Frozen sand mold flexible guide micro-channel forming device and control method

Abstract

The invention provides a frozen sand mold flexible guide micro-channel forming device and a control method. The device comprises a prefabricated refrigeration sand blank forming box, a sand box positioning working platform, a servo module electric lifting mechanism, a pre-stabbing micro-channel flexible device and an integral metal frame, the system stability and the three-axis motion precision are jointly ensured, and accurate control over the position and depth of a micro-channel is achieved. The core of the method is that pre-optimization is carried out through a three-dimensional model and simulation; machining is accurately guided through a tool movement track and a position depth algorithm; cutter parameters are converted into needle area matrix type inching lifting parameters through a conversion algorithm; a flexible guide device control algorithm is combined to adapt to a complex sand mold; and the acupuncture depth and density are accurately controlled by using an interface contour projection algorithm. The control algorithm monitors the whole adjustment process in real time. Through a precision device and a collaborative algorithm, the forming efficiency and precision of the frozen sand mold flexible guide micro-channel are remarkably improved, and an efficient and high-precision solution is provided for cold sand mold manufacturing.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of sand mold 3D printing, and relates to the field of frozen sand mold printing design and manufacturing, in particular to a frozen sand mold flexible guide micro-channel forming device and a control method. BACKGROUND

[0002] 3D printing technology has shown great potential and broad application prospects in many fields in recent years. 3D printing technology, also known as additive manufacturing technology, is a technology that forms a three-dimensional entity by layering materials based on a digital model. It breaks through the limitations of traditional manufacturing technology and can achieve rapid manufacturing of complex shapes and structures. In the process of 3D sand mold printing, the application of freezing process is an innovative point. Through freezing treatment, the shape and structure of the sand mold can be fixed, and the deformation and shrinkage of the material during printing can be reduced. This helps to achieve higher precision in sand mold manufacturing and improve the quality of castings.

[0003] The frozen sand mold flexible guide micro-channel forming device and control method are born in such a technical background. This method combines the advantages of 3D printing technology and frozen sand mold casting technology, and realizes the micro-channel device with flexible guide function by precisely controlling the cutting material allowance in the 3D printing process and the cooling and solidification process of the frozen sand mold.

[0004] However, there are still many technical challenges to be overcome in the field of 3D printing micro-channel devices. For example, how to ensure the positional accuracy of the micro-channel and the smoothness of the sand mold surface to achieve stable gas flow; how to design a reasonable micro-channel structure to meet specific experimental needs; and how to effectively control the gas in the micro-channel to achieve frozen sand mold subtractive machining in the direction of 3D printing.

[0005] In summary, the frozen sand mold flexible guide micro-channel forming device and control method in the direction of 3D printing are developed to solve the problems of long freezing time, high cost, and difficult demolding of large-size frozen sand molds in the background of rapid development of microfluidic technology and continuous progress of 3D printing technology. New methods and devices are needed to achieve rapid freezing, easy demolding, and low-cost forming of frozen sand molds. SUMMARY

[0006] To address the aforementioned problems, this patent invention provides a frozen sand mold flexible guided microchannel forming device and control method. The device comprises a pre-fabricated refrigerated sand blank forming box, a sand box positioning platform, a pre-punctured microchannel flexible device, and an overall metal frame. The pre-fabricated refrigerated sand blank forming box consists of: an insulation material board, a Teflon box panel with a multi-microporous structure, and a hinge structure; the sand box positioning platform consists of a working platform and positioning blocks; the pre-punctured microchannel flexible device consists of: a servo-stroke electric cylinder, a pre-punctured needle, a quick-connect needle seat and electric cylinder motion connection plate, a compression spring, linear modules 1, 2, and 3, a crossbeam, a servo-stroke electric cylinder mounting bracket, and a pre-fabricated needle-puncturing guide plate. Linear modules 1 and 2 are symmetrically fixed to the overall metal frame and arranged longitudinally. A crossbeam is laterally fixed to linear modules 1 and 2. Linear module 3 is fixed to the crossbeam. A servo-stroke electric cylinder mounting bracket is installed on linear module 3, and the servo-stroke electric cylinder is installed on the servo-stroke electric cylinder mounting bracket. A quick-connect needle holder and electric cylinder movement connecting plate are installed on the servo-stroke electric cylinder. A pre-punched needle is fixed to the quick-connect needle holder, a spring is fixed to the needle, and a pre-punched guide plate is fixed to the compression spring. The needle movement of the linear modules and the servo-stroke electric cylinder is controlled by an algorithm.

[0007] Furthermore, the prefabricated cooling sand molding box is made of Teflon material around its body to prevent sand from sticking during the freezing and molding process. Micro-holes are made in the molding box, and the box is wrapped with insulation material, leaving a 25mm gap between the box and the insulation material. Holes are made in the insulation box to fill the gap with cold air. The cold air seeps into the sand mold through the micro-holes in the box panel, ensuring a low-temperature environment for the frozen sand mold. Furthermore, the pre-fabricated refrigerated sand blank forming box is placed on the working platform, and the box body is fixed by positioning blocks; Furthermore, the pre-punctured microchannel flexible device achieves movement in both the X and Y directions through a linear module, and the servo stroke electric cylinder combines the movement of the lead screw and slider with the extension and retraction of the cylinder to achieve high-precision Z-direction displacement control under the control of the servo motor. Furthermore, the flexible pre-piercing needles can be replaced with different sized needles depending on the depth and position of pre-piercing at various locations on the sand mold. The prefabricated needle-piercing guide plate can be changed to different matrix configurations depending on the characteristics of the cast sand mold. The compression spring between the flexible pre-piercing needles and the prefabricated needle-piercing guide plate prevents loose sand from being carried out of the sand blank during needle retraction. A control method of a flexible guiding micro-channel forming device for frozen sand mold, which is based on a three-dimensional model and a simulation module, a tool motion trajectory determination module, a tool position and depth determination module, a pre-piercing needle motion position and depth conversion module, a flexible guiding device application module, a control algorithm module, and an interface contour projection algorithm module; can automatically export a three-dimensional interpenetration template according to different sand mold shapes and requirements, realize fast and accurate hole making operation, and through specific algorithms and control techniques, ensure the accurate control of the piercing depth and density during the secondary cryogenic process. Specifically comprising the following steps: S1, according to the target sand mold shape and the micro-channel design requirements, a precise three-dimensional digital model is established. In a virtual environment, the forming process is simulated, the micro-channel design is optimized, potential problems are predicted, and parameters are adjusted.

[0008] S2, based on the optimized three-dimensional model in step 1, the tool motion trajectory determination module [TCP (Toolpath Calculation & Planning)] automatically calculates and plans the three-dimensional space motion path required for the tool to manufacture micro-channels on the sand mold.

[0009] S3, the tool position and depth determination module (TPD-Tool Position & Depth Determination) accurately calculates the real-time spatial coordinates (X, Y, Z) of the tool at each motion point, especially the key piercing depth (Z), according to the planned tool motion trajectory.

[0010] S4, the pre-piercing needle motion position and depth conversion module (NCC-Needle Control Conversion) converts the continuous tool position and depth parameters calculated in step 3 (TPD output) into control parameters suitable for the pre-piercing micro-channel flexible device (usually including an array of needles). This conversion discretizes and regionalizes the tool path, generating the instructions required to drive the array of needles to perform regional matrix point lifting motion (i.e. when, in which area, and at what depth each needle performs point piercing action).

[0011] S5, the flexible guiding device application module (FGA-Flexible Guidance Application) controls the flexible mechanism of the pre-piercing micro-channel flexible device to perform adaptive adjustment according to the real-time or predicted contour information of the sand mold surface (from MSS or sensors). The purpose is to enable the array of needles to closely fit the complex surface of the sand mold, ensure that the piercing direction of the needles is perpendicular to the local surface, and ensure the forming accuracy of the micro-channels.

[0012] S6、Control Algorithm module (CA-Control Algorithm) as the core control center, receives instructions and data from the above-mentioned modules (TCP, TPD, NCC, FGA). Real-time coordination driving servo module electric lifting mechanism (Z-axis), work platform (X, Y-axis) and pre-piercing micro-channel flexible device (needle point, flexible adjustment), accurate execution of the planned movement. Real-time monitoring system state (such as position, force, temperature), closed-loop feedback control, dynamic adjustment of the execution parameters, to ensure the accuracy, stability and synchronization of the whole forming process.

[0013] S7、In the key secondary deep cooling process (or need to accurately control the final needle effect of the stage), the interface contour projection algorithm module (ICP-Interface Contour Projection) is activated. The algorithm projects the surface contour information of the sand mold (or frozen layer) onto the pre-piercing template (or needle array reference surface). Based on this projection information, the final piercing depth and point piercing density of each needle (or region) under the secondary deep cooling condition are accurately calculated and controlled to compensate for the deformation caused by phase change and shrinkage, ensuring the final accuracy of the micro-channel geometry and distribution.

[0014] Further, the three-dimensional model and simulation module is used to virtually test and optimize the shape of the sand mold and the design of the micro-channel before actual processing; the tool movement trajectory determination module is used to accurately control the movement trajectory of the tool in the sand mold; the tool position and depth determination module works with the tool movement trajectory determination module to determine the exact position and depth of the tool in the sand mold; the pre-piercing needle movement position and depth conversion module is used to convert the movement parameters of the tool into the point movement parameters of the regional matrix type needle, ensuring that the needle can accurately follow the predetermined regional trajectory for lifting type movement; the flexible guide device application module is used to control the flexible guide device to adapt to the complex shape of the sand mold; the control algorithm module serves as the control center of the entire system, used to monitor and adjust the entire processing process in real time, ensuring the accuracy and stability of the processing; the interface contour projection algorithm module is used to project the surface contour of the sand mold onto the piercing template to ensure accurate control of the piercing depth and density, even in the secondary deep cooling process, the accuracy and stability of the piercing template can be maintained; Further, the three-dimensional model and simulation module can simulate the deformation of the sand mold under different conditions and the fluid dynamics characteristics of the micro-channel in the sand mold.

[0015] Further, the pre-piercing needle movement position and depth conversion module specifically includes: Sub-module i, for receiving the movement parameters of the tool; Submodule ii for converting the received tool movement parameters into area matrix needle point movement parameters; Submodule iii for controlling the lifting movement of the needle according to the converted needle point movement parameters; Further, the flexible guide device application module can dynamically adjust the shape and position of the flexible guide device according to the real-time shape change of the sand mold; the interface contour projection algorithm module further comprises an error correction submodule for detecting and correcting the error between the needle template and the sand mold surface in real time during the projection process.

[0016] After adopting the above technical solutions, the present application has the following advantages: 1. High precision and high efficiency: by combining the precise control of the linear module and the servo stroke electric cylinder, the present application can realize high-precision pre-piercing operation of the micro channel. At the same time, the method of automatically exporting a three-dimensional interpenetration template greatly shortens the time of hole-making operation and improves the production efficiency.

[0017] 2. Flexibility and adaptability: the design of the pre-piercing micro channel flexible device allows the needle to adjust the depth and position according to different sand mold shapes and requirements, and replace different sizes of needles and guide pressure plates, further enhancing the flexibility and adaptability of the device.

[0018] 3. Intelligence and automation: the whole system is monitored and adjusted in real time through the control algorithm module, ensuring the accuracy and stability of the processing. In addition, the application of the interface contour projection algorithm module makes the control of the needle piercing depth and density more accurate, and the accuracy and stability of the needle piercing template can be maintained even in the secondary deep cooling process.

[0019] 4. Innovation and practicality: the frozen sand mold flexible guide micro channel design device and its control method not only have innovation, but also can achieve the purpose of rapid freezing of frozen sand mold in practical application, save energy consumption, and improve economic benefits.

[0020] In summary, the frozen sand mold flexible guide micro channel design device and its control method improve the time and energy consumption problems of the early and middle stages of frozen sand mold manufacturing, reduce production costs, enhance the adaptability and stability of the system, and bring significant technical progress and economic benefits to the sand mold manufacturing industry. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a general view of the flexible guide micro channel design device for multiple frozen sand molds; Figure 2 is a local view of the flexible guide micro channel; Figure 3A schematic view of a device for designing a flexible guide micro-channel for a multiple frozen sand mold; Figure 4 A schematic view of a device for designing a flexible guide micro-channel for a multiple frozen sand mold; Figure 3 A schematic view of a device for designing a flexible guide micro-channel for a multiple frozen sand mold; Figure 5 A schematic view of a device for designing a flexible guide micro-channel for a multiple frozen sand mold; Fig. 101 is a linear module 1; Fig. 102 is a linear module 2; Fig. 103 is a linear module 3; Fig. 104 is a crossbeam; Fig. 105 is a servo stroke electric cylinder mounting support; Fig. 106 is a servo stroke electric cylinder; Fig. 107 is a quick-connection needle seat and electric cylinder movement connecting plate; Fig. 108 is a pre-piercing needle; Fig. 109 is a compression spring; Fig. 110 is a prefabricated needle piercing guide pressing plate; Fig. 111 is a hinge structure; Fig. 112 is a heat insulation material plate; Fig. 113 is a box plate; Fig. 114 is a working platform; Fig. 115 is an overall metal frame; and Fig. 116 is a positioning block. DETAILED DESCRIPTION

[0022] The present application will be further clarified by the following examples, which should not be construed as limiting the scope of the present application. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" as used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward or away from the geometric center of a particular component.

[0023] As shown in the drawings, the present application provides a frozen sand mold flexible guide micro-channel forming device, which is composed of a prefabricated refrigeration sand billet forming box, a sand box positioning working platform, a pre-piercing micro-channel flexible device, and an overall metal frame. The prefabricated refrigeration sand billet forming box is composed of a heat insulation material plate, a box plate with a microporous structure made of Teflon material, and a hinge structure. The sand box positioning working platform is composed of a working platform and a positioning block. The pre-piercing micro-channel flexible device is composed of a servo stroke electric cylinder, a pre-piercing needle, a quick-connection needle seat and electric cylinder movement connecting plate, a compression spring, a linear module 1, a linear module 2, a linear module 3, a crossbeam, a servo stroke electric cylinder mounting support, and a prefabricated needle piercing guide pressing plate. The linear module 1 and the linear module 2 are symmetrically fixed on the overall metal frame and are longitudinally arranged. The crossbeam is transversely fixed on the linear module 1 and the linear module 2. The linear module 3 is fixed on the crossbeam. The servo stroke electric cylinder mounting support is mounted on the linear module 3. The servo stroke electric cylinder is mounted on the servo stroke electric cylinder mounting support. The quick-connection needle seat and electric cylinder movement connecting plate is mounted on the servo stroke electric cylinder. The pre-piercing needle is fixed on the quick-connection needle seat. The spring is fixed on the needle. The prefabricated needle piercing guide pressing plate is fixed on the compression spring. The needle movement of the linear module and the servo stroke electric cylinder is controlled by an algorithm.

[0024] The box body of the prefabricated refrigeration sand billet forming box is surrounded by Teflon material to avoid sand adhesion during sand billet freeze forming. Micro holes are opened on the forming box body, and the box body is wrapped with thermal insulation material. A 25mm gap is left between the box body and the thermal insulation material. Holes are opened on the thermal insulation box, and the space in the gap is filled with cold air. The cold air penetrates into the sand mold through the micro holes on the box plate to ensure the low temperature environment of the frozen sand mold. The prefabricated refrigeration sand billet forming box is placed on the working platform, and the box body is fixed through the positioning block.

[0025] The prefabricated micro-channel flexible device moves in X and Y directions through a linear module. A servo stroke electric cylinder combines the movement of the screw rod and the sliding block with the extension and contraction of the air cylinder to realize high-precision Z direction displacement control under the control of a servo motor. The flexible pre-piercing needle head can have different depths and positions at different positions of the sand mold model, and different sizes of needle heads can be replaced. The pre-piercing guide plate can be replaced with different forms of guide pressure plates according to the characteristics of the cast sand mold. The compression spring between the needle head and the guide plate can prevent the floating sand from being brought out when the needle is retracted. A control method of a flexible guide micro-channel forming device for frozen sand mold: the method is based on a three-dimensional model and a simulation module, a tool movement trajectory determination module, a tool position and depth determination module, a pre-piercing needle movement position and depth conversion module, a flexible guide device application module, a control algorithm module and an interface contour projection algorithm module; can automatically export three-dimensional insertion templates according to different sand mold shapes and requirements, realize fast and accurate hole making operation, and through specific algorithms and control technologies, ensure accurate control of needle piercing depth and density during secondary deep cooling process. Specifically comprising the following steps: S1, according to the target sand mold shape and the micro-channel design requirement, an accurate three-dimensional digital model is established. The forming process simulation is carried out in a virtual environment, the micro-channel design is optimized, potential problems are predicted and parameters are adjusted.

[0026] S2, based on the optimized three-dimensional model in step 1, the tool movement trajectory determination module [TCP (Toolpath Calculation & Planning)] automatically calculates and plans the three-dimensional space movement path required for the tool to manufacture micro-channels on the sand mold.

[0027] S3, the tool position and depth determination module (TPD-Tool Position & Depth Determination) accurately calculates the real-time spatial coordinates (X, Y, Z) of the tool at each movement point according to the planned tool movement trajectory, especially the key piercing depth (Z).

[0028] S4, pre-piercing needle movement position and depth conversion module (NCC-Needle Control Conversion) converts the continuous tool position and depth parameters (TPD output) calculated in step 3 into control parameters suitable for the pre-piercing micro-channel flexible device (usually containing an array of needle heads). This conversion discretizes and regionalizes the tool path, generating the instructions required to drive the array needle heads to perform regional matrix point lifting motion (i.e. when, in which region, and at what depth each needle head performs a point piercing action).

[0029] S5, flexible guidance application module (FGA-Flexible Guidance Application) controls the flexible mechanism of the pre-piercing micro-channel flexible device to adaptively adjust according to the real-time or predicted contour information of the sand surface (from MSS or sensors). The purpose is to enable the array needle head array to closely fit the complex surface of the sand mold, ensure that the needle piercing direction is perpendicular to the local surface, and ensure the micro-channel forming precision.

[0030] S6, control algorithm module (CA-Control Algorithm) as the core control center, receives instructions and data from the above modules (TCP, TPD, NCC, FGA). Real-time coordination of driving servo module electric lifting mechanism (Z axis), workbench (X, Y axis) and pre-piercing micro-channel flexible device (needle point action, flexible adjustment), accurate execution of the planned movement. Real-time monitoring of system status (such as position, force, temperature), closed-loop feedback control, dynamic adjustment of execution parameters, to ensure the accuracy, stability and synchronization of the whole forming process.

[0031] S7, in the key secondary deep cooling process (or the stage that needs to accurately control the final needle piercing effect), the interface contour projection algorithm module (ICP-Interface Contour Projection) is activated. This algorithm projects the surface contour information of the sand mold (or the frozen layer) onto the pre-piercing template (or the needle array reference surface). Based on this projection information, the final piercing depth and point piercing density of each needle (or region) under the condition of secondary deep cooling are accurately calculated and controlled to compensate for the deformation that may be caused by phase change and shrinkage, ensuring the final accuracy of micro-channel geometry and distribution.

[0032] The three-dimensional model and simulation module is used for virtually testing and optimizing the shape of the sand mold and the design of the micro flow channel before actual processing; the tool movement trajectory determination module is used for accurately controlling the movement trajectory of the tool in the sand mold; the tool position and depth determination module cooperates with the tool movement trajectory determination module and is used for determining the exact position and depth of the tool in the sand mold; the pre-piercing needle movement position and depth conversion module is used for converting the movement parameters of the tool into the point movement parameters of the area matrix type needle, so as to ensure that the needle can accurately perform the lifting type movement according to the predetermined area trajectory; the flexible guide device application module is used for controlling the flexible guide device to adapt to the complex shape of the sand mold; the control algorithm module serves as the control center of the whole system and is used for real-time monitoring and adjusting the whole processing process, so as to ensure the accuracy and stability of the processing; and the interface contour projection algorithm module is used for projecting the surface contour of the sand mold onto the needle punching template, so as to ensure the accurate control of the needle punching depth and density, and the accuracy and stability of the needle punching template can be maintained even in the secondary cryogenic process. The three-dimensional model and simulation module can simulate the deformation of the sand mold under different conditions and the fluid dynamics characteristics of the micro flow channel in the sand mold.

[0033] The pre-piercing needle movement position and depth conversion module further comprises: A sub-module i is used for receiving the movement parameters of the tool; A sub-module ii is used for converting the received tool movement parameters into the area matrix type needle point movement parameters; A sub-module iii is used for controlling the lifting movement of the needle according to the converted needle point movement parameters; The flexible guide device application module can dynamically adjust the shape and position of the flexible guide device according to the real-time shape change of the sand mold; and the interface contour projection algorithm module further comprises an error correction sub-module, which is used for detecting and correcting the error between the needle punching template and the surface of the sand mold in real time during the projection process.

[0034] The technical means disclosed in the scheme of the present application are not limited to the technical means disclosed in the above-mentioned embodiments, and also include technical solutions composed of any combination of the above technical features.

Claims

1. A frozen sand mold flexible guided microchannel forming device, characterized in that, The device consists of a pre-formed refrigerated sand blank forming box, a sand box positioning platform, a pre-punctured microchannel flexible device, and an overall metal frame. The pre-formed refrigerated sand blank forming box comprises: an insulation material board, a Teflon box panel with a multi-microporous structure, and a hinge structure. The sand box positioning platform consists of a working platform and positioning blocks. The pre-punctured microchannel flexible device comprises: a servo-stroke electric cylinder, a pre-punctured needle, a quick-connect needle seat and electric cylinder motion connection plate, a compression spring, linear module 1, linear module 2, linear module 3, a crossbeam, a servo-stroke electric cylinder mounting bracket, and a pre-formed needle-puncturing guide plate. Module 1 and linear module 2 are symmetrically fixed on the overall metal frame and arranged longitudinally. A crossbeam is fixed laterally on linear module 1 and linear module 2. Linear module 3 is fixed on the crossbeam. A servo stroke electric cylinder mounting bracket is installed on linear module 3. A servo stroke electric cylinder is installed on a servo stroke electric cylinder mounting bracket. A quick-connect needle head seat and an electric cylinder motion connecting plate are installed on the servo stroke electric cylinder. A pre-punched needle head is fixed on the quick-connect needle head seat. A spring is fixed on the needle head. A pre-punched needle guide pressure plate is fixed on the compression spring. The needle movement of the linear module and the servo stroke electric cylinder is controlled by an algorithm.

2. The apparatus according to claim 1, characterized in that, The pre-fabricated cooling sand blank forming box is made of Teflon material on all sides to prevent sand from sticking during the freezing and forming of the sand blank. Micro-holes are made on the box body, and the box body is wrapped with insulation material. A 25mm gap is left between the box body and the insulation material. The insulation box body has holes to fill the space in the gap with cold air. The cold air seeps into the sand mold through the micro-holes on the box plate to ensure the low temperature environment of the frozen sand mold. The pre-fabricated cooling sand blank forming box is placed on the working platform and the box body is fixed by positioning blocks.

3. The apparatus according to claim 1, characterized in that, The pre-punctured microchannel flexible device achieves movement in both the X and Y directions through a linear module. The servo stroke electric cylinder combines the movement of the lead screw and slider with the extension and retraction of the cylinder, achieving high-precision Z-axis displacement control under the control of the servo motor.

4. The apparatus according to claim 1, characterized in that, The flexible pre-piercing needle can be changed to a different size needle depending on the depth and position of pre-piercing at various locations on the sand mold. The pre-cast needle guide plate can be changed to a different form under different matrices according to the characteristics of the cast sand mold. The compression spring between the flexible pre-piercing needle and the pre-cast needle guide plate can prevent the loose sand of the sand blank from being brought out when the needle is withdrawn.

5. A control method for a frozen sand mold flexible guided microchannel forming device, characterized in that, Based on modules for 3D modeling and simulation, tool motion trajectory determination, tool position and depth determination, pre-puncture needle movement position and depth conversion, flexible guide device application, control algorithm, and interface contour projection algorithm, this system can automatically export 3D interlacing templates according to different sand mold shapes and requirements, enabling fast and precise hole-making operations. Simultaneously, during the secondary deep cooling process, specific algorithms and control technologies ensure precise control of needle penetration depth and density.

6. The control method according to claim 5, characterized in that, Specifically, the following steps are included: S1. Based on the target sand mold shape and microchannel design requirements, establish an accurate three-dimensional digital model; simulate the forming process in a virtual environment, optimize the microchannel design, predict potential problems, and adjust parameters. S2. Based on the optimized three-dimensional model in step S1, the tool motion trajectory determination module TCP automatically calculates and plans the three-dimensional spatial motion path required for the tool to create microchannels on the sand mold. S3. The tool position and depth determination module TPD accurately calculates the real-time spatial coordinates (X, Y, Z) of the tool at each movement point based on the planned tool movement trajectory, especially the critical penetration depth (Z). S4. The NCC module converts the continuous tool position and depth parameters calculated in step S3 (TPD output) into control parameters suitable for the pre-puncture microchannel flexible device. This conversion discretizes and regionalizes the tool path, generating instructions required to drive the array needles to perform regional matrix-style jogging and lifting movements, i.e., when, in which area, and at what depth each needle performs the puncture action. S5, the flexible guide device application module FGA controls the flexible mechanism of the pre-punctured microchannel flexible device to make adaptive adjustments based on the real-time or predicted contour information of the sand mold surface; the purpose is to enable the array of needles to closely fit the complex surface of the sand mold, ensure that the needle insertion direction is perpendicular to the local surface, and guarantee the microchannel forming accuracy. S6. The control algorithm module CA serves as the core control center, receiving instructions and data from the above modules; it coordinates in real time the electric lifting mechanism of the drive servo module, the working platform, and the pre-punctured microchannel flexible device to accurately execute the planned motion; it monitors the system status in real time, performs closed-loop feedback control, and dynamically adjusts the execution parameters to ensure the accuracy, stability, and synchronization of the entire forming process. S7. During critical secondary cryogenic processes or stages requiring precise control of the final needle-piercing effect, the Interface Contour Projection Algorithm (ICP) module is activated. This algorithm projects the surface contour information of the sand mold or frozen layer onto the pre-piercing template or needle array reference surface. Based on this projection information, the final piercing depth and piercing density of each needle or region under secondary cryogenic conditions are precisely calculated and controlled to compensate for deformations that may be caused by phase changes or shrinkage, ensuring the final accuracy of the microchannel geometry and distribution.

7. The control method according to claim 5, characterized in that, The 3D model and simulation module is used to virtually test and optimize the shape of the sand mold and the design of the microchannels before actual processing; the tool motion trajectory determination module is used to precisely control the motion trajectory of the tool in the sand mold; the tool position and depth determination module works in conjunction with the tool motion trajectory determination module to determine the exact position and depth of the tool in the sand mold; the pre-puncture needle movement position and depth conversion module is used to convert the motion parameters of the tool into the jogging motion parameters of the needle in a region matrix, ensuring that the needle can move up and down precisely according to the predetermined region trajectory; the flexible guide device application module is used to control the flexible guide device to adapt to the complex shape of the sand mold; the control algorithm module is used to monitor and adjust the entire processing process in real time to ensure the accuracy and stability of the processing; The interface contour projection algorithm module is used to project the surface contour of the sand mold onto the needle punching template to ensure precise control of the needle punching depth and density, and to maintain the accuracy and stability of the needle punching template even during the secondary cryogenic process.

8. The control method according to claim 5, characterized in that, The three-dimensional model and simulation module can simulate the deformation of sand molds under different conditions, as well as the fluid dynamics characteristics of microchannels in sand molds.

9. The control method according to claim 5, characterized in that, The pre-puncture needle movement position and depth conversion module specifically includes: Submodule i is used to receive the motion parameters of the tool; Submodule ii is used to convert the received tool motion parameters into area matrix-style needle jogging motion parameters; Submodule iii is used to control the lifting and lowering motion of the needle based on the converted needle jogging motion parameters.

10. The control method according to claim 5, characterized in that, The flexible guide device application module can dynamically adjust the shape and position of the flexible guide device according to the real-time shape changes of the sand mold; the interface contour projection algorithm module also includes an error correction submodule, which is used to detect and correct the error between the needle punch template and the sand mold surface in real time during the projection process.

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