to receive the temperature signal fed back by the temperature acquisition module and the flow signal fed back by the flow acquisition module, and generate corresponding control commands according to the preset adaptive control strategy. The control commands can control the gas-liquid pulse supply module to perform pulsed alternating supply, and synchronously adjust the polishing liquid injection time, high-pressure gas injection time and ultrasonic transducer output power in the pulse parameters.

[0025] In some specific embodiments, a five-axis linkage positioning module (which may be referred to as a five-axis system) is used to drive the nozzle to perform attitude adjustment and position positioning in three-dimensional space. It includes linear motion axes X, Y, and Z and rotary motion axes A and C. The X, Y, and Z axes realize the spatial position positioning of the nozzle end point; the A and C axes realize the spatial attitude orientation of the nozzle axis. Preferably, it has a manual mode and an automatic mode to drive the nozzle to move along the curved trajectory of the inner wall of the slender curved pipe, and supports automatic switching of multiple stations.

[0026] Specifically, the five-axis linkage positioning module 1 is fixedly installed on the workbench (including components such as the five-axis frame 11 and the double-leaf door 13) and its end is fixedly connected to the nozzle-type polishing execution module (nozzle assembly). It includes three linear motion axes and two rotary motion axes, namely: X-axis (transverse): can move along the length of the bed; Y-axis (longitudinal): perpendicular to the X-axis, moves along the width of the bed; Z-axis (vertical): vertical, moves up and down along the column; A-axis: the rotation direction around the X-axis, installed at the lower part of the Z-axis, connected to the main spindle, used to change the pitch angle of the nozzle; C-axis: the rotation direction around the Z-axis, arranged in the middle of the Z-axis, used to change the azimuth angle of the nozzle. Furthermore, this five-axis linkage positioning module has both manual and automatic modes. In manual mode, the operator can control the movement of each axis using a handheld pulse generator (handwheel) or the directional buttons on the touch control screen 12. This includes initial tool setting (moving the nozzle to a preset safety point in front of the bend to be polished and adjusting axes A and C to align the nozzle axis with the bend's opening axis), nozzle insertion into the bend's opening position calibration, and single-step debugging. In automatic mode, based on the CAD model of the slender bend to be polished or the teaching programming results, a five-axis linkage machining program (G-code) is generated to automatically control the nozzle trajectory (the nozzle begins spraying polishing fluid, and each axis performs spatial curve interpolation, ensuring the nozzle tip moves strictly along the theoretical centerline of the bend, while axes A and C rotate in real time to ensure uniform abrasive action on the pipe wall). By programming, complex trajectory polishing of a single bend can be completed, and batch continuous polishing of multiple bends can be achieved, significantly improving processing efficiency.

[0027] Furthermore, this five-axis linkage positioning module also enables automatic switching between multiple workstations via a robotic arm: multiple bent pipes to be polished are clamped in the same batch. After the current bent pipe is completed, the robotic arm quickly lifts the nozzle and moves it to a safe position. Then, through the five-axis linkage positioning module, a wide range of X and Y axis movements are achieved to position the nozzle at the opening of the next bent pipe, automatically repeating the above trajectory. This invention integrates the five-axis linkage positioning module with intelligent polishing technology, combined with a process design that clamps multiple pipes at a time, significantly improving processing efficiency. At the same time, the multi-degree-of-freedom control of the five-axis linkage positioning module ensures the consistency of processing accuracy for each pipe, realizing the automated mass production of complex, slender bent pipes.

[0028] In some specific embodiments, the nozzle-type polishing execution module is fixed to the end of the five-axis linkage positioning module (synchronously adjusted based on the multi-degree-of-freedom motion characteristics provided by the five-axis linkage positioning module) and is connected to the polishing fluid delivery pipeline and high-pressure gas delivery pipeline of the gas-liquid pulse supply module; the nozzle-type polishing execution module is used to spray polishing fluid at a preset pressure and angle onto the inner wall of the bend during the polishing fluid spraying stage, and to convert high-pressure gas into directional airflow during the high-pressure gas flushing stage to remove residual polishing fluid in the pipe, so as to realize the alternating operation of polishing and chip removal.

[0029] Preferably, the nozzle assembly 4 of the nozzle-type polishing execution module is made of a wear-resistant material suitable for both gas and liquid applications (such as ceramics, hard alloys, or special engineering plastics) to withstand the long-term impact of abrasive particles in the polishing fluid and the frequent scouring of high-pressure gas, thereby extending its service life.

[0030] Furthermore, the five-axis linkage positioning module drives the nozzle-type polishing execution module to adjust the position and attitude of the nozzle in real time, ensuring that the jet always impacts the pipe wall at the optimal angle, thereby ensuring the uniformity of polishing accuracy and surface quality. At the same time, during the high-pressure gas flushing stage, the nozzle of the nozzle-type polishing execution module converts the high-pressure gas into a high-speed directional airflow, which powerfully blows along the inner wall of the bend. This high-speed airflow can completely disperse and discharge the polishing liquid, grinding debris, and other deposits remaining on the pipe wall surface and in the dead corners of the bend, thus avoiding the problem of bend blockage caused by the accumulation of polishing liquid residue from the root.

[0031] In some specific embodiments, the gas-liquid pulse supply module includes: a high-pressure gas storage tank 2, a polishing slurry storage unit, a gas-liquid mixing / switching valve group, and a delivery pipeline; wherein, the high-pressure gas storage tank is used to store high-pressure gas as a power source for the gas scouring stage; the polishing slurry storage unit contains polishing slurry containing abrasive particles (after the polishing slurry flows out from the inner wall of the workpiece, it returns to the flow channel through the bottom return port, and then flows back to the polishing slurry recovery tank 3 of the polishing slurry storage unit, and the recovered polishing slurry is subjected to sedimentation treatment in the recovery tank, and the abrasive slag generated during the polishing process will settle to the bottom of the tank); the gas-liquid mixing / switching valve group is used to switch between the polishing slurry supply path and the high-pressure gas supply path to realize the pulsed alternating supply of polishing slurry and high-pressure gas, such as including the nozzle air inlet solenoid valve 23 and the nozzle liquid inlet solenoid valve 5; the delivery pipeline includes a polishing slurry delivery pipeline (including the nozzle liquid inlet pipe 33) and a high-pressure gas delivery pipeline (including a gas filter and pressure stabilizing device 21, a nozzle air inlet pipe 22, etc.), which are used to guide the polishing slurry and high-pressure gas to the nozzle-type polishing execution module, respectively.

[0032] Preferably, the switching strategy of the gas-liquid mixing / switching valve group is: to turn on the polishing liquid supply passage and turn off the high-pressure gas supply passage in the first time period, and to turn on the high-pressure gas supply passage and turn off the polishing liquid supply passage in the second time period, and the first time period and the second time period do not overlap in time.

[0033] Preferably, the gas-liquid pulse supply module further includes a nozzle inlet pipe pressure relief valve 34, installed on the polishing fluid delivery pipeline, used to release residual pressure in the pipeline before switching to high-pressure gas supply. Specifically, it can remain closed during the polishing fluid spraying stage. Before switching to the high-pressure gas flushing stage, it receives an opening command from the timing control module, and the pressure relief valve releases the residual polishing fluid pressure in the pipeline to avoid violent pressure fluctuations when high-pressure gas suddenly rushes into the pressurized liquid pipeline, preventing the pipeline or valve from bursting due to water hammer effect. At the same time, it can keep the polishing fluid delivery pipeline in a low-pressure state during the gas flushing stage, which is conducive to the smooth passage of gas and complete blowing out of the residual liquid in the pipe.

[0034] The gas-liquid pulse supply module performs the following operations sequentially according to the control instructions of the timing control module to achieve a pulsed alternating supply of "polishing fluid injection - pressure relief - high-pressure gas flushing - re-polishing fluid injection": Polishing slurry spraying: Polishing slurry is pumped from the polishing slurry storage tank 31 of the polishing slurry storage unit by the polishing slurry pump 32, and transported to the nozzle through the delivery pipeline. The slurry is then sprayed into the inside of the complex, slender, curved pipe to polish the inner wall of the pipe. Switching and depressurization: After the preset polishing slurry spraying time is reached, the timing control module sends a switching signal: shuts down the polishing slurry pumping unit and opens the depressurization valve installed on the polishing slurry delivery pipeline to release the residual pressure in the pipeline and avoid pressure shock when switching to the gas passage; High-pressure gas flushing: The gas-liquid switching valve group connects to the high-pressure gas passage. The high-pressure gas in the high-pressure gas tank is delivered to the nozzle through the delivery pipeline and sprayed into the inside of the bend. This high-speed airflow powerfully flushes and blows away the polishing liquid that remains accumulated on the inner wall and dead corners of the bend, and discharges it out of the pipe.

[0035] The aforementioned gas-liquid pulse supply module enables the sequential and alternating supply of polishing slurry and high-pressure gas, eliminating mutual interference caused by simultaneous supply of the two. Furthermore, the periodic flushing of high-pressure gas fundamentally solves the problem of polishing slurry residue and accumulation in the bend, ensuring continuous and stable polishing operations.

[0036] In some specific embodiments, the ultrasonic transducer auxiliary module is used to apply ultrasonic vibration signals to the complex slender curved pipe to be polished and the polishing liquid inside the pipe; specifically, the ultrasonic transducer is fixedly installed on the bottom surface of the worktable, and the ultrasonic vibration is transmitted to the pipe to be polished and the polishing liquid inside the pipe through the worktable. Specifically, the ultrasonic transducer generates high-frequency mechanical vibration (usually 20kHz~40kHz) during the working process, and indirectly acts on the pipe and the liquid inside the pipe through the worktable, producing the following physical effects: (1) Cavitation effect: At the moment when the high-pressure gas pulse enters the pipe, the pressure field inside the pipe changes abruptly, and the pressure wave and the ultrasonic cavitation field generate a coupling resonance. The cavitation bubbles collapse more violently and more concentratedly under the trigger of the pressure wave, and the micro-jet generated by the collapse has a higher velocity and a more concentrated impact, which significantly improves the cutting efficiency of the abrasive particles on the pipe wall; (2) Physical dispersion: The ultrasonic vibration causes the surface chemical reaction layer formed during the polishing process to produce microcracks or interface fatigue, reducing its bonding strength with the substrate. The subsequent high-pressure gas pulse can more efficiently peel off the loosened reaction layer, forming a dual physical removal mechanism of "ultrasonic pre-peeling - gas main peeling", which, together with the chemical action, forms a triple combination, greatly improving the uniformity of material removal rate; especially in slender bends, abrasive particles are prone to agglomerate into large particles due to electrostatic or liquid bridge forces. Ultrasonic high-frequency vibration disperses the agglomerates through mechanical action and cavitation micro-jet, making the abrasive particles re-dispersed uniformly. The gas pulse that follows pushes the dispersed fine abrasive particles out of the pipeline as a whole at a high flow rate, effectively avoiding structural blockage of abrasive particles at bends or diameter changes due to the "wedge effect"; (3) Acoustic flow effect (micro-convection): induces microscale flow in the boundary layer of the pipe wall, breaks the stagnant boundary layer, and enhances mass transfer.

[0037] The temperature acquisition module uses a temperature sensor T1 installed at the nozzle assembly, which is used to acquire the temperature signal at the nozzle tip in real time. A flow acquisition module is used to acquire the instantaneous flow rate signal of the polishing fluid as it flows into and out of a complex, slender, curved pipe in real time. The flow acquisition module includes a first flow meter and a second flow meter. The first flow meter is installed at the end of the nozzle inlet pipe and is used to measure the instantaneous flow rate of the input polishing fluid. The second flow meter, installed at the outlet of the tube to be polished, is used to measure the instantaneous flow rate of the polishing fluid. .

[0038] In some specific embodiments, the timing control module mainly controls the precise regulation of the timing of polishing slurry and high-pressure gas injection. Through preset strategies, it can coordinately control the start time and duration of polishing slurry injection, as well as the triggering time and injection cycle of high-pressure gas injection, so as to achieve orderly alternation and precise matching of the two injection actions.

[0039] Specifically, the timing control module receives the temperature signal from the temperature acquisition module and the flow signal from the flow acquisition module, and controls the flow according to a preset adaptive control strategy (temperature). flow ultrasound An adaptive control strategy based on four pulse parameters is used to generate corresponding control commands; wherein the pulse parameters and the corresponding pulse period are... The definition is: = + +

[0040] in, Indicates the polishing slurry spraying time. Indicates the pressure relief time (fixed 0.2~0.5s). Indicates the high-pressure gas flushing time; Specifically, the adaptive control strategy includes a temperature feedback control sub-strategy, which includes: When the temperature value fed back by the nozzle tip temperature signal is lower than the first preset threshold (30) When ), maintain the current pulse parameters; When the temperature value fed back by the temperature signal at the nozzle tip is between the first preset threshold and the second preset threshold, the pulse parameters are adjusted to shorten the polishing liquid injection time and extend the high-pressure gas injection time. When the temperature value fed back by the nozzle tip temperature signal exceeds the second preset threshold (40) When the polishing fluid supply path is switched to the high-pressure gas supply path to stop the polishing fluid injection, the high-pressure gas is continuously output until the temperature value fed back by the nozzle end temperature signal falls back to the temperature safety range, that is, the temperature value fed back by the nozzle end temperature signal does not exceed the second preset threshold.

[0041] Preferred, The high-pressure gas injection time is dynamically adjusted based on the temperature value fed back from the nozzle tip temperature signal. The corresponding adjustment formula is: =

[0042] in, Indicates the high-pressure gas injection time. The reference value for the high-pressure gas injection time (default 1~2 s). This indicates the temperature value fed back by the temperature signal at the tip of the nozzle. Indicates the temperature trigger threshold (default 30). ), This represents the temperature correction factor, with a value ranging from 0.1. 0.3, preferably 0.2. For example... For 1 second, 38 , If the value is 0.2, then The value is 2.6 s; it can also be seen that the formula achieves a non-linear extension of the gas flushing time with increasing temperature, taking into account both cooling efficiency and cycle time.

[0043] Meanwhile, the experimental data generated by the applicant's simulation experiments are shown in the table below:

[0044] Based on the above design, this invention can achieve temperature feedback-driven adaptive adjustment: real-time monitoring of the nozzle tip temperature, and segmented adjustment of polishing slurry injection time, high-pressure gas rinsing time, and ultrasonic power. When the temperature rises, the polishing slurry injection time is automatically shortened, the gas rinsing time is extended, and the ultrasonic power is reduced, and the five-axis motion speed can be reduced in conjunction with this. This mechanism effectively avoids pipe thermal deformation, polishing slurry failure, and over-polishing of the surface caused by local overheating, achieving "self-cooling" in the processing process.

[0045] Preferred, The adaptive control strategy further includes a flow feedback control sub-strategy, which includes: When the temperature value fed back by the nozzle end temperature signal is between the first preset threshold and the second preset threshold, the instantaneous flow rate ratio of the polishing fluid flowing into and out of the complex slender bend is calculated simultaneously, and the pulse parameters are adjusted based on the instantaneous flow rate ratio of the polishing fluid. Among them, the instantaneous flow rate ratio of polishing fluid The calculation formula is =

[0046] in, This indicates the instantaneous flow rate (L / min) of the polishing fluid when it flows into the complex, slender, and curved pipe. The output flow rate is the instantaneous flow rate (L / min) of the polishing fluid when it flows out of the complex, slender, and curved pipe. The strategy for adjusting the pulse parameters based on the instantaneous flow ratio of the polishing slurry includes: When the instantaneous flow rate of the polishing slurry is... When the flow rate ratio exceeds the first threshold, the current pulse parameters are maintained. When the instantaneous flow rate of the polishing slurry is... When the flow rate is between the first flow rate threshold and the second flow rate threshold, the pulse parameters of the next cycle are adjusted, that is, the high-pressure gas injection time of the next cycle is increased and the polishing fluid pumping speed is reduced. When the instantaneous flow rate of the polishing slurry is... When the flow rate is less than or equal to the second flow ratio threshold and the duration exceeds the threshold, the polishing slurry supply path is switched to the high-pressure gas supply path to stop the polishing slurry injection, and high-pressure gas is continuously output until the instantaneous flow rate of the polishing slurry reaches the threshold. When the flow rate is greater than the first flow ratio threshold, it is in continuous pure gas pulse mode.

[0047] Preferably, in the continuous pure gas pulse mode, the timing control module controls the ultrasonic transducer auxiliary module to maintain the ultrasonic transducer output power below 50% to assist in loosening the blockage.

[0048] And when the polishing fluid pump speed is constant, if A continuous decrease over multiple cycles (e.g., a decrease of more than 10% over three consecutive pulse cycles) indicates increased abrasive particle deposition within the nozzle or piping. This can be addressed by actively shortening the timing control module. ,Increase It can also optionally reduce the speed of five-axis motion.

[0049] Meanwhile, the experimental data generated by the applicant's simulation experiments are shown in the table below:

[0050] Based on the above design scheme, its core is a flow feedback-driven blockage diagnosis and self-recovery mechanism. For example, by calculating the flow ratio, the system can determine the pipe's patency in real time and adopt targeted treatment methods. If the flow ratio remains below the severe blockage threshold, it immediately switches to a pure gas pulse mode, using continuous high-pressure gas to loosen and expel the blockage. Once the flow ratio recovers, it automatically returns to normal polishing mode. This "self-diagnosis-self-recovery" mechanism significantly improves the continuity of the processing and greatly reduces the need for manual intervention.

[0051] Preferably, the adaptive control strategy further includes an ultrasonic transducer differentiated control sub-strategy, which includes: When the temperature value fed back by the nozzle tip temperature signal is lower than the first preset threshold, the ultrasonic transducer of the ultrasonic transducer auxiliary module is controlled to differentiate the output power of the ultrasonic transducer according to the stage of the pulse timing. When the temperature value fed back by the nozzle end temperature signal is between the first preset threshold and the second preset threshold, the ultrasonic transducer auxiliary module is controlled to reduce the output power of the ultrasonic transducer by a certain ratio. When the temperature value fed back by the temperature signal at the nozzle end exceeds the second preset threshold, the ultrasonic transducer auxiliary module is controlled to stop outputting the ultrasonic transducer.

[0052] Preferably, the differential control of the output power of the ultrasonic transducer according to the stage of the pulse timing specifically includes: During the polishing slurry spraying stage, the ultrasonic transducer is controlled to output full power; During the depressurization phase, the ultrasonic transducer is controlled to output low-power pulses. During the high-pressure gas flushing stage, the ultrasonic transducer is controlled to output low power or be turned off.

[0053] Meanwhile, the experimental data generated by the applicant's simulation experiments are shown in the table below:

[0054] Preferably, adjusting the spatial attitude of the nozzle assembly through the timing control module specifically includes: The polishing quality can be ensured by adjusting the five-axis motion speed (reducing the feed speed of at least one linear motion axis among the X, Y, and Z axes), while mitigating overheating / clogging by reducing the speed or increasing the speed to improve efficiency.

[0055] The specific adjustment strategies include: Speed ​​adjustment is performed based on temperature signals to reduce speed as pipe wall temperature rises, thereby extending gas cooling time and reducing frictional heat generation. When the temperature value fed back by the nozzle tip temperature signal is lower than the first preset threshold (30) When this happens, the current pulse parameters are maintained, i.e., the default speed is maintained. ; When the temperature value fed back by the nozzle tip temperature signal is between the first preset threshold and the second preset threshold, the adjustment pulse parameter is reduced to... × (0.6~0.8); When the temperature value fed back by the nozzle tip temperature signal exceeds the second preset threshold (40) If the temperature drops to a certain level, immediately stop or move at an extremely slow rate, such as when the temperature drops to a certain level. × (0.1~0.2).

[0056] Speed ​​adjustment is performed in conjunction with flow signals to address blockage conditions. Specifically, when early signs of blockage are detected, the feed rate is reduced to prevent the polishing fluid from pushing deposits deeper into the soil. When the instantaneous flow rate of the polishing slurry is... When the flow rate ratio exceeds the first threshold, it indicates that the pipeline is unobstructed and the current pulse parameters should be maintained—maintain the default speed. ; When the instantaneous flow rate of the polishing slurry is... When the flow rate is between the first and second flow rate thresholds, the pulse parameter for the next cycle is adjusted to decrease to... × (0.7~0.8); This indicates a slight blockage. The feed rate should be slowed down to reduce the polishing fluid input rate, allowing time for gas to clear and preventing accelerated blockage. When the instantaneous flow rate of the polishing slurry is... When the flow rate is less than or equal to the second flow ratio threshold and the duration exceeds the threshold, it indicates a severe blockage. Immediately stop feeding or stop forward movement at a very low speed to prevent the nozzle from compacting the blockage. Restart after clearing the blockage with pure gas pulses.

[0057] Preferably, this application allows operators to flexibly adjust the polishing slurry spraying time and high-pressure gas rinsing time via a timing control module, depending on the material of the workpiece to be polished (such as stainless steel, titanium alloy, nickel-based alloy, etc.). For example, for materials with high hardness, the polishing slurry spraying time can be appropriately extended to enhance the material removal rate; for materials with high toughness and prone to work hardening, the gas rinsing frequency can be increased to reduce frictional heat. The specific values ​​of the timing parameters can be obtained by calling up a preset process database or by manual calibration.

[0058] Preferably, the abrasive contained in the polishing fluid can be selected according to the material, hardness, and surface quality requirements of the bent pipe to be polished. Applicable abrasives include, but are not limited to, one or more combinations of: alumina sand, silica sand, silicon carbide sand, diamond sand, plastic sand, glass sand, ceramic sand, resin sand, and steel sand. The particle size, hardness, and shape of different abrasives will affect the polishing efficiency and surface roughness; those skilled in the art can select the appropriate abrasive according to actual needs.

[0059] Preferably, the polishing slurry used in this application can be selected with different components depending on the material being polished. Typically, rare earth abrasives such as cerium oxide can be added to the polishing slurry as abrasive particles, along with additives such as pH adjusters, corrosion inhibitors, and complexing agents. These are mostly weakly acidic or weakly alkaline green chemical components that improve polishing efficiency and reduce excessive corrosion of the pipe wall substrate through chemical reactions (such as oxidation, complexation, and passivation). In addition, the polishing slurry should not contain strong acids, strong alkalis, or other components harmful to humans or the environment, and can be recycled multiple times. After sedimentation and filtration, it can even be directly discharged to meet green manufacturing requirements.

[0060] Based on the same inventive concept, this invention also proposes a pulsed gas-liquid alternating polishing method, which includes: S1. Through the five-axis linkage positioning module, the nozzle is driven to adjust its attitude and position in three-dimensional space so that the nozzle can be inserted into the cavity of the complex and slender curved tube to be polished. S2. The polishing liquid is sprayed into the inner wall of the bend in the form of a jet through the nozzle-type polishing execution module to polish the inner wall of the bend; at the same time, the ultrasonic transducer is started to apply ultrasonic vibration to the pipe and the polishing liquid inside the pipe. S3. Through the temperature acquisition module and the flow acquisition module, the temperature signal at the nozzle end and the instantaneous flow signal of the polishing fluid when flowing into and out of the complex slender bend are monitored in real time. S4. Based on the nozzle end temperature signal and polishing fluid instantaneous flow signal monitored in step S3, the polishing fluid and high-pressure gas are pulsed and alternately supplied according to the adaptive control strategy preset in the timing control module, and the pulse parameters and the output power of the ultrasonic transducer are dynamically adjusted. S5. Repeat steps S2 to S4 until the polishing precision and cleanliness of the inner wall of the current bend meet the standards.

[0061] Based on the same inventive concept, the present invention also proposes a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform the method described thereon.

[0062] Based on the same inventive concept, the present invention also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method when executing the program.

[0063] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A pulsed gas-liquid alternating polishing device for complex slender curved tubes, characterized in that, include: The five-axis linkage positioning module is used to drive the nozzle to perform attitude adjustment and position positioning in three-dimensional space; A nozzle-type polishing execution module is fixed on the five-axis linkage positioning module and connected to the gas-liquid pulse supply module. It is used to spray polishing liquid or high-pressure gas onto the inner wall of a complex, slender, curved pipe. The gas-liquid pulse supply module is used to switch between the polishing slurry supply path and the high-pressure gas supply path to achieve pulsed alternating supply of polishing slurry and high-pressure gas. An ultrasonic transducer auxiliary module is used to apply an adjustable power ultrasonic vibration signal to the complex, slender, curved pipe to be polished and the polishing fluid inside the pipe. Temperature acquisition module, which is used to acquire the temperature signal at the nozzle tip in real time; The flow acquisition module is used to collect the instantaneous flow signal of polishing fluid as it flows into and out of complex, slender, and curved pipes in real time. The timing control module is electrically connected to the temperature acquisition module and the flow acquisition module, respectively. Its control output terminal is connected to the gas-liquid pulse supply module and the ultrasonic transducer auxiliary module, respectively. It is used to receive the temperature signal fed back by the temperature acquisition module and the flow signal fed back by the flow acquisition module, and generate corresponding control commands according to the preset adaptive control strategy. The control commands can control the gas-liquid pulse supply module to perform pulsed alternating supply, and synchronously adjust the polishing liquid injection time, high-pressure gas injection time and ultrasonic transducer output power in the pulse parameters.

2. The pulsed gas-liquid alternating polishing device according to claim 1, characterized in that, The adaptive control strategy includes a temperature feedback control sub-strategy, which includes: When the temperature value fed back by the nozzle tip temperature signal is lower than the first preset threshold, the current pulse parameters are maintained; When the temperature value fed back by the temperature signal at the nozzle tip is between the first preset threshold and the second preset threshold, the pulse parameters are adjusted to shorten the polishing liquid injection time and extend the high-pressure gas injection time. When the temperature value fed back by the nozzle tip temperature signal exceeds the second preset threshold, the polishing slurry supply path is switched to the high-pressure gas supply path to stop the polishing slurry injection, and high-pressure gas is continuously output until the temperature value fed back by the nozzle tip temperature signal falls back to the temperature safety range, that is, the temperature value fed back by the nozzle tip temperature signal does not exceed the second preset threshold.

3. The pulsed gas-liquid alternating polishing device according to claim 2, characterized in that, The high-pressure gas injection time is dynamically adjusted based on the temperature value fed back from the nozzle tip temperature signal. The corresponding adjustment formula is: = in, Indicates the high-pressure gas injection time. A reference value representing the high-pressure gas injection time. This indicates the temperature value fed back by the temperature signal at the tip of the nozzle. Indicates the temperature trigger threshold. This represents the temperature correction factor, with a value ranging from 0.

1. 0.

3.

4. The pulsed gas-liquid alternating polishing device according to claim 2, characterized in that, The adaptive control strategy further includes a flow feedback control sub-strategy, which includes: When the temperature value fed back by the nozzle end temperature signal is between the first preset threshold and the second preset threshold, the instantaneous flow rate ratio of the polishing fluid flowing into and out of the complex slender bend is calculated simultaneously, and the pulse parameters are adjusted based on the instantaneous flow rate ratio of the polishing fluid. Among them, the instantaneous flow rate ratio of polishing fluid The calculation formula is = in, This indicates the instantaneous flow rate of the polishing fluid as it flows into the complex, slender, and curved pipe. This indicates the output flow rate, which is the instantaneous flow rate of the polishing fluid as it flows out of the complex, slender, and curved pipe. The strategy for adjusting the pulse parameters based on the instantaneous flow ratio of the polishing slurry includes: When the instantaneous flow rate of the polishing slurry is... When the flow rate ratio exceeds the first threshold, the current pulse parameters are maintained. When the instantaneous flow rate of the polishing slurry is... When the flow rate is between the first flow rate threshold and the second flow rate threshold, the pulse parameters of the next cycle are adjusted, that is, the high-pressure gas injection time of the next cycle is increased and the polishing fluid pumping speed is reduced. When the instantaneous flow rate of the polishing slurry is... When the flow rate is less than or equal to the second flow ratio threshold and the duration exceeds the threshold, the polishing slurry supply path is switched to the high-pressure gas supply path to pause the polishing slurry injection, and high-pressure gas is continuously output until the instantaneous flow rate of the polishing slurry reaches the threshold. When the flow rate is greater than the first flow ratio threshold, it is in continuous pure gas pulse mode.

5. The pulsed gas-liquid alternating polishing device according to claim 4, characterized in that, In the continuous pure gas pulse mode, the timing control module controls the ultrasonic transducer auxiliary module to maintain the ultrasonic transducer output power below 50% to assist in loosening the blockage.

6. The pulsed gas-liquid alternating polishing device according to claim 1, characterized in that, The adaptive control strategy includes a differentiated control sub-strategy for the ultrasonic transducer, which includes: When the temperature value fed back by the nozzle tip temperature signal is lower than the first preset threshold, the ultrasonic transducer of the ultrasonic transducer auxiliary module is controlled to differentiate the output power of the ultrasonic transducer according to the stage of the pulse timing. When the temperature value fed back by the nozzle end temperature signal is between the first preset threshold and the second preset threshold, the ultrasonic transducer auxiliary module is controlled to reduce the output power of the ultrasonic transducer by a certain ratio. When the temperature value fed back by the temperature signal at the nozzle end exceeds the second preset threshold, the ultrasonic transducer auxiliary module is controlled to stop outputting the ultrasonic transducer.

7. The pulsed gas-liquid alternating polishing device according to claim 6, characterized in that, The differentiated control of the output power of the ultrasonic transducer according to the stage of the pulse timing specifically includes: During the polishing slurry spraying stage, the ultrasonic transducer is controlled to output full power; During the depressurization phase, the ultrasonic transducer is controlled to output low-power pulses. During the high-pressure gas flushing stage, the ultrasonic transducer is controlled to output low power or be turned off. The pulse timing sequence includes a polishing fluid injection stage, a pressure relief stage, and a high-pressure gas flushing stage.

8. A pulsed gas-liquid alternating polishing method based on the apparatus according to any one of claims 1-7, characterized in that, include: S1. Through the five-axis linkage positioning module, the nozzle is driven to adjust its attitude and position in three-dimensional space so that the nozzle can be inserted into the cavity of the complex and slender curved tube to be polished. S2. The polishing liquid is sprayed into the inner wall of the bend in the form of a jet through the nozzle-type polishing execution module to polish the inner wall of the bend; at the same time, the ultrasonic transducer is started to apply ultrasonic vibration to the pipe and the polishing liquid inside the pipe. S3. Through the temperature acquisition module and the flow acquisition module, the temperature signal at the nozzle end and the instantaneous flow signal of the polishing fluid when flowing into and out of the complex slender bend are monitored in real time. S4. Based on the nozzle end temperature signal and polishing fluid instantaneous flow signal monitored in step S3, the polishing fluid and high-pressure gas are supplied in a pulsed alternation manner according to the preset adaptive control strategy in the timing control module, and the pulse parameters and the output power of the ultrasonic transducer are dynamically adjusted. S5. Repeat steps S2 to S4 until the polishing precision and cleanliness of the inner wall of the current bend meet the standards.

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