Online shaping device for pultrusion profile with asymmetric section

Abstract

The invention relates to the technical field of profile processing, and provides an online shaping device for asymmetric-section pultruded profiles, which comprises a workbench, a moving block, a fixed block, a supporting platform, a first moving driving part, two groups of sliding seats, two groups of mounting assemblies, a left half shaping block and a right half shaping block, each mounting assembly comprises two mounting blocks and two second moving driving parts, the two second moving driving parts are used for driving the two mounting blocks to get away from each other or get close to each other, and the sides, close to each other, of the two mounting blocks of at least one mounting assembly are used for mounting the left half shaping block and the right half shaping block correspondingly; after the sides, close to each other, of the left half shaping block and the right half shaping block are attached, the shape and the size of a structure defined by the inner sides of the left half shaping block and the right half shaping block are matched with the shape and the size of the outer surface of the cross section of the pultrusion profile with the asymmetric cross section. According to the invention, the asymmetric-section pultrusion profile discharged by the pultrusion die is shaped on line, and the quality of the produced asymmetric-section pultrusion profile is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of profile processing, in particular to an online shaping device for pultruded profiles with asymmetric cross-sections. Background Art

[0002] The pultrusion process is to heat and solidify continuous glass fiber yarn and fabric soaked in glue through a pultrusion die of equal cross-section under the action of traction, and continuously produce products of unlimited length.

[0003] The existing production device / production line of the pultrusion molding process usually includes a pultrusion die (molding die) and a traction mechanism. The existing production device / production line of the pultrusion molding process, such as the traction mechanism of the CN100569496C composite material pultruder and its pultruder, has the following problems: there is usually a lack of a shaping device between the discharge side of the pultrusion die and the traction mechanism, and the quality of the asymmetric cross-section pultruded profiles produced cannot be guaranteed. Summary of the invention

[0004] The present invention provides an online shaping device for pultruded profiles with asymmetric cross-sections, which is used to solve the following problems of the existing production device / production line of pultrusion molding process proposed in the background technology, such as the traction mechanism of the composite material pultruder and the pultruder thereof in CN100569496C: there is usually no shaping device between the discharge side of the pultrusion die and the traction mechanism, and the quality of the produced asymmetric cross-section pultruded profiles cannot be guaranteed.

[0005] In order to solve the above technical problems, the present invention discloses an online shaping device for asymmetric cross-section pultruded profiles, comprising a workbench, a groove is arranged at the upper end of the workbench, a supporting platform is fixedly arranged in the groove, and the shaping device for asymmetric cross-section pultruded profiles also includes:

[0006] A moving block and a fixed block, wherein the fixed block is fixedly connected to the rear portion of the upper end of the support platform, the moving block is arranged at the front portion of the upper end of the support platform, the fixed end of the first moving driving member is fixedly connected to the front end of the groove, and the first moving driving member is used to drive the moving block to slide along the front-to-back direction at the front portion of the upper end of the support platform; the moving block and the fixed block are provided with corresponding first through holes, and the first through holes are used to allow the asymmetric cross-section pultruded profile coming out of the pultrusion die to pass through;

[0007] Two sets of slides, the two sets of slides are spaced apart from each other, and the lower ends of the slides are slidably connected to the first slide grooves at the upper ends of the support platforms along the front-back direction, and the two sets of slides are driven by the driving assembly to slide in the first slide grooves;

[0008] Two groups of mounting components, the two groups of mounting components are respectively connected to the upper ends of the two groups of slides, the mounting components include: two groups of mounting blocks spaced apart from each other, the mounting blocks are slidably connected to the second slide grooves at the upper ends of the slides along the left and right directions, the two mounting blocks are respectively fixedly connected to the moving ends of a second moving driving member on the sides away from each other, the fixed ends of the second moving driving members are fixedly mounted on the slides, and the second moving driving member is used to drive the corresponding mounting blocks to slide left and right along the second slide grooves;

[0009] The left half integral block and the right half integral block, and the sides of the two mounting blocks of at least one set of mounting components close to each other are respectively used to mount the left half integral block and the right half integral block; after the sides of the left half integral block and the right half integral block close to each other are fitted together, the shape and size of the structure enclosed by the inner sides of the left half integral block and the right half integral block match the shape and size of the outer surface of the cross-section of the asymmetric cross-section pultruded profile.

[0010] Preferably, the sides of the two mounting blocks of the rear mounting assembly that are close to each other are used to install the left half integral block and the right half integral block, respectively, and the sides of the two mounting blocks of the front mounting assembly that are close to each other are used to install the left half contact block and the right half contact block, respectively. After the sides of the left half contact block and the right half contact block that are close to each other are fitted together, the shape and size of the structure enclosed by the inner side of the left half contact block and the right half contact block match the shape and size of the outer surface of the cross-section of the asymmetric cross-section pultruded profile, and a number of contact detection sensors are embedded in the inner side of the left half contact block and the right half contact block and the asymmetric cross-section pultruded profile.

[0011] Preferably, the moving block is also provided with a second through hole, and the driving assembly includes: a bidirectional screw, the front and rear parts of the bidirectional screw are respectively provided with threaded sections with opposite rotation directions, the threaded sections with opposite rotation directions are respectively connected with screw nuts, the two screw nuts are respectively embedded in the two groups of sliding seats, the bidirectional screw is rotatably connected to the front side wall of the groove and the fixed block, and a motor for driving the bidirectional screw to rotate is provided on the front side wall of the workbench, and the bidirectional screw moves through the second through hole.

[0012] Preferably, the contact detection sensor is a force sensor or a distance sensor.

[0013] Preferably, the outer surface of the cross section of the asymmetric cross-section pultruded profile is divided into a plurality of first regions, and a plurality of contact detection sensors are arranged in each first region;

[0014] The shaping device for asymmetric cross-section pultruded profiles also includes:

[0015] A storage device storing a standard image of the flat surface of each first area and storing a number of the first area and a number of the contact detection sensor;

[0016] An image acquisition device, the image acquisition device is used to acquire the current actual image of the surface of each first area, and the image acquisition device is arranged between the front mounting assembly and the rear mounting assembly;

[0017] The image processing device comprises: a first processing unit and a second processing unit, wherein the first processing unit is used to perform grayscale processing on a standard image of the flat surface of each first region to obtain a first grayscale image of each first region, and the second processing unit is used to perform grayscale processing on a current actual image of the surface of each first region to obtain a second grayscale image of each first region;

[0018] A first calculation module, the first calculation module is used to calculate the surface state evaluation value of each first area based on the first grayscale image of each first area and the second grayscale image of each first area;

[0019] A first warning module, the first warning module is used to issue an alarm when the surface state evaluation value of any first area is greater than the corresponding first state evaluation threshold;

[0020] a second calculation module, the second calculation module being used to calculate an appearance state evaluation value of each first area based on a detection value of the contact detection sensor;

[0021] A second warning module, the second warning module is used to issue an alarm when the appearance state evaluation value of any first area is greater than the corresponding second state evaluation threshold;

[0022] The control device is electrically connected to the second mobile drive member, the storage device, the image acquisition device, the image processing device, the first computing module, the first warning module, the second computing module, and the second warning module respectively. The control device controls the operation of the first warning module and the second warning module based on the second mobile drive member, the storage device, the image acquisition device, the image processing device, the first computing module, and the second computing module.

[0023] Preferably, the control device controls the first warning module and the second warning module to work based on the second mobile drive, the storage device, the image acquisition device, the image processing device, the first calculation module, and the second calculation module, including:

[0024] Step S1: The shaped profile segment first arrives at the image acquisition device, and the control device controls the image acquisition device and the image processing device to obtain the first grayscale image of each first area and the second grayscale image of each first area;

[0025] Step S2: the first calculation module calculates the surface state evaluation value of each first area based on the first grayscale image of each first area and the second grayscale image of each first area; when the surface state evaluation value of any first area is greater than the corresponding first state evaluation threshold, the first early warning module issues an alarm;

[0026] Step S3: When the first warning module does not issue a warning, the profile segment that has been shaped continues to move to the left half-shaped block and the right half-shaped block, and the control device controls the second moving drive member to work so that the left half-shaped block and the right half-shaped block are close to each other and fit together, and then the control device controls the contact detection sensor to perform detection;

[0027] Step S4: the second calculation module calculates the appearance state evaluation value based on the detection value of the contact detection sensor, and when the appearance state evaluation value of any first area is greater than the corresponding second state evaluation threshold, the second warning module issues an alarm.

[0028] Preferably, the first calculation module calculates based on the following formula:

[0029]

[0030]

[0031] P i is the surface state evaluation value of the i-th first region; M i Calculate the total number of selected grayscale points for the i-th first region; A ij A is the grayscale of the jth grayscale point in the second grayscale image of the i-th first area; i0 is the average grayscale of the grayscale points in the first grayscale image of the i-th first region; ij1 A is the maximum absolute value of the grayscale difference between the jth grayscale point and its adjacent grayscale point in the second grayscale image of the i-th first region; ij2 is the average value of the absolute value of the grayscale difference between the jth grayscale point and its adjacent grayscale points in the second grayscale image of the i-th first region; μ 1 , μ 2 , μ 3 are assessment weight 1, assessment weight 2, and assessment weight 3 respectively, ln is the natural logarithm, and e is the natural constant; K ij is the difference parameter between the jth grayscale point and its adjacent grayscale points in the second grayscale image of the i-th first region; M i1 is the K of the first region of the i ij The total number of grayscale points greater than the preset difference parameter threshold; K i is the K of the first region of the i ij The K of grayscale points greater than the preset difference parameter threshold ij The average value of .

[0032] Preferably, the second calculation module calculates based on the following formula:

[0033]

[0034]

[0035] G i is the appearance state evaluation value of the first region of the ith region; exp is the natural exponential function; S ik is the actual deviation at the kth contact detection sensor in the i-th first area; S ik1 is the maximum absolute value of the difference between the actual deviations of the kth contact detection sensor in the i-th first area and its adjacent contact detection sensor; S ik2 is the average absolute value of the difference between the actual deviations of the kth contact detection sensor in the i-th first area and its adjacent contact detection sensors; B ik is the actual detection value of the kth contact detection sensor in the i-th first area; B ik0 is the theoretical detection value of the kth contact detection sensor in the i-th first area; σ ik N is the importance of the external dimensions at the kth contact detection sensor in the i-th first area; i1 is the first region of the i-th The number of times greater than the corresponding preset reference value; They are evaluation coefficient 1 and evaluation coefficient 2 respectively; N i is the total number of contact detection sensors in the i-th first area.

[0036] Preferably, it also includes a control system, which includes:

[0037] A first acquisition module, the first acquisition module is used to obtain a target shaping temperature range of the asymmetric cross-section pultruded profile;

[0038] A first temperature measuring device, the first temperature measuring device is used to detect the temperature of a temperature measuring point on the surface of the asymmetric cross-section pultruded profile when the asymmetric cross-section pultruded profile is discharged from the pultrusion die at the current heating temperature of the pultrusion die;

[0039] A first curve construction module, the first curve construction module is used to construct a first temperature change curve of the average temperature of all temperature measuring points on the surface of the asymmetric cross-section pultruded profile changing with time during the natural cooling process after the current asymmetric cross-section pultruded profile is discharged from the pultrusion die; in the first temperature change curve, the horizontal axis is the cooling time, and the vertical axis is the average temperature of all temperature measuring points on the surface of the asymmetric cross-section pultruded profile;

[0040] A second calculation module is used to select multiple target points from the first temperature change curve and calculate the theoretical traction speed corresponding to each target point; θ X is the theoretical traction speed corresponding to the Xth target point; H 1is the distance from the outlet of the pultrusion die to the center of the left half-integral block and the right half-integral block along the pulling direction of the asymmetric cross-section pultruded profile; t x is the abscissa of the Xth target point in the first temperature variation curve;

[0041] A second curve construction module, the second curve construction module is used to construct a second temperature change curve with the theoretical traction speed of the target point as the horizontal coordinate and the temperature of the target point corresponding to the first temperature curve as the vertical coordinate;

[0042] A second acquisition module, the second acquisition module is used to obtain a curve of the curing degree of the asymmetric cross-section pultruded profile as the traction speed changes under the heating temperature of the current pultrusion die;

[0043] A first determination module is used to obtain a first traction speed range matching a target shaping temperature range based on a second temperature variation curve, and select a plurality of first traction speeds from the first traction speed range according to a preset traction speed selection interval; the target shaping temperature range corresponds to a target curing degree during shaping of the profile;

[0044] a third calculation module, the third calculation module being used to calculate a comprehensive evaluation value of each first traction speed based on the second curve construction module and the second acquisition module;

[0045] The second determination module is used to determine the first traction speed with the largest comprehensive evaluation value as the target traction speed. The asymmetric cross-section pultruded profile is currently pultruded and shaped through the left half integral block and the right half integral block at the target traction speed.

[0046] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The asymmetric cross-section pultruded profile discharged from the discharge side of the pultrusion die passes through the first through hole of the fixed block and the first through hole of the movable block in sequence, and is then connected to the traction mechanism. The traction mechanism tractions the asymmetric cross-section pultruded profile to discharge, and controls the two second movable drive members corresponding to the left half-integral block and the right half-integral block to extend, so that the left half-integral block and the right half-integral block are close to each other, until the left half-integral block and the right half-integral block are close to each other. The shape and size of the structure enclosed by the inner side of the left half-integral block and the right half-integral block match the shape and size of the outer surface of the cross section of the asymmetric cross-section pultruded profile. At this time, when the traction mechanism pulls the asymmetric cross-section pultruded profile through the left half-integral block and the right half-integral block, the asymmetric cross-section pultruded profile can be shaped by the left half-integral block and the right half-integral block;

[0049] The two second movable driving members corresponding to the left half contact block and the right half contact block are controlled to extend, so that the left half contact block and the right half contact block approach each other, until the side where the left half contact block and the right half contact block are close to each other fits together. At this time, the shape and size of the structure enclosed by the inner side of the left half contact block and the right half contact block match the shape and size of the outer surface of the cross-section of the asymmetric cross-section pultruded profile. When the traction mechanism pulls the asymmetric cross-section pultruded profile through the left half contact block and the right half contact block, the contact detection sensors in the left half contact block and the right half contact block can be controlled to detect. According to the comparison between the actual detection value of the contact detection sensor and the theoretical detection value, it can be judged whether the outer surface shape of the asymmetric cross-section pultruded profile after shaping meets the requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0051] Figure 1 It is a structural schematic diagram of the present invention;

[0052] Figure 2 It is a rear view schematic diagram of the relative positions of the asymmetric cross-section pultruded profile, the left half-integral block, and the right half-integral block when the left half-integral block and the right half-integral block of the present invention are not attached to each other on one side;

[0053] Figure 3 It is a rear view schematic diagram of the relative positions of the asymmetric cross-section pultruded profile, the left half-integral block, and the right half-integral block after the left half-integral block and the right half-integral block of the present invention are attached to each other at one side;

[0054] Figure 4 It is a rear view schematic diagram of the relative positions of the asymmetric cross-section pultruded profile, the left half contact block, and the right half contact block when the left half contact block and the right half contact block of the present invention are not in contact with each other on one side.

[0055] In the figure: 1, workbench; 101, groove; 2, support platform; 21, first slide; 3, moving block; 4, fixed block; 5, bidirectional screw; 6, slide; 7, mounting assembly; 71, mounting block; 72, second slide; 73, second moving drive member; 8, left half integral block; 9, right half integral block; 10, left half contact block; 11, right half contact block; 12, asymmetric cross-section pultruded profile; 13, first through hole; 14, first moving drive member; 15, second through hole. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0057] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0058] The present invention provides the following embodiments

[0059] Embodiment 1, the present invention provides an online shaping device for asymmetric cross-section pultruded profiles, such as Figure 1-Figure 2 As shown, it includes a workbench 1, a groove 101 is arranged at the upper end of the workbench 1, and a support platform 2 is fixedly arranged in the groove 101. The shaping device for asymmetric cross-section pultruded profiles also includes:

[0060] The movable block 3 and the fixed block 4 are fixedly connected to the rear of the upper end of the support platform 2, the movable block 3 is arranged at the front of the upper end of the support platform 2, the fixed end of the first movable driving member 14 is fixedly connected to the front end of the groove 101, and the first movable driving member 14 is used to drive the movable block 3 to slide along the front-to-back direction at the front of the upper end of the support platform 2; the movable block 3 and the fixed block 4 are provided with corresponding first through holes 13, and the first through holes 13 are used for passing the asymmetric cross-section pultruded profile 12 coming out of the pultrusion die;

[0061] Two sets of slides 6, the two sets of slides 6 are spaced apart from each other, and the lower ends of the slides 6 are slidably connected to the first slide groove 21 at the upper end of the support platform 2 along the front-to-back direction, and the two sets of slides 6 are driven by the driving assembly to slide in the first slide groove 21;

[0062] Two groups of mounting components 7, the two groups of mounting components 7 are respectively connected to the upper ends of the two groups of slide seats 6, the mounting components 7 include: two groups of mounting blocks 71 spaced apart from each other, the mounting blocks 71 are slidably connected to the second slide slots 72 at the upper ends of the slide seats 6 along the left-right direction, the two mounting blocks 71 are respectively fixedly connected to the moving ends of a second movable driving member 73 on the sides away from each other, the fixed ends of the second movable driving members 73 are fixedly mounted on the slide seats 6, and the second movable driving members 73 are used to drive the corresponding mounting blocks 71 to slide left and right along the second slide slots 72;

[0063] The left half-integral block 8 and the right half-integral block 9, and the sides of the two mounting blocks 71 of at least one set of mounting components 7 that are close to each other are used to mount the left half-integral block 8 and the right half-integral block 9 respectively; after the sides of the left half-integral block 8 and the right half-integral block 9 that are close to each other are fitted together, the shape and size of the structure enclosed by the inner side of the left half-integral block 8 and the right half-integral block 9 match the shape and size of the outer surface of the cross-section of the asymmetric cross-section pultruded profile 12 (the width direction cross-section of the asymmetric cross-section pultruded profile 12).

[0064] Preferably, the first movable driving member 14 and the second movable driving member 73 are both electric telescopic rods.

[0065] Preferably, the sides of the two mounting blocks 71 of the rear mounting assembly 7 that are close to each other are used to install the left half-integral block 8 and the right half-integral block 9, respectively, and the sides of the two mounting blocks 71 of the front mounting assembly 7 that are close to each other are used to install the left half-contact block 10 and the right half-contact block 11, respectively. After the sides of the left half-contact block 10 and the right half-contact block 11 that are close to each other are fitted together, the shape and size of the structure enclosed by the inner side of the left half-contact block 10 and the right half-contact block 11 match the shape and size of the outer surface of the cross-section of the asymmetric cross-section pultruded profile 12, and a number of contact detection sensors are embedded in the inner side of the left half-contact block 10 and the right half-contact block 11 and the asymmetric cross-section pultruded profile 12 (the side in contact with the outer surface of the cross-section of the asymmetric cross-section pultruded profile 12).

[0066] Preferably, the moving block 3 is also provided with a second through hole 15, and the driving assembly includes: a bidirectional screw 5, the front and rear parts of the bidirectional screw 5 are respectively provided with thread segments with opposite rotation directions, the thread segments with opposite rotation directions are respectively connected with screw nuts, the two screw nuts are respectively embedded in two groups of slide seats 6, the bidirectional screw 5 is rotatably connected to the front side wall of the groove 101 and the fixed block 4, and a motor for driving the bidirectional screw 5 to rotate is provided on the front side wall of the workbench 1, and the bidirectional screw 5 moves through the second through hole 15.

[0067] Preferably, the contact detection sensor is a force sensor or a distance sensor. The force sensor is used to detect the pressure of the outer surface of the asymmetric cross-section pultruded profile 12 on the location of the force sensor; the distance sensor is used to detect the vertical distance between its location and the outer surface of the asymmetric cross-section pultruded profile 12.

[0068] The working principle and beneficial effects of the above technical solution are:

[0069] The asymmetric cross-section pultruded profile 12 discharged from the discharge side of the pultrusion die passes through the first through hole 13 of the fixed block 4 and the first through hole 13 of the movable block 3 in sequence, and is then connected to the traction mechanism, which tractions the asymmetric cross-section pultruded profile 12 out of the material, and controls the two second movable driving members 73 corresponding to the left half-molding block 8 and the right half-molding block 9 to extend ( Figure 2The left half-integral block 8 and the right half-integral block 9 are in the relative position diagram when the two second moving drive members 73 are not extended, so that the left half-integral block 8 and the right half-integral block 9 are close to each other until the left half-integral block 8 and the right half-integral block 9 are close to each other (such as Figure 3 As shown), at this time, the shape and size of the structure enclosed by the inner side of the left half-molding block 8 and the right half-molding block 9 match the shape and size of the outer surface of the cross section of the asymmetric cross-section pultruded profile 12. At this time, when the traction mechanism pulls the asymmetric cross-section pultruded profile 12 through the left half-molding block 8 and the right half-molding block 9, the asymmetric cross-section pultruded profile 12 can be shaped by the left half-molding block 8 and the right half-molding block 9;

[0070] The two second moving driving members 73 corresponding to the left half contact block 10 and the right half contact block 11 are controlled to extend, so that the left half contact block 10 and the right half contact block 11 are close to each other, until the left half contact block 10 and the right half contact block 11 are close to each other and fit together. At this time, the shape and size of the structure enclosed by the inner side of the left half contact block 10 and the right half contact block 11 match the shape and size of the outer surface of the cross section of the asymmetric cross-section pultruded profile 12 (see Figure 3 ), when the traction mechanism pulls the asymmetric cross-section pultruded profile 12 through the left half contact block 10 and the right half contact block 11, the contact detection sensors in the left half contact block 10 and the right half contact block 11 can be controlled to detect, and based on the comparison between the actual detection value of the contact detection sensor and the theoretical detection value, it can be judged whether the outer surface shape of the asymmetric cross-section pultruded profile 12 after shaping meets the requirements.

[0071] Embodiment 2, based on embodiment 1, the outer surface of the cross section of the asymmetric cross-section pultruded profile 12 is divided into a plurality of first regions, and a plurality of contact detection sensors are disposed in each first region;

[0072] The shaping device for asymmetric cross-section pultruded profiles also includes:

[0073] A storage device storing a standard image of the flat surface of each first area and storing a number of the first area and a number of the contact detection sensor;

[0074] An image acquisition device, the image acquisition device is used to acquire the current actual image of the surface of each first area, and the image acquisition device is arranged between the front mounting assembly 7 and the rear mounting assembly 7;

[0075] The image processing device comprises: a first processing unit and a second processing unit, wherein the first processing unit is used to perform grayscale processing on a standard image of the flat surface of each first region to obtain a first grayscale image of each first region, and the second processing unit is used to perform grayscale processing on a current actual image of the surface of each first region to obtain a second grayscale image of each first region;

[0076] A first calculation module, the first calculation module is used to calculate the surface state evaluation value of each first area based on the first grayscale image of each first area and the second grayscale image of each first area;

[0077] A first warning module, the first warning module is used to issue an alarm when the surface state evaluation value of any first area is greater than the corresponding first state evaluation threshold;

[0078] a second calculation module, the second calculation module being used to calculate an appearance state evaluation value of each first area based on a detection value of the contact detection sensor;

[0079] A second warning module, the second warning module is used to issue an alarm when the appearance state evaluation value of any first area is greater than the corresponding second state evaluation threshold;

[0080] The control device is electrically connected to the second mobile driving member 73, the storage device, the image acquisition device, the image processing device, the first calculation module, the first warning module, the second calculation module, and the second warning module respectively. The control device controls the first warning module and the second warning module based on the second mobile driving member 73, the storage device, the image acquisition device, the image processing device, the first calculation module, and the second calculation module, and includes:

[0081] Step S1: The shaped profile segment first arrives at the image acquisition device, and the control device controls the image acquisition device and the image processing device to obtain the first grayscale image of each first area and the second grayscale image of each first area;

[0082] Step S2: the first calculation module calculates the surface state evaluation value of each first area based on the first grayscale image of each first area and the second grayscale image of each first area; when the surface state evaluation value of any first area is greater than the corresponding first state evaluation threshold, the first early warning module issues an alarm;

[0083] Step S3: When the first warning module does not issue a warning, the profile segment that has been shaped continues to move to the left half-shaped block 8 and the right half-shaped block 9, and the control device controls the second moving drive member 73 to work so that the left half-shaped block 8 and the right half-shaped block 9 are close to each other, and then the control device controls the contact detection sensor to perform detection;

[0084] Step S4: The second calculation module calculates the appearance state evaluation value based on the detection value of the contact detection sensor. When the appearance state evaluation value of any first area is greater than the corresponding second state evaluation threshold, the second warning module issues an alarm. The second state evaluation threshold takes different values ​​according to the size of the surface state evaluation value of the corresponding first evaluation area;

[0085] The first calculation module is calculated based on the following formula:

[0086]

[0087]

[0088] P i is the surface state evaluation value of the i-th first region; M i Calculate the total number of selected grayscale points for the i-th first region; A ij A is the grayscale of the jth grayscale point in the second grayscale image of the i-th first area; i0 is the average grayscale of the grayscale points in the first grayscale image of the i-th first region; ij1 A is the maximum absolute value of the grayscale difference between the jth grayscale point and its adjacent grayscale point in the second grayscale image of the i-th first region; ij2 is the average value of the absolute value of the grayscale difference between the jth grayscale point and its adjacent grayscale points in the second grayscale image of the i-th first region; μ 1 , μ 2 , μ 3 They are assessment weight 1, assessment weight 2, and assessment weight 3 (based on K i The importance of surface condition evaluation is set, and the values ​​are all greater than 0 and less than 1; for example, they can be 0.531, 0.248, and 0.221 respectively), ln is the natural logarithm, e is the natural constant; K ij Mi is the difference parameter between the jth grayscale point and its adjacent grayscale point in the second grayscale image of the i-th first region; 1 is the K of the first region of the i ij The total number of gray points greater than the preset difference parameter threshold (K ij If it is greater than the preset difference parameter threshold, the grayscale distribution is abnormal); K i is the K of the first region of the i ij The K of grayscale points greater than the preset difference parameter threshold ij The average value of .

[0089] The second calculation module is based on the following calculation formula:

[0090]

[0091]

[0092] G i is the appearance state evaluation value of the first region of the ith region; exp is the natural exponential function; S ik is the actual deviation at the kth contact detection sensor in the i-th first area; S ik1is the maximum absolute value of the difference between the actual deviations of the kth contact detection sensor in the i-th first area and its adjacent contact detection sensor; S ik2 is the average absolute value of the difference between the actual deviations of the kth contact detection sensor in the i-th first area and its adjacent contact detection sensors; B ik is the actual detection value of the kth contact detection sensor in the i-th first area; B ik0 is the theoretical detection value of the kth contact detection sensor in the i-th first area; σ ik N is the importance of the outer dimensions of the kth contact detection sensor in the i-th first area (the value is greater than 0 and less than 1); i1 is the first region of the i-th The number of times greater than the corresponding preset reference value; They are evaluation coefficient 1 and evaluation coefficient 2 (both values ​​are greater than 0 and less than 1; they can be 0.173 and 0.147 respectively); N i is the total number of contact detection sensors in the i-th first area.

[0093] The working principle and beneficial effects of the above technical solution are:

[0094] The profile segment that has been shaped first arrives at the image acquisition device, and the current actual image of the surface of each first area is collected by the image acquisition device. The first grayscale image of each first area and the second grayscale image of each first area are obtained by controlling the image processing device. The first calculation module calculates the surface state evaluation value of each first area based on the first grayscale image of each first area and the second grayscale image of each first area (the surface state evaluation value reflects the surface state of each first area surface, and the surface state includes: flatness / roughness, damage state (damage includes cracks); when the surface flatness state is abnormal or loss occurs, the grayscale state / grayscale value at the corresponding location may be abnormal). When the surface state evaluation value of any first area is greater than the corresponding first state evaluation threshold, the first early warning module alarms, so as to realize the alarm when the surface state of any first area is abnormal, and reminds to adjust the relevant equipment or process the profile (such as grinding);

[0095] When the surface conditions of all the first areas are normal, the shaped profile segment continues to move to the left half-shaped block 8 and the right half-shaped block 9, and the control device controls the second moving drive member 73 to work so that the left half-shaped block 8 and the right half-shaped block 9 are close to each other on one side, and then the control device controls the contact detection sensor to detect, and the second calculation module calculates the appearance state evaluation value based on the detection value of the contact detection sensor (the appearance state evaluation value reflects the appearance state, and the appearance state includes the deviation state between the actual appearance of the first area of ​​each area and the theoretical appearance, and the distribution state of the deviation state of the actual appearance). When the appearance state evaluation value of any first area is greater than the corresponding second state evaluation threshold, the second early warning module alarms, so as to realize an alarm when the appearance state of any first area is abnormal, and reminds to adjust the relevant equipment and process the abnormal profile segment (such as scrapping, reshaping, etc.; different measures can be taken according to different appearance state evaluation values).

[0096] is a theoretical surface state evaluation value calculated based on the grayscale of each grayscale point of the i-th first region itself in the second grayscale image and the grayscale average value of the i-th first region ( It reflects the first surface state value, reflects the second surface state value), It is a correction to the theoretical surface condition evaluation value; It reflects the difference between the grayscale of the second grayscale image and the average grayscale of the first grayscale image. reflects the grayscale distribution difference state of the i-th first region in the second grayscale image;

[0097] It reflects the average deviation state (similar state) between the actual shape of the i-th first region and the theoretical shape. It reflects the change state of the deviation of the adjacent contact detection sensors in the i-th first area; It reflects the number of abnormal deviation differences between adjacent contact detection sensors in the i-th first area.

[0098] Embodiment 3, based on Embodiment 1 or 2, further comprises a control system, wherein the control system comprises:

[0099] A first acquisition module, the first acquisition module is used to obtain a target shaping temperature range of the asymmetric cross-section pultruded profile 12;

[0100] A first temperature measuring device, the first temperature measuring device is used to detect the temperature of a temperature measuring point on the surface of the asymmetric cross-section pultruded profile 12 when the asymmetric cross-section pultruded profile 12 is discharged from the pultrusion die under the current heating temperature of the pultrusion die;

[0101] A first curve construction module, the first curve construction module is used to construct a first temperature change curve of the average temperature of all temperature measuring points on the surface of the asymmetric cross-section pultruded profile 12 changing with time during the natural cooling process after the current asymmetric cross-section pultruded profile 12 is discharged from the pultrusion die; in the first temperature change curve, the horizontal axis is the cooling time, and the vertical axis is the average temperature of all temperature measuring points on the surface of the asymmetric cross-section pultruded profile 12;

[0102] A second calculation module is used to select multiple target points from the first temperature change curve and calculate the theoretical traction speed corresponding to each target point; θ X is the theoretical traction speed corresponding to the Xth target point; H 1 is the distance of the asymmetric cross-section pultruded profile 12 from the discharge port of the pultrusion die to the center position of the left half-molded block 8 and the right half-molded block 9 along the pulling direction; t x is the abscissa of the Xth target point in the first temperature variation curve;

[0103] A second curve construction module, the second curve construction module is used to construct a second temperature change curve with the theoretical traction speed of the target point as the horizontal coordinate and the temperature of the target point corresponding to the first temperature curve as the vertical coordinate;

[0104] A second acquisition module, the second acquisition module is used to obtain a curve of the curing degree of the asymmetric cross-section pultruded profile 12 as the traction speed changes under the heating temperature of the current pultrusion die;

[0105] A first determination module is used to obtain a first traction speed range matching a target shaping temperature range based on a second temperature change curve, and select a plurality of first traction speeds from the first traction speed range according to a preset traction speed selection interval; the target shaping temperature range corresponds to a target curing degree during shaping of the profile 12;

[0106] a third calculation module, the third calculation module being used to calculate a comprehensive evaluation value of each first traction speed based on the second curve construction module and the second acquisition module;

[0107] The second determination module is used to determine the first traction speed with the largest comprehensive evaluation value as the target traction speed. The asymmetric cross-section pultruded profile 12 is currently pultruded and shaped through the left half shaping block 8 and the right half shaping block 9 at the target traction speed.

[0108] Preferably, the third calculation module calculates based on the following formula:

[0109]

[0110]

[0111] Among them, W sis the comprehensive evaluation value corresponding to the sth first traction speed; L is the length of the left half-integer block 8 and the right half-integer block 9 along the traction direction; V S is the sth first traction speed; T s V in the second temperature variation curve S The corresponding ordinate, t s is the time length of passing through the left half-integer block 8 and the right half-integer block 9 at the sth first traction speed; T s1 T in the first temperature change curve s The corresponding horizontal coordinate is translated t along the horizontal axis to one side (positive direction of the horizontal axis) s The corresponding vertical coordinate after the value; T s2 T in the first temperature change curve s The corresponding horizontal coordinate is translated t along the horizontal axis to the other side (negative direction of the horizontal axis) s The corresponding vertical coordinate after the value; for The corresponding integer temperature satisfaction coefficient (based on the preset Integer temperature satisfies the coefficient mapping table; for example The value is 30, the current target integer temperature range is 20-40, and the integer temperature satisfaction coefficient is 1); C(T s1 , T s , T s2 ) is T s1 , T s , T s2 The first integer effect evaluation value corresponding to the standard deviation of Among them, e is a natural constant, ∝(T s1 , T s , T s2 ) is T s1 , T s , T s2 The standard deviation of 0 =∝(T s1 , T s , T s2 ) corresponds to the maximum allowed value), the integer effect evaluation value can be greater than 0 and less than 1); β(T s1 ) is the temperature T s1 The corresponding pulling speed in the second temperature variation curve corresponds to the fixed degree in the variation curve of the solidification degree of the asymmetric cross-section pultruded profile 12 with the pulling speed; β(T s ) is the temperature T s The corresponding pulling speed in the second temperature variation curve corresponds to the fixed degree in the variation curve of the solidification degree of the asymmetric cross-section pultruded profile 12 with the pulling speed; β(T s2 ) is the temperature T s2The corresponding pulling speed in the second temperature variation curve corresponds to the fixed degree in the variation curve of the solidification degree of the asymmetric cross-section pultruded profile 12 with the pulling speed; α 1 , α 2 , α 3 They are the first shaping effect evaluation weight, the second shaping effect evaluation weight, and the third shaping effect evaluation weight (set according to the influence of temperature distribution, average temperature state, and degree of solidification on shaping effect evaluation, respectively. The greater the influence, the greater the value. The values ​​are both greater than 0 and less than 1); for The corresponding second integer effect evaluation value (which can be calculated based on the following formula ∝ 1 is the target value / preferred value of the degree of curing, ∝ 2 for The corresponding maximum allowed value).

[0112] The present invention can be provided with an environment detection sensor, which is used to detect the environment information at the online shaping device, and the environment information includes: environment temperature, environment wind speed; and calculate the environment change degree based on the formula; F 0 is the degree of environmental change; D f is the current detected value of the fth environmental parameter affecting the natural cooling temperature of the asymmetric cross-section pultruded profile 12; Y is the total number of environmental parameters affecting the natural cooling temperature of the asymmetric cross-section pultruded profile 12; D f0 is the detected value of the fth environmental parameter affecting the natural cooling temperature of the asymmetric cross-section pultruded profile 12 when the control system was last adjusted; is the influence of the fth environmental parameter affecting the natural cooling temperature of the asymmetric cross-section pultruded profile 12 on the natural cooling temperature of the asymmetric cross-section pultruded profile 12 (with D f -D f0 The positive and negative directions correspond, and the value is greater than -1 and less than 1; if is greater than 0, the natural cooling temperature of the asymmetric cross-section pultruded profile 12 will increase, so the value is greater than 0); when F 0 If the temperature is greater than a preset threshold (indicating that the molding temperature of the asymmetric cross-section pultruded profile 12 at the left half molding block 8 and the right half molding block 9 changes significantly), the control system will proceed to the next operation.

[0113] The beneficial effects of the above technical solution are:

[0114] When factors such as the ambient temperature of the online shaping device of the asymmetric cross-section pultruded profile change greatly, the natural cooling temperature of the asymmetric cross-section pultruded profile 12 changes during the movement from the pultrusion die to the left half shaping block 8 and the right half shaping block 9, causing the shaping temperature of the asymmetric cross-section pultruded profile 12 at the left half shaping block 8 and the right half shaping block 9 to change greatly, the control system works to adjust the traction speed of the traction mechanism according to the current actual environment to ensure that the shaping temperature of the asymmetric cross-section pultruded profile 12 at the left half shaping block 8 and the right half shaping block 9 is appropriate.

[0115] Comprehensively ensure that the molding temperature of the asymmetric cross-section pultruded profile 12 at the left half molding block 8 and the right half molding block 9 is appropriate, and ensure the appropriate degree of solidification of the asymmetric cross-section pultruded profile 12 discharged from the pultrusion die, determine the appropriate target traction speed, and ensure the comprehensive effect of pultrusion molding of the asymmetric cross-section pultruded profile 12 and molding through the left half molding block 8 and the right half molding block 9.

[0116] T s1 , T s , T s2 The temperature distribution of the asymmetric cross-section pultruded profile 12 at one end, the center, and the other end of the forming die is different. s1 , T s , T s2 The standard deviation of is large, which may lead to poor forming effect. Therefore, it is necessary to select a suitable target pulling speed to ensure that C(T s1 , T s , T s2 )The corresponding molding effect meets the requirements.

[0117] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An online shaping device for asymmetrical cross-section pultruded profiles, comprising a workbench (1), characterized in that: A groove (101) is arranged at the upper end of the workbench (1), and a support platform (2) is fixedly arranged in the groove (101). The shaping device for the asymmetric cross-section pultruded profile also includes: A moving block (3) and a fixed block (4), wherein the fixed block (4) is fixedly connected to the rear portion of the upper end of the support platform (2), the moving block (3) is arranged at the front portion of the upper end of the support platform (2), the fixed end of the first moving driving member (14) is fixedly connected to the front end of the groove (101), and the first moving driving member (14) is used to drive the moving block (3) to slide along the front-to-back direction at the front portion of the upper end of the support platform (2); the moving block (3) and the fixed block (4) are provided with corresponding first through holes (13), and the first through holes (13) are used to allow the asymmetric cross-section pultruded profile (12) coming out of the pultrusion die to pass through; Two groups of slide seats (6), the two groups of slide seats (6) are arranged at a front-to-back interval, and the lower ends of the slide seats (6) are slidably connected in the first slide groove (21) at the upper end of the support platform (2) along the front-to-back direction, and the two groups of slide seats (6) are driven by the driving assembly to slide in the first slide groove (21); Two groups of mounting components (7), the two groups of mounting components (7) are respectively connected to the upper ends of the two groups of slide seats (6), the mounting components (7) include: two groups of mounting blocks (71) spaced apart from each other, the mounting blocks (71) are slidably connected in the second slide groove (72) at the upper end of the slide seat (6) along the left-right direction, the two mounting blocks (71) are respectively fixedly connected to the movable end of a second movable driving member (73) on the side away from each other, the fixed end of the second movable driving member (73) is fixedly mounted on the slide seat (6), and the second movable driving member (73) is used to drive the corresponding mounting block (71) to slide left and right along the second slide groove (72); The left half-integral block (8) and the right half-integral block (9), and the mutually adjacent sides of the two mounting blocks (71) of at least one set of mounting components (7) are respectively used to mount the left half-integral block (8) and the right half-integral block (9); after the mutually adjacent sides of the left half-integral block (8) and the right half-integral block (9) are bonded together, the shape and size of the structure enclosed by the inner side of the left half-integral block (8) and the right half-integral block (9) match the shape and size of the outer surface of the cross section of the asymmetric cross-section pultruded profile (12).

2. The online shaping device for asymmetric cross-section pultruded profile according to claim 1, characterized in that: The sides of the two mounting blocks (71) of the rear mounting assembly (7) close to each other are respectively used to mount the left half integral block (8) and the right half integral block (9), and the sides of the two mounting blocks (71) of the front mounting assembly (7) close to each other are respectively used to mount the left half contact block (10) and the right half contact block (11). After the sides of the left half contact block (10) and the right half contact block (11) close to each other are attached, the shape and size of the structure enclosed by the inner side of the left half contact block (10) and the right half contact block (11) match the shape and size of the outer surface of the cross section of the asymmetric cross-section pultruded profile (12), and a plurality of contact detection sensors are embedded inside the left half contact block (10) and the right half contact block (11) and the asymmetric cross-section pultruded profile (12).

3. The online shaping device for asymmetric cross-section pultruded profile according to claim 2, characterized in that: The moving block (3) is also provided with a second through hole (15), and the driving assembly comprises: a bidirectional lead screw (5), the front and rear parts of the bidirectional lead screw (5) are respectively provided with threaded sections with opposite rotation directions, the threaded sections with opposite rotation directions are respectively connected with lead screw nuts, and the two lead screw nuts are respectively embedded in two groups of slide seats (6), the bidirectional lead screw (5) is rotatably connected to the front side wall of the groove (101) and the fixed block (4), and a motor for driving the bidirectional lead screw (5) to rotate is provided on the front side wall of the workbench (1), and the bidirectional lead screw (5) movably passes through the second through hole (15).

4. The online shaping device for asymmetric cross-section pultruded profile according to claim 3, characterized in that: The contact detection sensor is a force sensor or a distance sensor.

5. The online shaping device for asymmetric cross-section pultruded profile according to claim 4, characterized in that: The outer surface of the cross section of the asymmetric cross-section pultruded profile (12) is divided into a plurality of first areas, and each first area is provided with a plurality of contact detection sensors; The shaping device for asymmetric cross-section pultruded profiles also includes: A storage device storing a standard image of the flat surface of each first area and storing a number of the first area and a number of the contact detection sensor; An image acquisition device, the image acquisition device is used to acquire a current actual image of the surface of each first area, and the image acquisition device is arranged between the front side mounting assembly (7) and the rear side mounting assembly (7); The image processing device comprises: a first processing unit and a second processing unit, wherein the first processing unit is used to perform grayscale processing on a standard image of the flat surface of each first region to obtain a first grayscale image of each first region, and the second processing unit is used to perform grayscale processing on a current actual image of the surface of each first region to obtain a second grayscale image of each first region; A first calculation module, the first calculation module is used to calculate the surface state evaluation value of each first area based on the first grayscale image of each first area and the second grayscale image of each first area; A first warning module, the first warning module is used to issue an alarm when the surface state evaluation value of any first area is greater than the corresponding first state evaluation threshold; a second calculation module, the second calculation module being used to calculate an appearance state evaluation value of each first area based on a detection value of the contact detection sensor; A second warning module, the second warning module is used to issue an alarm when the appearance state evaluation value of any first area is greater than the corresponding second state evaluation threshold; A control device, the control device is electrically connected to the second mobile drive member (73), the storage device, the image acquisition device, the image processing device, the first computing module, the first warning module, the second computing module, and the second warning module respectively. The control device controls the operation of the first warning module and the second warning module based on the second mobile drive member (73), the storage device, the image acquisition device, the image processing device, the first computing module, and the second computing module.

6. The online shaping device for asymmetric cross-section pultruded profile according to claim 5, characterized in that: The control device controls the first warning module and the second warning module to work based on the second mobile drive member (73), the storage device, the image acquisition device, the image processing device, the first calculation module, and the second calculation module, including: Step S1: The shaped profile segment first arrives at the image acquisition device, and the control device controls the image acquisition device and the image processing device to obtain the first grayscale image of each first area and the second grayscale image of each first area; Step S2: the first calculation module calculates the surface state evaluation value of each first area based on the first grayscale image of each first area and the second grayscale image of each first area; when the surface state evaluation value of any first area is greater than the corresponding first state evaluation threshold, the first early warning module issues an alarm; Step S3: When the first warning module does not issue a warning, the profile segment that has been shaped continues to move to the left half-shaped block (8) and the right half-shaped block (9), and the control device controls the second moving drive member (73) to work so that the left half-shaped block (8) and the right half-shaped block (9) are close to each other and fit together, and then the control device controls the contact detection sensor to perform detection; Step S4: the second calculation module calculates the appearance state evaluation value based on the detection value of the contact detection sensor, and when the appearance state evaluation value of any first area is greater than the corresponding second state evaluation threshold, the second warning module issues an alarm.

7. The online shaping device for asymmetric cross-section pultruded profile according to claim 5, characterized in that: The first calculation module is calculated based on the following formula: P i is the surface state evaluation value of the i-th first region; M i Calculate the total number of selected grayscale points for the i-th first region; A ij is the grayscale of the jth grayscale point in the second grayscale image of the i-th first region; A i0 is the average grayscale of the grayscale points in the first grayscale image of the i-th first region; A ij1 A is the maximum absolute value of the grayscale difference between the jth grayscale point and its adjacent grayscale point in the second grayscale image of the i-th first region; ij2 is the average value of the absolute value of the grayscale difference between the jth grayscale point and its adjacent grayscale points in the second grayscale image of the i-th first region; μ1, μ2, μ3 are evaluation weight 1, evaluation weight 2, and evaluation weight 3, respectively; ln is the natural logarithm, and e is a natural constant; K ij is the difference parameter between the jth grayscale point and its adjacent grayscale points in the second grayscale image of the i-th first region; M i1 is the K of the first region of the i ij The total number of grayscale points greater than the preset difference parameter threshold; K i is the K of the first region of the i ij The K of grayscale points greater than the preset difference parameter threshold ij The average value of .

8. The online shaping device for asymmetric cross-section pultruded profile according to claim 5, characterized in that: The second calculation module is based on the following calculation formula: G i is the appearance state evaluation value of the first region of the ith region; exp is the natural exponential function; S ik is the actual deviation at the kth contact detection sensor of the i-th first area; S ik1 is the maximum absolute value of the difference between the actual deviations of the kth contact detection sensor in the i-th first area and its adjacent contact detection sensor; S ik2 is the average absolute value of the difference between the actual deviations of the kth contact detection sensor in the i-th first area and its adjacent contact detection sensors; B ik is the actual detection value of the kth contact detection sensor in the ith first area; B ik0 is the theoretical detection value of the kth contact detection sensor in the i-th first area; σ ik N is the importance of the external dimensions at the kth contact detection sensor in the i-th first area; i1 is the first region of the i-th The number of times greater than the corresponding preset reference value; They are evaluation coefficient 1 and evaluation coefficient 2 respectively; N i is the total number of contact detection sensors in the i-th first area.

9. The online shaping device for asymmetric cross-section pultruded profile according to claim 1, characterized in that: It also includes a control system, which includes: A first acquisition module, the first acquisition module is used to obtain a target shaping temperature range of an asymmetric cross-section pultruded profile (12); A first temperature measuring device, the first temperature measuring device is used to detect the temperature of a temperature measuring point on the surface of the asymmetric cross-section pultruded profile (12) when the asymmetric cross-section pultruded profile (12) is discharged from the pultrusion die at the current heating temperature of the pultrusion die; A first curve construction module, the first curve construction module is used to construct a first temperature change curve in which the average temperature of all temperature measurement points on the surface of the asymmetric cross-section pultruded profile (12) changes with time during the natural cooling process after the current asymmetric cross-section pultruded profile (12) is discharged from the pultrusion die; in the first temperature change curve, the horizontal axis is the cooling time, and the vertical axis is the average temperature of all temperature measurement points on the surface of the asymmetric cross-section pultruded profile (12); A second calculation module is used to select multiple target points from the first temperature change curve and calculate a theoretical traction speed corresponding to each target point; θ X is the theoretical pulling speed corresponding to the Xth target point; H1 is the distance of the asymmetric cross-section pultruded profile (12) from the discharge port of the pultrusion die to the center position of the left half-integral block (8) and the right half-integral block (9) along the pulling direction; t x is the abscissa of the Xth target point in the first temperature variation curve; A second curve construction module, the second curve construction module is used to construct a second temperature change curve with the theoretical traction speed of the target point as the horizontal coordinate and the temperature of the target point corresponding to the first temperature curve as the vertical coordinate; A second acquisition module, the second acquisition module is used to obtain a curve of the curing degree of the asymmetric cross-section pultruded profile (12) changing with the pulling speed under the current heating temperature of the pultrusion die; a first determination module, for acquiring a first traction speed range matching a target shaping temperature range based on a second temperature variation curve, and selecting a plurality of first traction speeds from the first traction speed range according to a preset traction speed selection interval; the target shaping temperature range corresponds to a target curing degree of the profile (12) during shaping; a third calculation module, the third calculation module being used to calculate a comprehensive evaluation value of each first traction speed based on the second curve construction module and the second acquisition module; The second determination module is used to determine the first traction speed with the largest comprehensive evaluation value as the target traction speed. The asymmetric cross-section pultruded profile (12) is currently pultruded and shaped through the left half shaping block (8) and the right half shaping block (9) at the target traction speed.

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