A follow-up partition regulation cooling device and method and pipe processing equipment

Abstract

The application discloses a kind of follow-up partition regulation and control cooling device and method and pipe processing equipment, belong to composite material forming equipment technical field, follow-up partition regulation and control cooling device, including follow-up posture control mechanism, partition cooling unit and dynamic coupling control system;The follow-up posture control mechanism includes base, support component, pneumatic drive component and first angle adjusting component, the support component is hinged the base, one end of the pneumatic drive component is hinged the base, the other end is connected first angle adjusting component, and the first angle adjusting component is installed on the support component;The partition cooling unit is fixed on the support component;The dynamic coupling control system is connected and controls the follow-up posture control mechanism and the partition cooling unit.The pipe cooling device and cooling method provided by the application can inhibit interlayer separation and stress concentration, ensure the strength of pipe.

Description

Technical Field

[0001] This invention belongs to the field of composite material molding equipment, specifically relating to a follow-up zone-controlled cooling device and method and a pipe processing equipment. Background Technology

[0002] With the increasing demand for lightweight structures, integrated functions, and reliability under extreme conditions in the automotive engineering and aerospace fluid transportation fields, the overall forming process requirements for composite material piping systems have significantly increased. Composite material pipes, with their superior specific strength and corrosion resistance, have become an important alternative to traditional metal pipes. Three-dimensional free bending forming technology can manufacture continuous, jointless complex spatial components, significantly improving the utilization rate of confined internal spaces and eliminating the weight increase and leakage risks associated with traditional welding or flange connections, greatly enhancing the overall assembly efficiency and safety of the system.

[0003] However, the hot bending forming of composite material pipes also faces severe technological challenges: due to the significant anisotropy and interlayer structure characteristics of the material, the outer side of the pipe is under tension during bending, resulting in thinning of the wall thickness and rapid heat dissipation, while the inner side is under compression, resulting in thickening of the wall thickness and slow heat dissipation. If this non-uniform deformation is treated with conventional fixed cooling methods, it is prone to defects such as interlayer separation, fiber breakage, or cross-sectional distortion due to differences in the coefficients of thermal expansion between layers and thermal stress concentration. Furthermore, the fixing device is prone to mechanical interference when the pipe is subjected to complex spatial large-angle bending. This invention provides a zoned control cooling device for three-dimensional free bending of composite material pipes. Through flexible follow-up tracking and circumferential differentiated flow spraying, it achieves precise control over the non-uniform thermal deformation characteristics of composite material pipes. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a follow-up zone-controlled cooling device and method, as well as pipe processing equipment. The cooling device and method provided by this invention can implement differentiated flow spraying according to the bending deformation characteristics of the pipe, effectively suppressing interlayer separation and stress concentration of the pipe, and ensuring the strength of the pipe.

[0005] This invention provides the following technical solution: In one aspect, a follow-up zone control cooling device is provided, including a follow-up attitude control mechanism, a zone cooling unit and a dynamic coupling control system; The follow-up attitude control mechanism includes a base, a support component, a pneumatic drive component, and a first angle adjustment component. The support component is hinged to the base, one end of the pneumatic drive component is hinged to the base, and the other end is hinged to the support component. The first angle adjustment component is mounted on the support component. The partitioned cooling unit is fixed to the support assembly and includes multiple independent cooling sectors to cool the pipes passing through the support assembly.

[0006] The dynamic coupling control system connects the servo attitude control mechanism and the partitioned cooling unit to control the spatial state of the servo attitude control mechanism and the medium flow rate of the partitioned cooling unit.

[0007] Furthermore, a second angle adjustment assembly is rotatably connected to the base. The support assembly includes an annular support frame that allows the pipe to pass through, a first support rod, and a second support rod. One end of the first support rod and the second support rod are respectively hinged to the second angle adjustment assembly. The other ends of the first support rod and the second support rod are respectively symmetrically connected to the annular support frame through the first angle adjustment assembly.

[0008] Furthermore, the first angle adjustment assembly includes a first angle adjustment component A and a first angle adjustment component B symmetrically connected to the annular support frame. The first angle adjustment component A includes a first shaft pin, a first bearing, and a first fixing block. One end of the first shaft pin is rotatably connected to the first bearing, and the other end is fixed to one side of the annular support frame. The first bearing is installed inside the first fixing block and can rotate relative to the first fixing block. The first fixing block is fixed to the other end of the first support rod.

[0009] Furthermore, the first angle adjustment component B includes a second shaft pin, a second bearing, and a second fixing block. One end of the second shaft pin is rotatably connected to the second bearing, and the other end is fixed to the other side of the annular support frame. The second bearing is installed inside the second fixing block and can rotate relative to the second fixing block. The second fixing block is fixed to the other end of the second support rod.

[0010] Furthermore, the pneumatic drive assembly includes a first pneumatic drive component and a second pneumatic drive component, and the pneumatic drive assembly is connected to the dynamic coupling control system; One end of the first pneumatic drive component is hinged to one side of the second angle adjustment component, and the other end is connected to the first bearing.

[0011] Furthermore, one end of the second pneumatic drive component is hinged to the other side of the second angle adjustment assembly, and the other end is connected to the second bearing.

[0012] Furthermore, the partitioned cooling unit includes a media spray ring and a media delivery pipeline assembly. The media spray ring is coaxially installed in the central hole of the annular support frame. The media delivery pipeline assembly is fixed around the outside of the annular support frame. The media spray ring has multiple independent flow channels inside. The media delivery pipeline assembly includes multiple media delivery channels. Each independent flow channel corresponds to and is independently connected to the media delivery channel. Each media delivery channel is connected to the dynamic coupling control system through a flow control valve.

[0013] Furthermore, the inner ring of the medium spray ring facing the pipe is provided with a plurality of nozzle arrays evenly distributed in the circumferential direction, and each nozzle array is connected to each independent flow channel to form an independent cooling fan.

[0014] Furthermore, each of the nozzle arrays is provided with 2 to 8 nozzles, and the outlet end face of each nozzle is a Coanda curved surface guide structure.

[0015] In the above technical solution, the wall effect is used to induce the medium to form a tangential stable laminar flow, which significantly improves the coating area and heat transfer uniformity of the cooling medium on the circumferential surface of the pipe; the cooling medium is output through the nozzle as needed to establish a non-axisymmetric gradient temperature field in the circumferential direction of the pipe.

[0016] In a second aspect, a follow-up zone control cooling method using the follow-up zone control cooling device described in any one of the first aspects is provided, comprising the following steps: Input the trajectory command signal for the bent section of the pipe; Generate the attitude angle and cooling medium activation sequence of the servo attitude control mechanism; The servo-controlled cooling mechanism is pre-adjusted based on the attitude angle to ensure that the central axis of the partitioned cooling unit is always perpendicular to the tangent direction of the bent section of the pipe. The flow rate of the cooling medium in the partitioned cooling unit is dynamically controlled based on the timing of the cooling medium's activation. Based on the trajectory command signals of different bending sections of the pipe, repeat the above steps until cooling is complete.

[0017] Furthermore, the follow-up response delay time of the follow-up zone control cooling device is less than 30 ms, the angle tracking error is less than 0.1°, the dynamic temperature change rate of the zone cooling unit for the pipe is 10℃ / s~200℃ / s, and the diameter of the pipe is 10 mm~100 mm.

[0018] Furthermore, the pipe is a continuous fiber-reinforced thermoplastic composite material, comprising a resin matrix and reinforcing fibers. The resin matrix is ​​selected from thermoplastic polymers with thermosensitive phase change characteristics and crystallization kinetic sensitivity. The thermoplastic polymer includes one or more of polyetheretherketone, polyphenylene sulfide, polyetherketoneketone, polyamide, or polycarbonate. The reinforcing fibers include one of carbon fiber, glass fiber, aramid fiber, or basalt fiber.

[0019] Thirdly, a pipe processing equipment is provided, including a pipe pushing device, an online heating unit and a traction robotic arm, characterized in that it further includes the follow-up zone control cooling device as described in any one of the first aspects; The pipe pushing device is used to push out the pipe and transfer it to the online heating unit; The online heating unit is used to heat the pipe to a preset temperature; The following zone control cooling device is used to cool the heated pipe in a following zone. The traction robotic arm is used to clamp and pull the cooled pipe for forming.

[0020] Furthermore, the traction robotic arm and / or the follow-up zone-controlled cooling device are equipped with position and angle sensors.

[0021] In the above technical solution, the dynamic coupling control system uses position and angle sensors to sense and adjust the follow-up attitude control mechanism in real time. The position and angle sensors can be installed on the traction manipulator, and indirectly obtain information such as the movement and bending state of the pipe by sensing the relative movement of the position and angle of the traction manipulator. This information is then transmitted to the dynamic coupling control system to dynamically adjust the position and angle of the follow-up attitude control mechanism or to control the cooling speed of the partitioned cooling unit. Alternatively, the position and angle sensors can be installed on the first angle adjustment component of the follow-up attitude control mechanism. By sensing the movement state of the first angle adjustment component, the movement state of the follow-up attitude control mechanism is determined, and this information is then transmitted to the dynamic coupling control system to dynamically adjust the follow-up attitude control mechanism or the partitioned cooling unit.

[0022] Compared with the prior art, the beneficial effects of the present invention are: (1) The following-mode partition control cooling device proposed in this invention includes a following-mode attitude control mechanism, a partition cooling unit, and a dynamic coupling control system. On the one hand, the dynamic coupling control system controls the second angle adjustment component to realize the following-mode attitude control mechanism to rotate along its own central vertical axis, and controls the pneumatic drive component to drive the first angle component to work, so that the ring support frame of the support component rotates relative to the first support rod and the second support rod and performs pitch reciprocating motion, thereby realizing multi-degree-of-freedom adjustment of the following-mode attitude control mechanism in space, so as to ensure that the central axis of the partition cooling unit tracks in real time and remains perpendicular to the tangential direction of the pipe bending section; on the other hand, the dynamic coupling control system controls the partition cooling unit to realize multi-degree-of-freedom adjustment of the following-mode attitude control mechanism. The medium flow rate of each independent cooling sector is dynamically adjusted to improve the cooling effect of different cooling sectors on the corresponding pipe locations. Through the cooperation of the follow-up attitude control mechanism, the partitioned cooling unit, and the dynamic coupling control system, the non-uniform thermal field characteristics of composite material pipes during bending are utilized. The non-uniform cooling rate is controlled by independent chambers in different directions and differentiated medium flow rates. Ultimately, the control of the three-dimensional free bending and integral forming of the pipe is achieved, which solves the shortcomings of traditional composite material pipelines that rely on joint connections, such as poor sealing, significant weight increase, and low assembly efficiency. This greatly improves the overall reliability of aerospace and complex fluid pipeline systems. (2) The present invention utilizes a follow-up partitioned differentiated flow spray method. Independent cooling sectors are independently connected to a dynamic coupling control system through flow regulating valves. The dynamic coupling control system targets the bending deformation characteristics of composite pipes caused by stress distribution law during bending, which leads to thinning of the outer wall thickness under tension and thickening of the inner wall thickness under compression. It controls each cooling sector to apply different cooling intensities to the inner and outer arcs, balancing the uneven heat dissipation caused by geometric deformation. The present invention significantly reduces the risk of interlayer cracking and wrinkling of composite materials by implementing differentiated flow spraying of the inner and outer arc areas through a spray array arranged circumferentially by the medium spray ring. It solves the problem of interlayer separation or cross-sectional distortion caused by the sharp temperature gradient and shrinkage difference due to uneven circumferential wall thickness (thick inner side and thin outer side) after pipe bending in traditional cooling methods. (3) The cooling sector of the present invention is provided with an independent spray array and a medium conveying channel, which can independently adjust the flow rate and type of cooling medium in each cooling sector to meet the curing / crystallization requirements of different resin matrices (thermoplastic / thermosetting) and different fiber layup angles; the present invention, by precisely controlling the cooling rate, enables all areas of the pipe to reach the curing point simultaneously, which helps to homogenize the crystallinity or crosslinking degree of the resin matrix and obtain a more uniform and stable microstructure with mechanical properties. (4) The following partition control cooling method provided by the present invention will pre-adjust the attitude of the following attitude control mechanism in advance according to the trajectory of the pipe to the command signal, and dynamically adjust the medium flow of the partition cooling unit, eliminating the cooling position deviation caused by mechanical transmission lag, and solving the problem of low forming accuracy caused by cooling lag in the prior art. (5) The pipe processing equipment provided by the present invention can make the composite material pipe offset the asymmetric thermal stress generated by bending through the asymmetric cooling field during the shaping stage, so that the residual stress distribution after forming is more uniform and stable, effectively suppressing springback and improving dimensional accuracy. Attached Figure Description

[0023] Figure 1 This is a front view of the follow-up attitude control mechanism and the partitioned cooling unit in Embodiment 3 of the present invention; Figure 2 This is a 45° side view of the follow-up attitude control mechanism and the partitioned cooling unit in Embodiment 3 of the present invention; Figure 3 This is a schematic diagram of the working principle of the dynamic coupling control system in Embodiment 3 of the present invention.

[0024] The components in the diagram are labeled as follows: 1. Base; 2. Medium delivery pipeline assembly; 3. Second angle adjustment assembly; 4. First angle adjustment assembly; 41. First angle adjustment component A; 42. First angle adjustment component B; 5. Medium spray ring; 6. Pneumatic drive assembly; 61. First pneumatic drive component; 62. Second pneumatic drive component; 63. Air source treatment assembly; 64. Pneumatic drive assembly control valve assembly; 7. Annular support frame; 8. First support rod; 9. Second support rod; 10. First shaft pin; 11. First bearing; 12. Second shaft pin; 13. Second bearing; 14. First flow control valve; 15. Second flow control valve; 16. Third flow control valve; 17. Fourth flow control valve. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0026] It should be noted that in the description of this invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and do not require that this invention must be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0027] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. The terms "comprising," "including," "having," "containing," etc., as used herein, are open-ended terms, meaning that they include but are not limited to.

[0028] It should be understood that the terminology used in this invention is merely for describing particular embodiments and is not intended to limit the invention. Furthermore, with respect to numerical ranges in this invention, it should be understood that each intermediate value between the upper and lower limits of the range is also specifically disclosed. Every smaller range between any stated value or intermediate value within a stated range, and any other stated value or intermediate value within said range, is also included in this invention. The upper and lower limits of these smaller ranges may be independently included or excluded from the range.

[0029] Various modifications and variations can be made to the specific embodiments described in this specification without departing from the scope or spirit of the invention, as will be apparent to those skilled in the art. Other embodiments derived from this specification will also be readily apparent to those skilled in the art. This specification and embodiments are merely exemplary.

[0030] Example 1

[0031] This embodiment provides a follow-up zone control cooling device, including a follow-up attitude control mechanism, a zone cooling unit, and a dynamic coupling control system.

[0032] The follow-up attitude control mechanism includes a base 1, a support component, a pneumatic drive component 6, and a first angle adjustment component 4. The support component is hinged to the base 1, one end of the pneumatic drive component 6 is hinged to the base 1, and the other end is hinged to the support component. The first angle adjustment component 4 is mounted on the support component. The zoned cooling unit is coaxially fixed to the support assembly. The zoned cooling unit includes multiple independent cooling sectors to cool the pipes passing through the support assembly.

[0033] The dynamic coupling control system connects the servo attitude control mechanism and the partitioned cooling unit to control the spatial state of the servo attitude control mechanism and the medium flow rate of the partitioned cooling unit.

[0034] Example 2

[0035] Based on the apparatus provided in Embodiment 1, this embodiment provides a follow-up zone-controlled cooling method, comprising the following steps:

[0036] S1, Input the trajectory command signal for the bent section of the pipe.

[0037] S2. Generate the attitude angle and cooling medium activation sequence of the servo attitude control mechanism.

[0038] S3. Based on the attitude angle, the follow-up zone control cooling mechanism is pre-adjusted to ensure that the central axis of the zone cooling unit is always perpendicular to the tangent direction of the curved section of the pipe.

[0039] S4. Dynamically control the flow rate of the cooling medium in the partitioned cooling unit based on the timing of the cooling medium's activation.

[0040] S5. Based on the trajectory command signals of different bending sections of the pipe, repeat the above steps until cooling is complete.

[0041] Example 3

[0042] Based on the device provided in Embodiment 1, this embodiment provides a follow-up zone control cooling device, including a follow-up attitude control mechanism, a zone cooling unit, and a dynamic coupling control system.

[0043] The servo attitude control mechanism is used to support the partitioned cooling unit and provide pitch freedom for the device space. For example... Figure 1 and Figure 2 As shown, the servo attitude control mechanism includes a base 1, a support assembly, a pneumatic drive assembly 6, and a first angle adjustment assembly 4. The base 1 is fixed on the corresponding production station of the device. A second angle adjustment assembly 3 is rotatably connected to the base 1. A dynamic coupling control system is connected to the second angle adjustment assembly 3 and controls the second angle adjustment assembly 3 to rotate 360° relative to the base 1. In this embodiment, the second angle adjustment assembly 3 is a rotary table.

[0044] like Figure 1 As shown, the second angle adjustment assembly 3 is hinged to the support assembly and the pneumatic drive assembly 6. The support assembly includes an annular support frame 7, a first support rod 8, and a second support rod 9. The interior of the annular support frame 7 allows the passage of tubing. One end of the first support rod 8 and the second support rod 9 are respectively hinged to the second angle adjustment assembly 3, and the other ends of the first support rod 8 and the second support rod 9 are symmetrically mounted on both sides of the annular support frame 7 via the first angle adjustment assembly 4, for supporting the annular support frame 7.

[0045] like Figure 1 and Figure 2As shown, the first angle adjustment assembly 4 includes a first angle adjustment component A41 and a first angle adjustment component B42 symmetrically installed on both sides of the annular support frame 7. The first angle adjustment component A41 includes a first pin 10, a first bearing 11, and a first fixing block. One end of the first pin 10 is rotatably connected to the first bearing 11, and the other end is fixed to one side of the annular support frame 7. The first bearing 11 is installed inside the first fixing block, which restricts the movement of the first bearing 11 in the horizontal and vertical directions, allowing the first bearing 11 to rotate only relative to the first fixing block. The first fixing block is fixed to the other end of the first support rod 8. Similarly, the first angle adjustment component B42 includes a second pin 12, a second bearing 13, and a second fixing block. One end of the second pin 12 is rotatably connected to the second bearing 13, and the other end is fixed to the other side of the annular support frame 7. The second bearing 13 is installed inside the second fixing block, which restricts the movement of the second bearing 13 in the horizontal and vertical directions, allowing the second bearing 13 to rotate only relative to the second fixing block. The second fixing block is fixed to the other end of the second support rod 9.

[0046] like Figures 1-3 As shown, the pneumatic drive assembly 6 includes a first pneumatic drive component 61 and a second pneumatic drive component 62, and is connected to a dynamic coupling control system. One end of the first pneumatic drive component 61 is hinged to one side of the second angle adjustment assembly 3, and the other end is connected to the first bearing 11. One end of the second pneumatic drive component 62 is hinged to the other side of the second angle adjustment assembly 3, and the other end is connected to the second bearing 13. In some possible embodiments, the pneumatic drive assembly 6 can be a servo electric actuator or a hydraulic cylinder arranged symmetrically on both sides. When the dynamic coupling control system pneumatically drives the assembly 6, with the cooperation of the air source processing assembly 63 and the pneumatic drive assembly control valve group 64, the pneumatic drive assembly 6 extends / contracts, driving the first bearing 11 or the second bearing 13 to rotate, causing the first shaft pin 10 or the second shaft pin 12 to rotate, ultimately causing the annular support frame 7 to produce a pitching reciprocating motion relative to the first support rod 8 and the second support rod 9. Therefore, through the cooperation of the pneumatic drive assembly 6 and the first angle adjustment assembly 4, the annular support frame 7 achieves adjustment of the pitch angle to adapt to pipes with different bending states.

[0047] like Figure 1 and Figure 2As shown, the zoned cooling unit includes a media spray ring 5 and a media delivery pipeline assembly 2. The media spray ring 5 is coaxially installed in the central hole of the annular support frame 7 and can move synchronously with the annular support frame 7. The media delivery pipeline assembly 2 surrounds and is fixed to the outside of the annular support frame 7. The media spray ring 5 has multiple independent flow channels inside. The media delivery pipeline assembly 2 includes multiple media delivery channels, with each independent flow channel corresponding to a media delivery channel. Each independent flow channel is connected to the corresponding media delivery channel through an inlet. Each media delivery channel is connected to the dynamic coupling control system through an independent flow control valve (corresponding to the first flow control valve 14, the second flow control valve 15, the third flow control valve 16, and the fourth flow control valve 17, respectively). The inner ring of the media spray ring 5 facing the pipe has multiple nozzle arrays evenly distributed circumferentially. Each nozzle array is connected to an independent flow channel to form different cooling sectors. Each nozzle array has 2 to 8 nozzles, and the outlet end face of each nozzle is a Coanda curved surface guiding structure. Utilizing the wall-attached effect, it induces the medium to form a tangentially stable laminar flow, significantly improving the coating area and heat transfer uniformity of the cooling medium on the circumferential surface of the pipe. Cooling medium is output on demand, thereby establishing a non-axisymmetric gradient temperature field on the circumferential surface of the pipe. In this embodiment, there are four media delivery channels, four independent flow channels, and four nozzle arrays, corresponding to four 90° cooling sectors, namely Region 1, Region 2, Region 3, and Region 4 (corresponding to the first flow control valve 14, the second flow control valve 15, the third flow control valve 16, and the fourth flow control valve 17, respectively). Each nozzle array has four nozzles. This asymmetric active intervention effectively balances the sharp temperature gradient and shrinkage differences caused by geometric deformation, fundamentally avoiding interlaminar separation or cross-sectional distortion that may be induced by traditional uniform cooling. This significantly reduces the risk of interlaminar cracking and wrinkling of the composite material, ensuring the quality of the finished product.

[0048] The dynamic coupling control system receives trajectory command signals for pipe bending. In some possible embodiments, the pipe feed speed, bending radius, and robotic arm movement speed are used as input variables to pre-calculate the required attitude angle and cooling medium activation sequence for the cooling device. Before the pipe bending section passes through the cooling sector, the pneumatic drive assembly 6 is pre-adjusted to eliminate cooling position deviations caused by mechanical transmission lag, thus solving the problem of low forming accuracy due to cooling lag in the prior art.

[0049] The dynamic coupling control system is equipped with a main controller, which can control the position and angle changes of the follow-up attitude adjustment mechanism and the cooling medium flow rate of the partitioned cooling unit.

[0050] In some possible embodiments, the dynamic coupling control system controls the second angle adjustment component 3 to rotate 360° relative to the base 1, driving the support component, pneumatic drive component 6, and first angle adjustment component 4 to rotate 360°. The dynamic coupling control system controls the valve group via the pneumatic drive component to extend and retract the pneumatic drive component, thereby driving the annular support frame 7 to perform pitching and reciprocating motion. Through the cooperation of the first angle adjustment component 4, the second angle adjustment component 3, and the pneumatic drive component 6, the central axis of the zoned cooling unit is made to track and maintain a position perpendicular to the tangent direction of the pipe bending section in real time, achieving real-time coupling between the cooling area and the bending posture, and constructing a non-axisymmetric, precise gradient temperature field after the pipe bending deformation zone. The device provided by this invention can synthesize arbitrary spatial vector directions, achieving full-process follow-up cooling of complex spiral pipes or non-planar bent pipes.

[0051] In some possible embodiments, the dynamic coupling control system can directly or indirectly monitor the spatial bending state of the pipe using position and angle sensors to adjust the follow-up attitude control mechanism. The position and angle sensors can be mounted on the traction robotic arm that moves the pipe. By sensing the relative movement of the position and angle of the traction robotic arm, information such as the movement and bending state of the pipe is obtained and transmitted to the dynamic coupling control system to dynamically adjust the position and angle of the follow-up attitude control mechanism or to regulate the cooling rate of the partitioned cooling unit. Alternatively, the position and angle sensors can be mounted on the first angle adjustment component 4 of the follow-up attitude control mechanism. By sensing the movement state of the first angle adjustment component 4, the movement state of the follow-up attitude control mechanism is determined and transmitted to the dynamic coupling control system to dynamically adjust the follow-up attitude control mechanism or the partitioned cooling unit.

[0052] The dynamic coupling control system controls the medium in each medium delivery channel through an independent flow control valve, thereby independently adjusting the medium flow rate and velocity of each cooling sector according to the bending posture of the pipe. In some possible embodiments, the dynamic coupling control system can also simultaneously open multiple cooling medium delivery channels to ultimately meet the preset cooling speed of different bending sections of the pipe. The medium delivery pipeline group 2 can accommodate one or more cooling media, and the type of cooling medium in each cooling sector can be independently adjusted to meet the curing / crystallization requirements of different resin matrices (thermoplastic / thermosetting) and different fiber layup angles. This invention precisely controls the cooling rate through the dynamic coupling control system, enabling all circumferential areas of the pipe to reach the curing point simultaneously, which helps to homogenize the crystallinity or crosslinking degree of the resin matrix, resulting in a more uniform and stable microstructure with mechanical properties.

[0053] The device provided in this embodiment can use a follow-up attitude adjustment mechanism to ensure that the cooling sector is always aligned with the bending plane of the pipe, and regulate the cooling unit to execute a differentiated cooling strategy. For the inner arc side (compression zone) of the pipe bend, the cooling rate of the corresponding cooling sector is increased to rapidly reduce the resin temperature below the glass transition temperature (Tg). Rapid cooling is used to force the resin matrix to quickly cross the glass transition temperature; at the same time, by suppressing the crystallization kinetics of the resin, the volume shrinkage caused by high crystallinity is reduced, thereby offsetting some of the geometric distortion caused by mechanical compression. For the outer arc side (tension zone) of the pipe bend, the cooling rate of the corresponding cooling sector is reduced or intermittent cooling is performed to keep the resin in a highly elastic state. The stress relaxation window of the resin molecular chain segments is extended, inducing the full release of viscoelastic residual stress generated by stretching; at the same time, the crystal morphology is controlled to avoid the formation of brittle large grains, and by optimizing the toughness of the matrix and the interfacial bonding force, interfacial debonding, microcrack propagation and brittle fracture are prevented, ensuring the integrity of the outer arc side structure. This highly responsive "follow-up" mechanism drives the medium spray ring 5 to actively compensate for the positional deviation of the pipe, ensuring that the axis of the zoned cooling unit is always coaxial with the axis of the pipe, so that the cooling medium is always sprayed onto the surface of the pipe at an ideal facing angle.

[0054] In some possible embodiments, the follow-up response delay time of the servo-controlled cooling device is less than 30 ms, the angle tracking error is less than 0.1°, the cooling rate of the partitioned cooling unit for the pipe ranges from 10℃ / s to 200℃ / s, and the diameter of the pipe is from 10 mm to 100 mm. The pipe is a continuous fiber-reinforced thermoplastic composite material, comprising a resin matrix and reinforcing fibers. The resin matrix is ​​selected from thermoplastic polymers with thermosensitive phase change characteristics and crystallization kinetics sensitivity, including one or more of polyetheretherketone, polyphenylene sulfide, polyetherketoneketone, polyamide, or polycarbonate. The reinforcing fibers include one of carbon fiber, glass fiber, aramid fiber, or basalt fiber.

[0055] The following-mode zone-controlled cooling device and method provided by the present invention can be seamlessly integrated with various high-end composite pipe extrusion production lines and online thickness measurement systems, and is particularly suitable for precision pipe manufacturing with extremely stringent requirements for dimensional stability and finished product straightness.

[0056] Example 4

[0057] Based on the method provided in Embodiment 1 or Embodiment 2 and the apparatus provided in Embodiment 3, this embodiment provides a pipe processing equipment, including a pipe pushing device, an online heating unit, a follow-up zone-controlled cooling device and a traction robotic arm, with each device installed on a corresponding workstation.

[0058] The pipe pushing device is used to push out the pipe and transfer it to the online heating unit; The online heating unit is used to heat the pipes to a preset temperature; The follow-up zone cooling device is used to cool the heated pipe in a follow-up zone. The traction robotic arm is used to clamp and pull cooled pipes for forming.

[0059] In the aforementioned equipment, the traction robotic arm pulls the composite material tubes, which have been softened by the online heating unit and shaped by the follow-up cooling device, into a specified spatial shape. By integrating the follow-up zone-controlled cooling device on the existing production line, the heat treatment requirements for high-precision forming of composite material tubes with different layup structures can be met. This avoids equipment interference at the physical level, greatly improves the forming geometric accuracy and production efficiency, and reduces the scrap rate.

[0060] Combining the follow-up zone-controlled cooling method, this embodiment provides the working process of the follow-up zone-controlled cooling device and the pipe processing equipment: The pipe is pushed out of the mold through the pipe pushing device, and the resin matrix is ​​heated to the softening temperature or melting temperature (such as Tg or Tm above that of thermoplastic composites) by the online heating unit. At the microstructure level, the resin matrix completes the transformation from glassy state to high elastic state or viscous flow state, reducing the interlayer bonding force to facilitate deformation.

[0061] Subsequently, it undergoes dynamic zone cooling. Just before the pipe or a specific bending segment is about to pass through, the trajectory command signal of the bending segment is input to the dynamic coupling control system. The dynamic coupling control system then generates the attitude angle of the dynamic attitude control mechanism and the timing of the cooling medium activation. Based on the generated attitude angle, the dynamic zone cooling mechanism is pre-adjusted to ensure that the central axis of the zone cooling unit tracks and remains perpendicular to the tangent direction of the bending segment of the pipe in real time. Targeting the characteristic of the inner arc thickening and outer arc thinning during pipe bending as indicated in the trajectory command signal, the medium flow rate of each cooling sector of the zone cooling unit is dynamically controlled, completing the transition from a softened state to a solidified state through differentiated heat dissipation. If the pipe has multiple bending segments, the trajectory command signals of each bending segment are input sequentially, repeating the above steps until cooling is complete. Finally, the end-effector of the traction robotic arm is used to pull and shape the pipe, achieving moldless bending of complex spatial curves.

[0062] The apparatus and method provided by this invention enable the asymmetric thermal stress generated by bending in composite material pipes during the shaping stage to be offset by an asymmetric cooling field. This results in a more uniform and stable distribution of residual stress after forming, effectively suppressing springback and improving dimensional accuracy. It solves the problems of slow heat dissipation due to increased inner arc wall thickness and rapid heat dissipation due to thinner outer arc walls. Furthermore, it effectively suppresses interlayer separation and stress concentration caused by differences in the thermal expansion coefficients of each layer and uneven circumferential wall thickness in composite materials. This ensures the cross-sectional distortion rate and interlayer bonding strength of the composite pipe, and has significant engineering application value in the fields of aerospace and complex fluid pipeline manufacturing.

[0063] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A follow-up zone-controlled cooling device, characterized in that, This includes a servo attitude control mechanism, a zoned cooling unit, and a dynamic coupling control system; The follow-up attitude control mechanism includes a base (1), a support component, a pneumatic drive component (6), and a first angle adjustment component (4). The support component is hinged to the base (1). One end of the pneumatic drive component (6) is hinged to the base (1), and the other end is connected to the first angle adjustment component (4). The first angle adjustment component (4) is mounted on the support component. The partitioned cooling unit is fixed to the support assembly, and the partitioned cooling unit includes multiple independent cooling sectors; The dynamic coupling control system connects the servo attitude control mechanism and the partitioned cooling unit to control the spatial state of the servo attitude control mechanism and the medium flow rate of the partitioned cooling unit.

2. The follow-up zone-controlled cooling device according to claim 1, characterized in that, The base (1) is rotatably connected to the second angle adjustment component (3). The support component includes an annular support frame (7) that allows pipes to pass through, a first support rod (8) and a second support rod (9). One end of the first support rod (8) and the second support rod (9) are respectively hinged to the second angle adjustment component (3), and the other end is symmetrically connected to the annular support frame (7) through the first angle adjustment component (4). The second angle adjustment component (3) is connected to the dynamic coupling control system.

3. The follow-up zone-controlled cooling device according to claim 2, characterized in that, The first angle adjustment component (4) includes a first angle adjustment member A (41) and a first angle adjustment member B (42) symmetrically connected to the annular support frame (7). The first angle adjustment member A (41) includes a first pin (10), a first bearing (11) and a first fixing block. One end of the first pin (10) is rotatably connected to the first bearing (11), and the other end is fixed to one side of the annular support frame (7). The first bearing (11) is installed inside the first fixing block and can rotate relative to the first fixing block. The first fixing block is fixed to the other end of the first support rod (8). And / or, the first angle adjustment member B (42) includes a second pin (12), a second bearing (13) and a second fixing block. One end of the second pin (12) is rotatably connected to the second bearing (13), and the other end is fixed to the other side of the annular support frame (7). The second bearing (13) is installed inside the second fixing block and can rotate relative to the second fixing block. The second fixing block is fixed to the other end of the second support rod (9).

4. The follow-up zone-controlled cooling device according to claim 3, characterized in that, The pneumatic drive assembly (6) includes a first pneumatic drive element (61) and a second pneumatic drive element (62), and the pneumatic drive assembly (6) is connected to the dynamic coupling control system. One end of the first pneumatic drive (61) is hinged to one side of the second angle adjustment assembly (3), and the other end is connected to the first bearing (11); and / or, one end of the second pneumatic drive (62) is hinged to the other side of the second angle adjustment assembly (3), and the other end is connected to the second bearing (13).

5. The follow-up zone-controlled cooling device according to claim 2, characterized in that, The partitioned cooling unit includes a media spray ring (5) and a media conveying pipeline group (2). The media spray ring (5) is coaxially installed in the center hole of the annular support frame (7). The media conveying pipeline group (2) is fixed around the outside of the annular support frame (7). The media spray ring (5) has multiple independent flow channels inside. The media conveying pipeline group (2) includes multiple media conveying channels. The independent flow channels correspond one-to-one with the media conveying channels and are independently connected. Each media conveying channel is connected to the dynamic coupling control system through a flow control valve.

6. The follow-up zone-controlled cooling device according to claim 5, characterized in that, The media spray ring (5) has a plurality of nozzle arrays uniformly distributed in the circumferential direction on the inner ring facing the pipe. Each nozzle array is connected to each independent flow channel to form an independent cooling fan.

7. The follow-up zone-controlled cooling device according to claim 1, characterized in that, Each of the nozzle arrays has 2 to 8 nozzles, and the outlet end face of each nozzle is a Coanda curved surface guide structure.

8. A method for servo-zone controlled cooling using the servo-zone controlled cooling device according to any one of claims 1 to 7, characterized in that, Includes the following steps: Input the trajectory command signal for the bent section of the pipe; Generate the attitude angle and cooling medium activation sequence of the servo attitude control mechanism; The servo-controlled cooling mechanism is pre-adjusted based on the attitude angle to ensure that the central axis of the partitioned cooling unit is always perpendicular to the tangent direction of the bent section of the pipe. The flow rate of the cooling medium in the partitioned cooling unit is dynamically controlled based on the timing of the cooling medium's activation. Based on the trajectory command signals of different bending sections of the pipe, repeat the above steps until cooling is complete.

9. The follow-up zone-controlled cooling method according to claim 1, characterized in that, The follow-up response delay time of the follow-up zone control cooling device is less than 30 ms, the angle tracking error is less than 0.1°, the cooling rate of the zone cooling unit for the pipe is 10℃ / s to 200℃ / s, and the diameter of the pipe is 10 mm to 100 mm. And / or, the pipe is a continuous fiber-reinforced thermoplastic composite material, the pipe comprising a resin matrix and reinforcing fibers, the resin matrix being selected from thermoplastic polymers having thermosensitive phase change characteristics and crystallization kinetic sensitivity, the thermoplastic polymer comprising one or more of polyetheretherketone, polyphenylene sulfide, polyetherketoneketone, polyamide or polycarbonate, and the reinforcing fibers comprising one of carbon fiber, glass fiber, aramid fiber or basalt fiber.

10. A pipe processing equipment, comprising a pipe pushing device, an online heating unit, and a traction robotic arm, characterized in that, It also includes the follow-up zone control cooling device as described in any one of claims 1 to 7; The pipe pushing device is used to push out the pipe and transfer it to the online heating unit; The online heating unit is used to heat the pipe to a preset temperature; The following zone control cooling device is used to cool the heated pipe in a following zone. The traction robotic arm is used to clamp and pull the cooled pipe for forming.

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