Control method and system for medical plastic pipe stretching and reducing equipment

Abstract

The invention relates to the technical field of automatic control, in particular to a medical plastic tube stretching reducing equipment control method and system, and the method comprises the following steps: obtaining a heating temperature change trend by using infrared temperature measurement equipment, adjusting heating parameters, adjusting clamping parameters based on compression and rebound deformation quantities, and adjusting the clamping parameters based on the clamping parameters. The thickness uniformity is evaluated, the stretching rate control parameters are adjusted, the cooling temperature difference trend on the two sides is combined, air nozzle and fan adjustment is linked, and a cooling air field adjustment record is obtained. According to the method, the heating abnormal response state is judged in combination with the temperature change rate, heating output parameters are adjusted through the slope trend in the continuous time period, the clamping stability is monitored based on the instantaneous compression and springback difference after the clamp makes contact, the thickness is inversely solved through the multi-channel light intensity, and thickness residual data are established in combination with the difference in all directions in the section. A periodic thickness error change trend is called to identify tensile stability deviation, and a cooling wind direction structure is regulated and controlled by combining the temperature difference change direction of the two sides of the guide pipe cooling stage.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and particularly to a control method and system for a stretching and diameter-changing device of medical plastic tubes. Background Art

[0002] The technical field of automatic control involves technical methods for programmatic, systematic, and continuous control of various industrial equipment and production processes, including motion control, process control, sequential control, feedback control, logical judgment, etc. It is widely used in industries such as manufacturing, medical equipment, energy systems, and transportation, and plays a key role in improving the operating efficiency, stability, and safety of equipment. In automatic control, by detecting and adjusting parameters such as temperature, position, speed, and pressure, and cooperating with an electric control drive system to achieve high-precision production control, it has become the core support technology in industrial manufacturing. Among them, the control method for a stretching and diameter-changing device of medical plastic tubes refers to setting parameters such as heating temperature, stretching speed, and stretching length, and using manual operation or simple electrical switch control to locally heat and physically stretch a plastic catheter, so that its outer diameter is reduced while the inner diameter remains unchanged to meet the assembly requirements of medical products. Usually, a constant-temperature heater is used to heat the outer surface of the catheter, and a mechanical stretching device such as a slide rail motor or a hydraulic cylinder is used to complete the length stretching, combined with a cooling fan for cooling and shaping. The control method uses relay logic or time relay sequential control, and the process depends on the operator's experience for adjustment, and the accuracy and consistency are limited by human judgment and the response of the equipment structure.

[0003] The traditional control technology for a stretching and diameter-changing device of medical plastic tubes uses a constant-temperature heater and a relay logic control process. It fails to identify the rate lag state during the catheter heating process, cannot sense the material deformation behavior during the clamping process and perform pressure response feedback, lacks an identification link for transverse uneven thickness in the stretching control, and the wind direction regulation in the cooling stage is executed according to a unified setting without distinguishing the temperature difference between the two sides. As a result, when the material properties change drastically, environmental disturbances exist, or the production rhythm changes, the system output cannot be matched with the catheter state in real time, resulting in problems such as pinching, thickness deviation, and unbalanced shrinkage stress, affecting the forming accuracy and structural stability. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, an embodiment of the present invention provides a control method and system for a stretching and diameter-changing device of medical plastic tubes. The technical solution is as follows: In order to achieve the above object, the present invention adopts the following technical solution. A control method for a stretching and diameter-changing device of medical plastic tubes includes the following steps: S1: Use an infrared temperature measurement device to collect and analyze the continuous temperature change data of the heated area on the surface of the catheter in real time. By performing trend analysis on the change rates in multiple consecutive measurement segments, detect abnormal heating rates and adjust the output parameters of the heating device to obtain temperature response information; S2: Invoke the temperature response information, collect and analyze the compression deformation amount generated after the fixture contacts the surface of the medical catheter and the rebound deformation amplitude generated in a short period of time, evaluate the stability of the current clamping state, and adjust the clamping parameters to obtain a rebound offset response result; S3: Invoke the rebound offset response result, collect the light intensity output of the transmitted light signals collected by multiple photoelectric channels on the catheter stretching path within the same time period, analyze the light transmittance to obtain a thickness inverse solution value, and evaluate the uniformity of the thickness in multiple directions at a fixed cross-section position to obtain a lateral light transmission fitting residual amount; S4: According to the lateral light transmission fitting residual amount, extract the catheter thickness measurement data for multiple cycles, identify the error between the material thickness and the target thickness curves in the current cycle, and by analyzing the continuous trend of the error change, adjust the control parameters of the stretching device to obtain a stretching rate adjustment result.

[0005] As a further aspect of the present invention, the temperature response information includes the surface temperature change amplitude of the heated area, the heating stability of the heated area, and the temperature control output response rate. The rebound offset response result includes the compression depth formed by the fixture pressure, the catheter rebound amplitude after compression, and the fixture retraction adjustment amplitude. The lateral light transmission fitting residual amount includes the thickness inverse solution difference of the photoelectric channels, the thickness fluctuation direction in the cross-section area, and the thickness fitting error boundary. The stretching rate adjustment result includes the stretching speed adjustment amplitude, the change state of the servo control command, and the thickness error change trend.

[0006] As a further aspect of the present invention, the steps for obtaining the temperature response information are specifically as follows: S101: Use an infrared temperature measurement device to collect and analyze the catheter surface temperature change data of the heated area on the catheter surface in real time, analyze the temperature change amplitude in adjacent time periods, identify the trend and stability of the temperature change, and generate a continuous temperature change trend coefficient; S102: According to the continuous temperature change trend coefficient, calculate the temperature change rate in each measurement segment, compare the temperature change rate with the set heating trend benchmark, identify abnormal heating rates, and obtain abnormal rate detection records; S103: Invoke the abnormal rate detection records, adjust the output parameters of the heating device, and establish temperature response information in combination with the actual temperature response and the device adjustment state.

[0007] As a further aspect of the present invention, the steps for obtaining the rebound offset response result are specifically as follows: S201: Call the temperature response information, collect the initial displacement record generated after the fixture contacts the surface of the conduit, detect the compression deformation distance of the material in the clamping section along the thickness direction after the indenter contacts the pipe material, record the maximum displacement change of the conduit outer wall position during the compression process, and generate the compression deformation displacement amplitude; S202: According to the compression deformation displacement amplitude, monitor the springback state of the outer contour of the material after the fixture is fixed, calculate the proportional value of the springback section deformation amount to the displacement of the previous compression section, and obtain the compression springback change proportional coefficient; S203: Call the compression springback change proportional coefficient, evaluate the stability of the current clamping state, adjust the opening and closing distance of the fixture and the air pressure output parameters, and establish the springback offset response result.

[0008] As a further solution of the present invention, the step of obtaining the lateral light transmission fitting residual amount is specifically as follows: S301: Call the springback offset response result, collect the light intensity output of the transmitted light signals collected by multiple photoelectric channels on the conduit stretching path within the same time period, record the light intensity change curve of each channel corresponding sampling point, and generate a multi-channel light intensity signal group; S302: According to the multi-channel light intensity signal group, use the transmission relationship between the incident light intensity of the material and the light transmittance to calculate the thickness inverse solution value of each channel corresponding position, and obtain the conduit thickness analysis data; S303: Call the conduit thickness analysis data, calculate the difference amount between the thickness inverse solution values of each channel, analyze the fluctuation trend between the solution values in each direction on the fixed cross-section of the conduit, evaluate the thickness uniformity of the conduit wall, and obtain the lateral light transmission fitting residual amount.

[0009] As a further solution of the present invention, the specific formula for evaluating the thickness uniformity of the conduit wall is: ; Calculate the mean square eigenvalue of the lateral thickness fluctuation; where, is the mean square eigenvalue of the lateral thickness fluctuation, is the thickness inverse solution value at the position corresponding to the th photoelectric channel, is the average value of the inverse solution thickness of all channels, is the light intensity fluctuation range within the sampling period at the th channel, is the mean value of the light intensity fluctuation ranges of all channels, is the total number of photoelectric channels, is the index number of the photoelectric channel.

[0010] As a further solution of the present invention, the step of obtaining the stretching rate adjustment result is specifically as follows: S401: Extract the catheter thickness measurement data within a continuous plurality of control cycles according to the lateral light transmission fitting residual amount, identify the difference between the actual thickness of the material and the target thickness curve in each cycle, sort the data in combination with the sampling sequence number, and generate a cycle thickness error sequence; S402: Calculate the rate of error change between adjacent cycles according to the cycle thickness error sequence, identify the continuous offset state and change stability of the error on the time axis by analyzing the directionality and amplitude change trend of the error change, and obtain an error change trend index; S403: Invoke the error change trend index, evaluate the stability of the current stretching rhythm, adjust the control instruction of the stretching device, and obtain a stretching rate adjustment result.

[0011] As a further solution of the present invention, the method further includes: S5: Invoke the stretching rate adjustment result, collect and analyze the temperature distribution on both sides of the medical tube guide during the cooling stage, identify the temperature difference between the two sides and analyze the change trend of the temperature difference, and adjust the nozzle deflection angle and fan speed in combination with the difference between the actual surface temperature change rate and the preset cooling requirement to obtain a cooling air field adjustment record; The cooling air field adjustment record includes the injection direction adjustment angle, the cooling air flow distribution ratio, and the comparison result of the temperature difference trend between the two sides.

[0012] As a further solution of the present invention, the step of obtaining the cooling air field adjustment record is specifically: S501: Invoke the stretching rate adjustment result, collect the temperature sensor data arranged on both sides of the catheter during the cooling stage, record the temperature change curves on both surfaces and compare them, calculate the temperature difference and analyze the change trend, and generate a cooling temperature difference offset trend feature; The specific formula for calculating the temperature difference and analyzing the change trend is: ; Calculate the temperature difference change trend index; Wherein, is the temperature difference change trend index, is the total number of sampling points, is the index number of the current sampling point, is the temperature difference normalization value at the th moment, is the temperature difference normalization value at the th moment, S502: Calculate the adjustment parameters for the air flow direction and intensity configuration according to the characteristics of the cooling temperature difference deviation trend, in combination with the surface temperature change rate of the cooling section and the preset cooling requirements, and perform the adjustment of the air nozzle angle and the correction of the fan speed to obtain the cooling air field adjustment record.

[0013] On the other hand, a control system for a stretching and diameter-changing device of a medical plastic tube is provided. This system is applied to the control method of the stretching and diameter-changing device of the medical plastic tube. The system includes: The temperature control adjustment module, based on the infrared temperature measurement device, obtains the temperature change data of the surface heating area of the catheter, calculates the temperature rise rate between continuous measurement segments, analyzes the change trend of the heating rate, adjusts the power output of the heating device, and generates temperature response information; The clamping identification module, based on the temperature response information, monitors the instantaneous deformation data generated after the clamp contacts the catheter surface, identifies the displacement changes during the compression deformation process and the springback stage, evaluates the stability of the current clamping state, adjusts the opening and closing distance of the clamp and the air pressure output, and obtains the springback offset response result; The thickness calculation module, based on the springback offset response result, calls the transmitted light intensity sampling values of multiple photoelectric channels on the stretching path, and through the inverse solution relationship between the light transmittance and the thickness, obtains the thickness measurement results of each channel, calculates the thickness difference value in each direction within the cross-section, evaluates the lateral uniformity within the cross-section, and obtains the lateral light transmission fitting residual amount; The stretching correction module, based on the lateral light transmission fitting residual amount, extracts the thickness measurement values of multiple consecutive periods, analyzes the difference trend between the actual thickness of the material and the target curve in the current period, identifies the direction and persistence of the error change, adjusts the control parameters of the stretching device, and obtains the stretching rate adjustment result; The cooling response module, based on the stretching rate adjustment result, obtains the real-time temperature change curves of both sides of the catheter surface during the cooling stage, compares the temperature differences between both sides of the surface, and in combination with the difference between the actual surface temperature change rate and the preset cooling requirements, adjusts the air nozzle direction and the fan speed to obtain the cooling air field adjustment record.

[0014] The beneficial effects brought by the technical solution provided by the embodiments of the present invention at least include: Judge the heating abnormal response state in combination with the temperature change rate, adjust the heating output parameters through the slope trend within a continuous time period, monitor the clamping stability based on the instantaneous compression and springback differences after the clamp contacts, use multi-channel light intensity to inversely solve the thickness and establish thickness residual data in combination with the differences in each direction within the cross-section, call the periodic thickness error change trend to identify the stretching stability offset, and control the cooling air direction structure in combination with the temperature difference change direction on both sides of the catheter during the cooling stage, so as to realize the dynamic tracking and real-time correction of key control behaviors in the whole process of heating, clamping, stretching, and cooling, optimize the action path of the control instruction, and improve the coordination and response matching between the action execution and the material change state. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 is a schematic diagram of the working process of the present invention; Figure 2 is a system flowchart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The following describes the technical solutions in the present invention with reference to the drawings.

[0018] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "example" in the present invention should not be construed as more preferred or more advantageous than other embodiments or design solutions. Exactly speaking, the use of the word "example" is intended to present concepts in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two can be selected.

[0019] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when their differences are not emphasized, the meanings they express are the same. "(of)", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when their differences are not emphasized, the meanings they express are the same.

[0020] In the embodiments of the present invention, sometimes subscripts such as W1 may be written in a non-subscript form such as W1. When their differences are not emphasized, the meanings they express are the same.

[0021] In order to make the technical problems to be solved, technical solutions and advantages of the present invention clearer, the following will be described in detail with reference to the drawings and specific embodiments.

[0022] Please refer to Figure 1 , the present invention provides a technical solution, a control method for a stretching and diameter-changing device of a medical plastic tube, including the following steps: S1: Use an infrared temperature measurement device to collect and analyze the continuous temperature change data of the surface heating area of the catheter in real time. By analyzing the change rate trend in multiple continuous measurement segments, detect abnormal heating rate and adjust the output parameters of the heating device to obtain temperature response information; S2: Call the temperature response information, collect and analyze the amount of compressive deformation and the amplitude of springback deformation generated in a short time after the fixture contacts the surface of the medical catheter, evaluate the stability of the current clamping state, and adjust the clamping parameters to obtain the springback offset response result; S3: Call the springback offset response result, collect the light intensity output of the transmitted light signals collected by multiple optoelectronic channels on the catheter stretching path within the same time period, analyze the light transmittance to obtain the thickness inverse solution value, and evaluate the uniformity of the thickness in multiple directions at the fixed cross-section position to obtain the lateral light transmission fitting residual amount; S4: According to the lateral light transmission fitting residual amount, extract the catheter thickness measurement data of multiple cycles, identify the error between the material thickness and the target thickness curve in the current cycle, and adjust the control parameters of the stretching device by analyzing the continuous trend of the error change to obtain the stretching rate adjustment result.

[0023] S5: Call the stretching rate adjustment result, collect and analyze the temperature distribution on both sides of the medical catheter during the cooling stage, identify the temperature difference between the two sides and analyze the change trend of the temperature difference, and combine the difference between the actual surface temperature change rate and the preset cooling requirement to adjust the nozzle deflection angle and the fan speed to obtain the cooling air field adjustment record.

[0024] The temperature response information includes the surface temperature change amplitude of the heating area, the heating stability of the heating area, and the temperature control output response rate. The springback offset response result includes the compression depth formed by the fixture pressure, the springback amplitude of the catheter after compression, and the fixture retraction adjustment amplitude. The lateral light transmission fitting residual amount includes the thickness inverse solution difference of the optoelectronic channels, the thickness fluctuation direction in the cross-section area, and the thickness fitting error boundary. The stretching rate adjustment result includes the stretching speed adjustment amplitude, the change state of the servo control instruction, and the thickness error change trend. The cooling air field adjustment record includes the injection direction adjustment angle, the cooling air flow distribution ratio, and the comparison result of the temperature difference trend between the two sides.

[0025] The steps to obtain the temperature response information are specifically as follows: S101: Use an infrared temperature measurement device to collect and analyze the catheter surface temperature change data of the catheter surface heating area in real time, analyze the temperature change amplitude in adjacent time periods, identify the trend and stability of the temperature change, and generate a continuous temperature change trend coefficient; Use an infrared temperature measurement device to collect the temperature data of the catheter surface heating area in real time. The collection process starts after the stretching device is started and continuously collects data points at intervals of for cycles. The specific data records are shown in Table 1.

[0026] Table 1 Temperature data collection table

[0027] As shown in Table 1, by pairing consecutive measurement points of the data in pairs, the temperature difference between adjacent two measurement points is calculated. For example, the difference between the serial numbers 1 and 2 is: , the difference between the serial numbers 2 and 3 is: , and so on to obtain the temperature change amplitude data array: [2.2, 3.4, 3.2, 3.2, 3.5, 3.5, 3.7, 3.8, 3.9]. By calculating the average value of the temperature change amplitude, , as the representative value of the temperature change trend, further analyze whether this trend value is within the normal temperature rise range. Determine the stability interval of the temperature rise trend as , then the current trend value is within this interval, and it is judged that the current temperature rise trend meets the stability requirements, and a continuous temperature change trend coefficient is generated.

[0028] S102: According to the continuous temperature change trend coefficient, calculate the temperature change rate in each measurement section, compare the temperature change rate with the set temperature rise trend benchmark, identify abnormal temperature rise rates, and obtain abnormal rate detection records; Based on the aforementioned continuous temperature change trend coefficient as , further calculate the specific temperature change rate in each measurement section. Based on the time interval of each measurement section, calculate the rate in turn. For example, the temperature change rate in the first measurement section is: , the rate in the second measurement section is: , and so on to obtain the temperature change rate array of each section: [4.4, 6.8, 6.4, 6.4, 7.0, 7.0, 7.4, 7.6, 7.8]. Set the temperature rise trend benchmark as (according to the safe temperature rise rate range allowed by the equipment), compare the calculated array with the benchmark interval one by one, and find that the rate value in the 8th section is , the rate value in the 9th section is , exceeding the upper limit of the benchmark interval. Identify these two sections as abnormal temperature rise rate sections, record the corresponding time periods as the 8th and 9th measurement sections respectively, and generate abnormal rate detection records.

[0029] S103: Call the abnormal rate detection record, adjust the output parameters of the heating equipment, and establish temperature response information in combination with the actual temperature response and the equipment adjustment status; Call the abnormal sections marked in the abnormal rate detection record (the 8th and 9th measurement sections, with temperature rise rates of and respectively). Based on the current abnormal degree of temperature rise, determine the adjustment relationship of the power output of the heating equipment by referring to the equipment control manual as: If the temperature rise rate exceeds then for every Correspondingly reduce the heating power output , then the corresponding section No. 8 exceeds , reduce the power output , section No. 9 exceeds , reduce the power output , output at the standard power of the device Taking as a reference, the power output of section No. 8 is adjusted to , and the power output of section No. 9 is adjusted to . At the same time, collect the temperature response data after the device is adjusted, as shown in Table 2.

[0030] Table 2 Temperature response data table after the device is adjusted

[0031] As shown in Table 2, the temperature response data after the device is adjusted are respectively reduced to , , . Call the temperature data before and after the adjustment, and establish a complete temperature response information.

[0032] The steps to obtain the springback offset response result are specifically as follows: S201: Call the temperature response information, collect the initial displacement record generated after the fixture contacts the surface of the catheter, detect the compression deformation distance of the material in the clamping section along the thickness direction after the indenter contacts the pipe material, record the maximum displacement change of the position of the outer wall of the catheter during the compression process, and generate the compression deformation displacement amplitude; Call the adjusted temperature data in the temperature response information, and perform measurements during the clamping process based on the adjusted temperature value. When the fixture initially contacts the surface of the catheter, record the initial displacement as zero. Slowly press the indenter of the clamping device against the outer wall of the catheter, and measure the compression deformation distance of the catheter in the thickness direction after the indenter contacts the surface of the pipe material through a displacement sensor. For example, the initial thickness of the clamping is , and the measured thickness after the indenter is pressed becomes , then the maximum displacement change of the outer wall of the catheter during the compression process can be calculated as the difference between the initial thickness and the measured thickness, that is . Repeat the measurement multiple times to obtain multiple sets of compression deformation displacement data, as shown in Table 3.

[0033] Table 3 Compression deformation displacement data table

[0034] As shown in Table 3, taking measurement No. 1 as an example, the maximum displacement change obtained through the above calculation process is , measurement No. 2 and No. 3 respectively obtain and . Take the average value of the three sets of measurement values as , as the compression deformation displacement amplitude.

[0035] S202: Monitor the springback state of the outer contour of the material after the clamping fixture is fixed according to the magnitude of the compressive deformation displacement, calculate the ratio of the deformation amount in the springback section to the displacement in the previous compression section, and obtain the compression-springback change ratio coefficient; According to the aforementioned magnitude of the compressive deformation displacement , keep the clamping head of the fixture stationary, and at the same time monitor the springback of the outer contour of the material after releasing the clamping head. The final thickness of the outer wall of the material after springback is recorded in real time by a laser displacement sensor. For example, the compression thickness of the catheter is , and the springback thickness measured after the fixture stops applying pressure is , then the deformation amount of the catheter in the springback stage can be expressed as , calculate the ratio of the deformation amount in the springback section to the displacement in the compression section, that is, the springback deformation amount and the magnitude of the compressive deformation displacement The ratio is calculated as follows: , repeat multiple measurements to verify stability. The springback thicknesses of measurement numbers 2 and 3 are and , and the corresponding springback amounts are and , calculate the corresponding ratios as and , take the average value as the compression-springback change ratio coefficient, that is, , and obtain the compression-springback change ratio coefficient.

[0036] S203: Invoke the compression-springback change ratio coefficient, evaluate the stability of the current clamping state, and adjust the opening and closing distance and air pressure output parameters of the fixture to establish a springback offset response result; Invoke the compression-springback change ratio coefficient , with the reference of the clamping stability reference ratio coefficient in the equipment specification, evaluate the stability of the current clamping state, compare the calculated ratio coefficient with the reference ratio range, determine that the ratio coefficient is within the stable range, and further determine the adjustment standard for the opening and closing distance of the fixture according to the clamping equipment instruction manual as for every deviation from the standard ratio value the corresponding opening and closing distance is adjusted , and the adjustment standard for the air pressure output is that for every deviation from the standard ratio value the corresponding output air pressure is adjusted , the difference between the current measured value and the median of the standard ratio is , belonging to the negative deviation direction, so increase the opening and closing distance of the fixture , and increase the air pressure output , according to the above adjustment plan, the opening and closing distance of the fixture increases from the original setting to , the air pressure output increases from the initial setting to . Combining the above adjustments, a rebound offset response result is established.

[0037] The steps to obtain the lateral light transmission fitting residual amount are specifically as follows: S301: Call the rebound offset response result, collect the light intensity outputs of the transmitted light signals collected by multiple optoelectronic channels on the catheter stretching path within the same time period, record the light intensity change curves of each channel corresponding to the sampling points, and generate a multi-channel light intensity signal group; Call the rebound offset response result, confirm that the catheter clamping parameters are stable, start the optoelectronic sensing device, and continuously collect the transmitted light signals of three independent optoelectronic channels at intervals of 0.2 seconds at a fixed cross-section of the catheter stretching path, and record the light intensity change data at different channel positions in real time to obtain the data record shown in Table 4.

[0038] Table 4 Multi-channel light intensity signal acquisition table

[0039] As shown in Table 4, taking Channel 1 as an example, by calculating the light intensity change between every two consecutive sampling points, for example, the light intensity change from 0.2 seconds to 0.4 seconds at the sampling moment is 11.8 mW minus 12.0 mW, that is, -0.2 mW, and so on for subsequent moments to obtain the change sequence [-0.2, -0.1, -0.2, -0.1]. The same operation is performed on other channels to obtain the change curve data of each channel, thereby establishing a complete multi-channel light intensity signal group.

[0040] S302: According to the multi-channel light intensity signal group, use the transmission relationship between the incident light intensity of the material and the light transmittance to calculate the thickness inverse solution value corresponding to each channel position, and obtain the catheter thickness analysis data; According to the data of the multi-channel light intensity signal group, taking the incident light intensity value measured during equipment calibration as the reference, calculate the light transmittance at the corresponding positions of each channel respectively. Through the pre-calibrated curve relationship between the material light transmittance and the material thickness, reverse calculate to obtain the catheter wall thickness data. Taking the sampling moment of 0.2 seconds at Channel 1 as an example, assuming the incident light intensity at this moment is 20 mW, then the light transmittance is 12.0 mW divided by 20 mW, that is, 0.60. According to the calibration relationship, the material thickness corresponding to the light transmittance of 0.60 is approximately 1.90 mm. Similar calculations are performed on Channels 2 and 3 with 12.3 mW and 11.9 mW respectively to obtain thickness values of approximately 1.85 mm and 1.92 mm. Process each sampling point in turn to obtain the thickness inverse solution values corresponding to the continuous measurement points of each channel. Combining the above data, obtain the catheter thickness analysis data.

[0041] S303: Call the catheter thickness analysis data, calculate the difference between the thickness inverse solution values of each channel, analyze the fluctuation trend of the solution values in each direction on the fixed section of the catheter, evaluate the thickness uniformity of the catheter wall, and obtain the lateral light transmission fitting residual amount; The specific formula for evaluating the thickness uniformity of the catheter wall is: ; Calculate the mean square eigenvalue of the lateral thickness fluctuation; Where, is the mean square eigenvalue of the lateral thickness fluctuation, is the inverse solution value of the thickness at the position corresponding to the th optoelectronic channel, and is the average value of the inverse solution thickness of all channels. is the fluctuation range of the light intensity within the sampling period at the th channel, is the average value of the light intensity fluctuation ranges of all channels, is the total number of optoelectronic channels, is the index number of the optoelectronic channel.

[0042] Formula: ; Detailed explanation of the formula and the derivation process of the formula calculation: The formula is used to calculate the thickness inverse solution fluctuation index of the lateral optoelectronic channels on the stretched catheter section, and the obtained result is used to evaluate the uniformity deviation of the catheter wall thickness on the multi-directional section.

[0043] Parameter meaning and setting value: represents the inverse solution value of the thickness at the th channel position, in millimeters, obtained by collecting the transmitted light signal through the optoelectronic channel receiver and combining with the reference light transmittance curve, and this value is measured in real time by the device, and is set to: , , , , ; represents the average value of the inverse solution thickness values of all channels, and the calculation formula is: , substituting the number of channels and the above each value: ; represents the instantaneous light intensity fluctuation range of the transmitted light signal at the th channel within the corresponding sampling period, in mV, obtained from the difference between the maximum and minimum signal values within the sampling frequency per second of the optoelectronic sensor, and is set: , , , , ; represents the average value of the light intensity fluctuation values of all channels, calculated as: ; Substitute all the above values into the formula: ; The result 0.00547 indicates that the transverse light transmission fitting residual amount is 0.00547, indicating that the overall fluctuation range of the thickness distribution on the catheter cross-section is controlled within the order of magnitude of ±0.005 mm. This value is used to judge whether the cross-sectional thickness is in a stable state under actual production conditions and is directly fed back to the subsequent stretching rate correction module as an input.

[0044] The steps to obtain the stretching rate adjustment result are specifically as follows: S401: According to the transverse light transmission fitting residual amount, extract the catheter thickness measurement data within multiple consecutive control cycles, identify the difference between the actual material thickness and the target thickness curve in each cycle, and sort the data in combination with the sampling sequence number to generate a cycle thickness error sequence; According to the transverse light transmission fitting residual amount, call the thickness data of multiple control cycles measured in real time during the catheter stretching process. Assuming that the sampling period is 1 second, the actual measured thickness of the catheter and the target thickness of each cycle are recorded respectively. The measurement data is shown in Table 5.

[0045] Table 5 Catheter Cycle Thickness Measurement Data Table

[0046] As shown in Table 5, collect and record the difference between the actual measured thickness and the target thickness, sort the data by the sampling sequence number, and the difference values corresponding to serial numbers 1 to 5 are 0.05 mm, 0.02 mm, -0.01 mm, -0.03 mm, and -0.06 mm respectively. Connect these data points in series to form a cycle thickness error sequence.

[0047] S402: According to the cycle thickness error sequence, calculate the rate of change of the error between adjacent cycles, identify the continuous offset state and change stability of the error on the time axis by analyzing the directionality and amplitude change trend of the error change, and obtain the error change trend index; According to the periodic thickness error sequence, calculate the rate of change of the thickness error difference between adjacent periods. Compare the error differences between every two adjacent periods respectively. For example, the difference between the 1st period and the 2nd period changes from 0.05 mm to 0.02 mm, and the rate of change of the difference is -0.03 mm / s. The error change from the 2nd period to the 3rd period changes from 0.02 mm to -0.01 mm, and the rate of change of the difference is -0.03 mm / s. The rate of change of the error from the 3rd to the 4th period is -0.02 mm / s, and the rate of change of the error from the 4th to the 5th period is -0.03 mm / s. The obtained sequence of the error change rate between periods is [-0.03, -0.03, -0.02, -0.03]. Analyze this sequence. The error change rates are all negative and the fluctuation range is small (within ±0.01 mm / s), indicating that the continuous decrease trend of the thickness error is relatively stable. Based on this, it is judged that the error is in a continuously offset state of stable decline on the time axis. Through the above analysis, the error change trend index is obtained.

[0048] S403: Call the error change trend index, evaluate the stability of the current stretching rhythm, adjust the control instruction of the stretching device, and obtain the stretching rate adjustment result; Call the error change trend index, analyze the stability of the error change trend between periods on the time axis. Taking the system-predefined stable trend reference range (the error change rate within the range of ±0.02 mm / s is regarded as stable) as a reference, judge the deviation degree of each data in the currently actually measured error change rate sequence [-0.03, -0.03, -0.02, -0.03]. It is found that most of the data are near the reference value but slightly exceed it. Through this result, it is confirmed that the current stretching rhythm slightly deviates from the stable range. Therefore, according to the stretching control parameter correction standard in the equipment instruction manual, for each time the error change rate exceeds the stable interval by 0.01 mm / s, the motor drive frequency of the stretching device is lowered by 0.5 Hz. According to this standard, the motor drive frequency is adjusted from the original 50 Hz to 49.5 Hz this time, and the actual thickness data of the equipment after adjusting the frequency is recorded again to obtain the stretching rate adjustment result.

[0049] The steps to obtain the cooling air field adjustment record are specifically as follows: S501: Call the stretching rate adjustment result, collect the data of the temperature sensors arranged on both sides of the conduit during the cooling stage, record the temperature change curves on both surfaces and compare them, calculate the temperature difference and analyze the change trend, and generate the cooling temperature difference offset trend feature; The specific formula for calculating the temperature difference and analyzing the change trend is: ; Calculate the temperature difference change trend index; Among them, is the temperature difference change trend index, is the total number of sampling points, is the index number of the current sampling point, is the normalized temperature difference value at the th moment, is the normalized temperature difference value at the th moment, is the temperature difference change fluctuation adjustment factor.

[0050] Formula: ; Detailed explanation of the formula and the derivation process of formula calculation: This formula is used to calculate the temperature difference change trend index during the cooling stage, and the obtained result is used to evaluate the amplitude and stability of the temperature difference fluctuation on both sides during the cooling process, and then assist in adjusting the cooling system parameters.

[0051] Parameter meaning and setting value: represents the normalized temperature difference value at the th moment, and the calculation method is , where is the temperature difference between the ducts on both sides at the th moment, is the maximum temperature difference during the cooling stage. Set the maximum temperature difference °C, and the temperature differences from the 1st second to the 5th second are 1.2°C, 1.1°C, 1.0°C, 0.9°C, 0.8°C, then the normalized temperature difference is: ; represents the total number of sampling data points. Set the sampling period to 5 seconds, .

[0052] is the weight factor, which is used to adjust the influence of the temperature difference change rate on the final result. It is set to 0.5, and reflects the sensitivity of the cooling system response according to the experimental data. Adjust according to the actual experimental situation.

[0053] Substitute the parameters into the formula for calculation: ; ; ; ; Result indicates that the temperature difference change trend index is 0.23. This result reflects the stability of the temperature difference change from high to low during the cooling process, and can be specifically used to adjust the air flow direction and intensity of the cooling system to ensure a stable temperature difference change.

[0054] S502: Calculate the adjustment parameters for the air flow direction and intensity configuration according to the characteristics of the cooling temperature difference offset trend, in combination with the surface temperature change rate of the cooling section and the preset cooling requirements, and adjust the nozzle angle and correct the fan speed to obtain the cooling air field adjustment record; According to the characteristics of the cooling temperature difference offset trend, with the preset cooling temperature difference reference of 0.5°C of the equipment as a reference, judge the deviation between the actually measured temperature difference data and the reference. It is found that the previous 1.3°C, 1.2°C, and 0.9°C significantly exceed the reference range, while the subsequent 0.6°C and 0.3°C are close to or lower than the reference value. Based on this, adjust and analyze the air flow direction and air volume intensity during the cooling process. According to the equipment cooling operation specification, for every 0.1°C exceeding the temperature difference reference, the nozzle deflection angle is adjusted by 2° and the fan speed is increased by 3%. In the case of the maximum temperature difference of 1.3°C in the initial stage, exceeding the reference by 0.8°C, the corresponding nozzle deflection angle is increased by 16° from the initial set angle, and the fan speed is increased by 24% from the initial set value. After adjusting the nozzle angle and fan speed, detect the temperature difference again. For example, the temperature difference drops from the initial 1.2°C to 0.8°C at the 2nd second, and from the initial 0.9°C to 0.6°C at the 3rd second, gradually controlling the temperature difference back within the preset range to obtain a complete cooling air field adjustment record.

[0055] Please refer to Figure 2 , a control system for a medical plastic tube stretching and diameter-changing device. The control system for a medical plastic tube stretching and diameter-changing device is used to execute the above-mentioned control method for a medical plastic tube stretching and diameter-changing device. The system includes: The temperature control adjustment module, based on the infrared temperature measurement device, obtains the temperature change data of the surface heating area of the catheter, calculates the temperature rise rate between consecutive measurement segments, analyzes the change trend of the heating rate, adjusts the power output of the heating device, and generates temperature response information; The clamping identification module, based on the temperature response information, monitors the instantaneous deformation data generated after the clamp contacts the catheter surface, identifies the displacement changes during the compression deformation process and the springback stage, evaluates the stability of the current clamping state, adjusts the opening and closing distance of the clamp and the air pressure output, and obtains the springback offset response result; The thickness calculation module, based on the springback offset response result, calls the transmitted light intensity sampling values of multiple photoelectric channels on the stretching path, and obtains the thickness measurement result of each channel through the inverse solution relationship between the light transmittance and the thickness, calculates the thickness difference value in each direction within the cross-section, evaluates the lateral uniformity within the cross-section, and obtains the lateral light transmission fitting residual amount; The stretching correction module, based on the lateral light transmission fitting residual amount, extracts the thickness measurement values of multiple consecutive cycles, analyzes the difference trend between the actual thickness of the material and the target curve in the current cycle, identifies the direction and persistence of the error change, adjusts the control parameters of the stretching device, and obtains the stretching rate adjustment result; Based on the adjustment result of the stretching rate, the cooling response module obtains the real-time temperature change curves of both sides of the catheter surface in the cooling stage, compares the temperature differences between the two sides of the surface, and combines the differences in the actual surface temperature change rate and the preset cooling requirements to adjust the nozzle direction and the fan speed, and obtains the cooling air field adjustment record.

[0056] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more collections of available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0057] It should be understood that the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this article generally represents an "or" relationship between the front and rear associated objects, but it may also represent an "and / or" relationship, which can be specifically understood with reference to the context.

[0058] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0059] It should be understood that in various embodiments of the present invention, the magnitudes of the serial numbers of the above processes do not imply the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0060] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0061] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices, apparatuses, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0062] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0063] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0064] In addition, the functional units in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0065] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0066] As described above, the above are only specific implementation manners of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A control method for a stretching and diameter-changing device of a medical plastic tube, characterized in that, The method includes: S1: Using an infrared temperature measurement device, continuously collect and analyze the temperature change data of the heated area on the catheter surface. By performing trend analysis on the change rates in multiple consecutive measurement segments, detect abnormal heating rates and adjust the output parameters of the heating device to obtain temperature response information; S2: Invoke the temperature response information, collect and analyze the compression deformation amount generated after the fixture contacts the medical catheter surface and the rebound deformation amplitude generated in a short time, evaluate the stability of the current clamping state, and adjust the clamping parameters to obtain a rebound offset response result; S3: Invoke the rebound offset response result, collect the light intensity output of the transmitted light signals collected by multiple optoelectronic channels on the catheter stretching path within the same time period, analyze the light transmittance to obtain a thickness inverse solution value, and evaluate the uniformity of the thickness in multiple directions at a fixed cross-section position to obtain a transverse light transmission fitting residual amount; S4: According to the transverse light transmission fitting residual amount, extract the catheter thickness measurement data for multiple cycles, identify the error between the material thickness and the target thickness curves in the current cycle, and by analyzing the persistent trend of the error change, adjust the control parameters of the stretching device to obtain a stretching rate adjustment result.

2. The control method of the stretching and diameter-changing equipment for medical plastic tubes according to claim 1, characterized in that, The temperature response information includes the surface temperature change amplitude of the heated area, the heating stability of the heated area, and the temperature control output response rate. The rebound offset response result includes the compression depth formed by the fixture pressure, the catheter rebound amplitude after compression, and the fixture retraction adjustment amplitude. The transverse light transmission fitting residual amount includes the optoelectronic channel thickness inverse solution difference, the thickness fluctuation direction in the cross-section area, and the thickness fitting error boundary. The stretching rate adjustment result includes the stretching speed adjustment amplitude, the servo control instruction change status, and the thickness error change trend.

3. The control method of the medical plastic tube stretching and diameter-changing device according to claim 1, characterized in that The steps for obtaining the temperature response information are specifically as follows: S101: Using an infrared temperature measurement device, continuously collect and analyze the catheter surface temperature change data of the heated area on the catheter surface, analyze the temperature change amplitude in adjacent time periods, identify the trend and stability of the temperature change, and generate a continuous temperature change trend coefficient; S102: According to the continuous temperature change trend coefficient, calculate the temperature change rate in each measurement segment, compare the temperature change rate with the set heating trend benchmark, identify the abnormal heating rate, and obtain an abnormal rate detection record; S103: Invoke the abnormal rate detection record, adjust the output parameters of the heating device, and establish temperature response information by combining the actual temperature response and the device adjustment status.

4. The control method of the medical plastic tube stretching and diameter-changing device according to claim 3, characterized in that, The steps for obtaining the rebound offset response result are specifically as follows: S201: Invoke the temperature response information, collect the initial displacement record generated after the fixture contacts the catheter surface, detect the compression deformation distance of the material in the clamping segment along the thickness direction after the indenter contacts the pipe material, record the maximum displacement change at the outer wall position of the catheter during the compression process, and generate a compression deformation displacement amplitude; S202: According to the compression deformation displacement amplitude, monitor the rebound state of the material outer contour after the fixture remains fixed, calculate the ratio of the deformation amount in the rebound segment to the displacement in the previous compression segment, and obtain a compression and rebound change ratio coefficient; S203: Call the compression and rebound change ratio coefficient to evaluate the stability of the current clamping state, adjust the opening and closing distance of the fixture and the air pressure output parameters, and establish a rebound offset response result.

5. The control method of the medical plastic tube stretching and diameter-changing device according to claim 4, characterized in that, The specific steps for obtaining the lateral light transmission fitting residual amount are as follows: S301: Call the rebound offset response result, collect the light intensity outputs of the transmitted light signals collected by multiple optoelectronic channels on the catheter stretching path within the same time period, record the light intensity change curves of each channel corresponding to the sampling points, and generate a multi-channel light intensity signal group; S302: According to the multi-channel light intensity signal group, use the transmission relationship between the incident light intensity of the material and the light transmittance to calculate the thickness inverse solution values of each channel corresponding position, and obtain the catheter thickness analysis data; S303: Call the catheter thickness analysis data, calculate the difference amount between the thickness inverse solution values of each channel, analyze the fluctuation trend between the solution values in each direction on the fixed cross-section of the catheter, evaluate the thickness uniformity of the catheter wall, and obtain the lateral light transmission fitting residual amount.

6. The control method of the medical plastic tube stretching and diameter-changing device according to claim 5, wherein, The specific formula for evaluating the thickness uniformity of the catheter wall is: ； Calculate the mean square eigenvalue of the lateral thickness fluctuation; Among them, is the mean square eigenvalue of the lateral thickness fluctuation, is the thickness inverse solution value at the position corresponding to the th optoelectronic channel, is the average value of the inverse solution thickness of all channels, is the light intensity fluctuation range within the sampling period at the th channel, is the mean value of the light intensity fluctuation ranges of all channels, is the total number of optoelectronic channels, is the index number of the optoelectronic channel.

7. The control method for the medical plastic tube stretching and diameter-changing device according to claim 5, characterized in that, The specific steps for obtaining the stretching rate adjustment result are as follows: S401: According to the lateral light transmission fitting residual amount, extract the catheter thickness measurement data within consecutive multiple control cycles, identify the difference between the actual thickness curve and the target thickness curve of the material in each cycle, sort the data in combination with the sampling sequence number, and generate a cycle thickness error sequence; S402: According to the cycle thickness error sequence, calculate the rate of change of the error between adjacent cycles, identify the continuous offset state and change stability of the error on the time axis by analyzing the directionality and amplitude change trend of the error change, and obtain the error change trend index; S403: Call the error change trend index, evaluate the stability of the current stretching rhythm, adjust the control command of the stretching device, and obtain the stretching rate adjustment result.

8. The control method of the medical plastic tube stretching and diameter-changing device according to claim 1, characterized in that, The method further includes: S5: Call the stretching rate adjustment result, collect and analyze the temperature distribution on both sides of the medical tube guide surface in the cooling stage, identify the temperature difference between the two sides and analyze the change trend of the temperature difference, and adjust the nozzle deflection angle and fan speed in combination with the difference between the actual surface temperature change rate and the preset cooling requirement, and obtain the cooling air field adjustment record; The cooling air field adjustment record includes the jet direction adjustment angle, the cooling air flow distribution ratio, and the comparison result of the temperature difference trend between the two sides.

9. The control method of the medical plastic tube stretching and diameter-changing device according to claim 8, characterized in that, The specific steps for obtaining the cooling air field adjustment record are as follows: S501: Call the stretching rate adjustment result, collect the temperature sensor data arranged on both sides of the catheter in the cooling stage, record the temperature change curves of both sides of the surface and compare them, calculate the temperature difference and analyze the change trend, and generate a cooling temperature difference offset trend feature; The specific formula for calculating the temperature difference and analyzing the change trend is: ； Calculate the temperature difference change trend index; Among them, is the temperature difference change trend index, is the total number of sampling points, is the index number of the current sampling point, is the normalized temperature difference value at the -th moment, is the normalized temperature difference value at the -th moment, is the temperature difference change fluctuation adjustment factor; S502: According to the cooling temperature difference offset trend feature, combine the surface temperature change rate in the cooling section and the preset cooling requirement, calculate the adjustment parameters for the air flow direction and intensity configuration, and perform nozzle angle adjustment and fan speed correction to obtain the cooling air field adjustment record.

10. A control system for a stretching and diameter-changing device of a medical plastic tube, characterized in that, The system is used to implement the control method of the medical plastic tube stretching and diameter-changing device according to any one of claims 1-9. The system includes: The temperature control adjustment module, based on the infrared temperature measurement device, obtains the temperature change data of the heated area on the surface of the catheter, calculates the temperature rise rate between consecutive measurement segments, analyzes the change trend of the heating rate, adjusts the power output of the heating device, and generates temperature response information; The clamping recognition module, based on the temperature response information, monitors the instantaneous deformation data generated after the clamp contacts the surface of the catheter, identifies the displacement changes during the compression deformation process and the springback stage, evaluates the stability of the current clamping state, adjusts the opening and closing distance of the clamp and the air pressure output, and obtains the springback offset response result; The thickness calculation module, based on the springback offset response result, calls the transmitted light intensity sampling values of multiple photoelectric channels on the stretching path, and through the inverse solution relationship between the light transmittance and the thickness, obtains the thickness measurement results of each channel, calculates the thickness difference value in each direction within the cross-section, evaluates the lateral uniformity within the cross-section, and obtains the lateral light transmission fitting residual amount; The stretching correction module, based on the lateral light transmission fitting residual amount, extracts the thickness measurement values of multiple consecutive cycles, analyzes the difference trend between the actual thickness of the material and the target curve in the current cycle, identifies the direction and persistence of the error change, adjusts the control parameters of the stretching device, and obtains the stretching rate adjustment result; The cooling response module, based on the stretching rate adjustment result, obtains the real-time temperature change curves of both sides of the catheter surface during the cooling stage, compares the temperature differences between the two sides of the surface, combines the differences between the actual surface temperature change rate and the preset cooling requirements, adjusts the nozzle direction and the fan speed, and obtains the cooling air field adjustment record.

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