Non-contact heating and bending treatment method and system for plastic pipe supported by magnetic suspension

Abstract

The invention relates to the technical field of intelligent control, and provides a non-contact heating and bending treatment method and system for a plastic pipe supported by magnetic suspension. The method comprises the following steps: acquiring electromagnetic field parameter information and position posture information of a plastic pipe; based on the position posture information, the focusing range of the laser heating device is configured, and the laser heating device is adopted for non-contact heating; the temperature distribution of the plastic pipe is monitored in real time, the heating power is fed back and adjusted, and the bending force is applied after the softening temperature is reached, so that the plastic pipe is bent according to the preset angle and bending degree; meanwhile, the speed and power of the laser device are controlled, and deviation data are recorded; and based on the deviation data, a cooperative control strategy is set, and heating and bending process matching control is carried out. The technical problems that in a traditional heating and bending method, plastic pipe deformation and damage are caused by contact heating, and heating is uneven are solved, and the technical effect that the precision and efficiency of plastic pipe bending treatment are optimized through cooperation of non-contact laser heating and intelligent control is achieved.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and specifically to a non-contact heating and bending treatment method and system for plastic pipes supported by magnetic levitation. Background Art

[0002] At present, the bending treatment technology of plastic pipes mostly adopts the methods of contact heating or mechanical force heating. However, these technologies are prone to cause damage, deformation or uneven heating caused by physical contact during the heating process of plastic pipes. With the continuous improvement of the requirements for the bending accuracy and surface quality of plastic pipes, the traditional heating and bending process can no longer meet the precise and efficient production requirements. Especially in some high-precision fields, such as the industries of electronics, medical equipment and aviation, the requirements for the shape and performance of plastic pipes are becoming more and more strict.

[0003] Traditional heating methods often rely on contact heating, resulting in uneven heating and friction and damage caused by physical contact. Moreover, the adjustment of traditional equipment is not intelligent enough to optimize and adjust in real time according to the actual state of the plastic pipe, making it difficult to meet the production requirements of high precision and high efficiency. Therefore, there is an urgent need for a new technology that can achieve non-contact heating and intelligent control to improve the processing quality and production efficiency of plastic pipes. Summary of the Invention

[0004] This application provides a non-contact heating and bending treatment method and system for plastic pipes supported by magnetic levitation, aiming to solve the technical problems of deformation, damage and uneven heating of plastic pipes caused by contact heating in the traditional heating and bending methods.

[0005] In the first aspect disclosed in this application, a non-contact heating and bending treatment method for plastic pipes supported by magnetic levitation is provided. The method includes: suspending the plastic pipe in the working area, obtaining the electromagnetic field parameter information and the position and attitude information of the plastic pipe; based on the position and attitude information, configuring the focusing range of the laser heating device, and using the laser heating device to perform non-contact heating on the target heating area of the plastic pipe; monitoring the temperature distribution information of the plastic pipe in real time, feedback-adjusting the heating power of the laser heating device, and after the target heating area reaches the softening temperature, applying a bending force to bend the plastic pipe according to a preset bending angle and a preset bending arc; at the same time, controlling the moving speed and heating power of the laser heating device, comparing them with the preset bending angle and the preset bending arc, and recording the deviation data; based on the deviation data, setting the collaborative control strategy of the laser heating device and the bending force, and performing collaborative matching control on the heating process and the bending process of the plastic pipe.

[0006] Another aspect disclosed in the present application provides a non-contact heating and bending processing system for a plastic pipe supported by magnetic levitation. The system includes: a parameter acquisition module: suspending the plastic pipe in the working area and acquiring electromagnetic field parameter information and the position and attitude information of the plastic pipe; a non-contact heating module: configuring the focusing range of the laser heating device based on the position and attitude information, and performing non-contact heating on the target heating area of the plastic pipe using the laser heating device; a bending processing module: monitoring the temperature distribution information of the plastic pipe in real time, feedback-adjusting the heating power of the laser heating device, and applying a bending force to bend the plastic pipe according to a preset bending angle and a preset bending arc after the target heating area reaches the softening temperature; a deviation data recording module: simultaneously, controlling the moving speed and heating power of the laser heating device, comparing them with the preset bending angle and preset bending arc, and recording the deviation data; a collaborative matching control module: setting a collaborative control strategy for the laser heating device and the bending force based on the deviation data, and performing collaborative matching control on the heating process and the bending process of the plastic pipe.

[0007] One or more technical solutions provided in the present application have at least the following technical effects or advantages:

[0008] The above non-contact heating and bending processing method for a plastic pipe supported by magnetic levitation suspends the plastic pipe in the working area and acquires electromagnetic field parameters and the position and attitude information of the pipe. Based on this data, the focusing range of the laser heating device is adjusted to perform non-contact heating on the target heating area. By monitoring the temperature distribution in real time and adjusting the heating power, it is ensured that after the plastic pipe reaches the softening temperature in the target area, a bending force is applied to bend it at a predetermined angle and arc. At the same time, the speed and power of the laser heating device are controlled and compared with the preset bending parameters to record the difference data. Finally, a collaborative control strategy is formulated based on these deviation data to achieve precise matching and control of the heating and bending processes, ensuring the processing accuracy and efficiency.

[0009] The above description is only an overview of the technical solutions of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are hereinafter specifically exemplified. Description of the Drawings

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0011] Figure 1Schematic flowchart of a non-contact heating and bending treatment method for a plastic pipe supported by magnetic levitation in an embodiment.

[0012] Figure 2 System architecture diagram of a non-contact heating and bending treatment system for a plastic pipe supported by magnetic levitation in an embodiment.

[0013] Explanation of reference numerals: Parameter acquisition module 11, non-contact heating module 12, bending treatment module 13, deviation data recording module 14, collaborative matching control module 15. Detailed implementation manners

[0014] By providing a non-contact heating and bending treatment method and system for a plastic pipe supported by magnetic levitation in the embodiments of the present application, the technical problems of deformation, damage and uneven heating of the plastic pipe caused by contact heating in the traditional heating and bending method are solved.

[0015] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0016] It should be noted that the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products or devices.

[0017] Embodiment 1, as Figure 1 shown, the present application provides a non-contact heating and bending treatment method for a plastic pipe supported by magnetic levitation, and the method includes:

[0018] Suspend the plastic pipe in the working area, and obtain the electromagnetic field parameter information and the position and attitude information of the plastic pipe.

[0019] In the embodiments of the present application, first, the plastic pipe is suspended in a specific working area and kept in a stable suspended state by magnetic levitation technology; subsequently, relevant parameter information of the electromagnetic field and the position and attitude data of the plastic pipe in space are obtained by using sensors and measuring devices. These data include information such as the angle, inclination, and position offset of the plastic pipe, providing accurate reference for subsequent heating and bending processes, and ensuring the accurate positioning and stable state of the pipe during the treatment process.

[0020] Furthermore, the present application further includes:

[0021] Construct an electromagnetic suspension array, independently configure PWM drive units for each magnetic pole, and fuse the position data of a laser rangefinder and an eddy current sensor; based on the electromagnetic suspension array, configure a backstepping sliding mode controller to adjust the suspension gap, calculate the Lorentz force distribution in real time, and optimize the current ratio of each magnetic pole.

[0022] Preferably, when suspending a plastic pipe, an electromagnetic suspension array is constructed to support the suspension of the plastic pipe through multiple magnetic poles. Each magnetic pole is equipped with an independent pulse width modulation (PWM) drive unit for precisely controlling the current and magnetic field intensity, thereby achieving stable suspension of the plastic pipe. Specifically, first, multiple electromagnetic poles are arranged, and each magnetic pole is configured with an independent PWM drive unit for adjusting the current signal to generate a controllable magnetic field. The adjustment of each drive unit can individually affect the magnetic force of the magnetic pole, precisely controlling the suspension effect of each magnetic pole on the plastic pipe. Subsequently, the position data of the laser rangefinder and the eddy current sensor are fused. The laser rangefinder is used to precisely measure the distance of the plastic pipe, while the eddy current sensor is responsible for real-time monitoring of the relative position between the plastic pipe and the magnetic pole. The feedback data of these sensors are fused together (mean calculation) to provide three-dimensional position data of the pipe material, ensuring precise positioning of the plastic pipe during suspension. After that, based on the acquired position data, a backstepping sliding mode controller adjusts the electromagnetic suspension system. The backstepping sliding mode controller is a non-linear control method that adjusts the suspension force by controlling the gap between the plastic pipe and the suspension array. The backstepping sliding mode controller uses a feedback mechanism to adjust the magnetic field distribution in real time, precisely controlling the suspension gap. The change in the suspension gap affects the position and stability of the plastic pipe. This feedback mechanism is based on a feedback adjustment channel, which is constructed based on a neural network and used to map the required suspension gap according to the current position data. During the construction process, historical position data and historical suspension gaps are input into the neural network, and iterative training is carried out through steps such as forward propagation, loss calculation, backpropagation, and parameter optimization until the maximum number of iterations is reached. Then, validation data (data used for training) is used for validation. If the preset accuracy is met, this neural network is used as the feedback adjustment channel. Otherwise, hyperparameters such as the learning rate and the number of training batches are adjusted to optimize the network performance. Through the feedback adjustment channel, the position data collected by the laser rangefinder and the eddy current sensor are mapped, and the backstepping sliding mode controller adjusts through this mapped value, which can ensure that the plastic pipe is always in an ideal position state, thereby dynamically responding to different operating conditions and maintaining the stability of the system. Then, based on the current and magnetic field data of the electromagnetic suspension array, the distribution of the Lorentz force is calculated in real time. The Lorentz force is the force exerted by an electromagnetic field on a charged object (such as a plastic pipe), which is generated by the interaction between the current and the magnetic field. The Lorentz force distribution determines the force state of the plastic pipe in the working area, affecting its suspension effect and stability. Finally, the real-time calculated Lorentz force distribution is input into the magnetic pole current ratio analysis channel to further optimize the current ratio of each magnetic pole. The construction method of this magnetic pole current ratio analysis channel is the same as the aforementioned one, except that the data used here are the historical Lorentz force distribution and the historical magnetic pole current ratio.Based on the learned mapping relationship, the magnetic pole current ratio analysis channel maps out the magnetic pole current ratio that meets the current requirements according to the current Lorentz force distribution, so as to adjust the current of each magnetic pole, change the intensity and direction of the magnetic field, optimize the generated magnetic field, and then precisely control the magnitude and distribution of the levitation force, so that the plastic pipe can achieve more uniform and precise levitation within the working area. Through the above steps, the whole process realizes the precise control of the levitation gap, Lorentz force distribution and magnetic pole current ratio of the plastic pipe, thus maintaining the stability of the plastic pipe during the processing and providing a precise control environment for subsequent non-contact heating and bending treatment.

[0023] Based on the position and attitude information, configure the focusing range of the laser heating device, and use the laser heating device to perform non-contact heating on the target heating area of the plastic pipe.

[0024] In one embodiment, by obtaining the position and attitude information of the plastic pipe, the accurate position and angle of the plastic pipe in the three-dimensional space can be understood, and these data provide important references for the operation of the laser heating device; based on the position and attitude information of the plastic pipe, configure the focusing range of the laser heating device, that is, adjust the focus of the laser to accurately align it with the target heating area of the plastic pipe, ensuring that the laser beam is concentrated on the part that needs to be heated. This configuration process enables the laser to effectively focus on the surface of the plastic pipe without wasting energy in other areas; when the laser beam focusing is completed, the laser heating device starts to perform non-contact heating on the plastic pipe. The laser directly interacts with the surface of the plastic pipe and quickly transfers energy to the target area, raising its temperature to the required softening state. The whole heating process is non-contact, so it avoids problems such as friction, damage or uneven heating that may be caused by traditional contact heating. At the same time, the laser heating device can precisely control the heating time and power to ensure uniform heating of the target area of the plastic pipe, thus providing ideal temperature conditions for subsequent bending treatment.

[0025] Real-time monitor the temperature distribution information of the plastic pipe, feedback and adjust the heating power of the laser heating device. After the target heating area reaches the softening temperature, apply a bending force to bend the plastic pipe according to the preset bending angle and preset bending arc.

[0026] In one embodiment, the temperature distribution of the plastic pipe is monitored in real time through a temperature sensor and an infrared imaging device to obtain the temperature distribution information of the target heating area. These data will be transmitted to the system for processing and analysis. By comparing the real-time monitored temperature with the preset softening temperature, it can be determined whether each area has reached the required softening temperature of the plastic pipe. If some areas have not reached the softening temperature, the power of the laser heating device will be automatically adjusted to increase the heating intensity until the temperature of the target area reaches the required softening standard. If the temperature of some areas is too high, the power will be automatically reduced to avoid material damage caused by overheating. Once the temperature of the target heating area reaches the required softening temperature, the bending process will be started, and the bending force will be precisely applied to the plastic pipe through a robotic arm or other driving devices. At this time, the plastic pipe is in a softened state and is bent according to the preset bending angle and bending arc. The magnitude and direction of the bending force will be dynamically adjusted according to the temperature and material properties of the plastic pipe to ensure that the plastic pipe can be smoothly bent without cracking or excessive deformation in the softened state. The real-time monitoring and feedback mechanism of the whole process ensure the precise coordination between heating and bending, realizing high-quality bending processing of plastic pipes.

[0027] Furthermore, this application also includes:

[0028] A binocular stereo camera is used to obtain three-dimensional point cloud data; the six-axis motion data of an inertial measurement unit is fused to construct a digital twin model, and the deformation data of the plastic pipe is updated synchronously.

[0029] Optionally, a binocular stereo camera is used to obtain the three-dimensional point cloud data of the plastic pipe. The binocular camera calculates the depth information of each pixel point by simultaneously taking two images from different angles using the parallax principle, thereby generating the three-dimensional point cloud data of the plastic pipe. The three-dimensional point cloud data can accurately reflect the shape and position of the plastic pipe, helping to understand its geometric state in space. Subsequently, the six-axis motion data collected by the inertial measurement unit (IMU) is fused with the three-dimensional point cloud data. The IMU provides the acceleration and angular velocity information of the plastic pipe in three-dimensional space. By integrating these data, the motion trajectory and attitude changes of the plastic pipe can be more comprehensively grasped. Combining the data of the IMU, the position and direction of the plastic pipe during the processing can be updated in real time. Based on this information, a digital twin model is constructed through 3D modeling software (such as MATLAB, ANSYS, SolidWorks, etc.). This model is a virtual representation of the plastic pipe in the physical world. The digital twin model can synchronously reflect the actual state of the plastic pipe and be compared and updated with the real-time data. When the plastic pipe deforms, the deformation data in the digital twin model will also be updated synchronously, ensuring that the virtual model always remains consistent with the state of the actual object. This enables precise monitoring of the dynamic changes of the plastic pipe and adjustment of subsequent heating and bending processes according to the real-time data.

[0030] Furthermore, this application also includes:

[0031] Distributed fiber Bragg grating sensors are arranged to measure the axial strain distribution and estimate the stress concentration coefficient in the bending region; when the local stress exceeds the safety segment of the material yield strength, the safety protection mechanism is triggered.

[0032] Optionally, distributed fiber Bragg grating sensors are arranged at key positions of the plastic pipe. The fiber Bragg grating (FBG) sensors can measure the axial strain distribution on the pipe surface in real time. Through the data collected by the sensors, the deformation of the plastic pipe during the stress application process can be understood in detail, especially the strain in the axial direction. These strain data help analyze the stress distribution in different parts of the plastic pipe, especially in the bending region, to find possible stress concentration points; based on the measured axial strain distribution, the stress concentration coefficient in the bending region is further calculated and estimated. The prediction process is carried out through the stress analysis channel, which is constructed in the same way as described above, except that the data used are the historical axial strain distribution and the historical stress concentration coefficient; the calculated stress concentration coefficient is used to measure the degree of stress increase in a specific region due to factors such as geometric shape or material properties during the bending of the plastic pipe. By predicting and calculating the stress in these regions, it can be determined which parts may rupture or undergo permanent deformation due to excessive stress; when the stress in a local area exceeds the safety segment of the material yield strength of the plastic pipe, that is, when the stress in this area reaches or exceeds the maximum bearing capacity of the material, the safety protection mechanism will be automatically triggered, which includes stopping the heating or bending operation, reducing the applied force, or starting other protection measures to prevent irreversible damage or failure of the material. Through this process, it is ensured that the plastic pipe is always in a safe working state during the heating and bending processes, avoiding quality problems or equipment damage caused by overload.

[0033] Furthermore, this application also includes:

[0034] A material database is established to identify the microstructure on the surface of the pipe material; based on the microstructure on the surface of the pipe material, the thermal diffusion coefficient is calculated to dynamically adjust the heating dwell time.

[0035] Optionally, a material database is established, which contains detailed information about different types of plastic pipes, including their physical properties, chemical compositions, and surface microstructures, etc. By comparing the material data of the plastic pipe with the data recorded in the material database, the surface microstructure of the pipe, such as surface roughness, porosity, and tiny cracks or textures, etc., can be identified. These information can affect the heat diffusion rate on the pipe surface; Subsequently, based on the identified surface microstructure of the pipe, the thermal diffusivity of each material is calculated. The thermal diffusivity is an important parameter to measure the heat conduction ability of the material, which characterizes the efficiency of heat transfer from the heat source to the interior of the material. The differences in the surface microstructure of the pipe may lead to different thermal diffusivities, thus affecting the heating uniformity and efficiency. The calculation of the thermal diffusivity is carried out through the thermal diffusion analysis channel, and the construction method of this thermal diffusion analysis channel is the same as that described above; After that, according to the calculated thermal diffusivity, the required heating dwell time can be matched from the preset thermal diffusion-time mapping table. The heating dwell time refers to the time that the laser or heating device stays on a specific area, which is used to ensure that the temperature of this area reaches the required softening or deformation temperature. Due to different thermal diffusivities, the heat conduction in some areas may be faster, while in other areas it may be slower. Therefore, according to the real-time monitored surface microstructure and thermal diffusivity, the heating time is automatically adjusted to ensure a more uniform and efficient heating process, avoiding problems such as overheating or insufficient heating. This dynamic adjustment can improve the accuracy and efficiency of the entire heating process, ensuring that the plastic pipe maintains the best shape and performance during the processing.

[0036] Furthermore, the present application provides the establishment of an inert gas environmental control valve, using CFD simulation to optimize the air flow organization.

[0037] Optionally, an inert gas environmental control valve is established. This valve is used to control the flow rate and distribution of inert gas, which is usually used for temperature control and protection in plastic pipe processing to avoid oxidation or other chemical reactions. The role of the environmental control valve is to precisely regulate the gas flow so that it can cover the entire plastic pipe during the heating and bending processes and maintain a stable air flow environment. To optimize the air flow organization, computational fluid dynamics (CFD) simulation technology is used. CFD simulation can simulate the flow process of gas inside the pipeline and valve. By using detailed mathematical models to analyze parameters such as the velocity, pressure, and temperature of the air flow. In this process, first, the basic equations of fluid mechanics, such as the continuity equation, momentum equation, and energy equation, are used to describe the behavior of the air flow in the pipeline, valve, and other components. These equations respectively represent mass conservation, mechanical equilibrium, and thermodynamic processes, and are used to characterize the changes in velocity, pressure, and temperature when the gas flows. Subsequently, according to the characteristics of the air flow, such as the flow velocity, flow pattern (such as turbulent flow or laminar flow), etc., a suitable physical model is selected for simulation. For inert gas flow, an incompressible flow model is usually selected, assuming that the gas density change is small. For gas flow with a higher flow velocity or significant compression effect, a compressible flow model is adopted. After that, the physical region is meshed, and the entire flow space is subdivided into multiple small grids to analyze the air flow in each grid cell. The fineness of the grid directly affects the calculation accuracy. The finer the grid, the higher the accuracy of the calculation results, but it will also increase the computational complexity. The parameters such as the air flow velocity, pressure, and temperature in each grid cell need to be discretized by numerical methods. Usually, numerical methods such as the finite difference method, finite element method, or finite volume method are used to solve these equations. By solving these discretized equations, the velocity, pressure, and temperature distributions of the air flow can be obtained. In the calculation of temperature and pressure, the energy equation takes into account the heat transfer effect, calculates the temperature distribution in the air flow, and is related to the changes in the velocity and pressure of the air flow. The change in temperature will cause the gas volume to expand or contract, thereby affecting the pressure distribution. Conversely, the pressure change will also affect the velocity and temperature of the air flow. Through this coupling relationship, the simulation can accurately predict the temperature and pressure in the flow. After the solution is completed, the simulation results are usually displayed through visualization tools, generating cloud diagrams, streamline diagrams, and isotherm diagrams of the air flow velocity, pressure, and temperature, etc. These visualization results can help intuitively understand the distribution state of the air flow, pressure changes, and temperature distribution, identify potential problems such as uneven flow, eddy currents, or temperature anomalies. Through these analyses, the weak links of the air flow in specific regions can be found, and then the pipeline layout, valve control, or air flow distribution method can be adjusted to optimize the entire air flow organization. Finally, by optimizing parameters, such as adjusting the air flow distribution, regulating the valve opening, or changing the pipeline size, more efficient air flow management can be achieved, making the air flow distribution more uniform, and the changes in temperature and pressure better controlled, thereby optimizing the overall performance of the system;The optimized air flow organization can not only ensure that the inert gas can effectively protect the surface of the plastic pipe, avoiding quality problems caused by environmental factors, but also improve the efficiency of the heating and bending processes, reduce energy waste, and provide an ideal environment for the processing of plastic pipes.

[0038] Furthermore, this application also includes:

[0039] Based on the digital twin model, set the curvature parameters of M path points; according to the curvature parameters of the M path points, smooth the motion trajectory of the robotic arm, which is used to apply the bending force.

[0040] Optionally, based on the constructed digital twin model and combined with the design drawings, determine M key path points. These path points represent the positions where forces need to be applied during the bending process of the plastic pipe. The curvature parameters of these path points are used to describe the degree of change of the curve of the plastic pipe during the bending process, that is, the curvature or angle of the bend. The larger the curvature parameter, the higher the degree of bending of the path, and vice versa for a relatively gentle curve; subsequently, based on the curvature parameters of these path points, use path interpolation techniques to generate a continuous and smooth trajectory. The goal of this step is to make the motion trajectory of the robotic arm smoothly transition between path points. Common interpolation methods include B-spline interpolation, spline curve interpolation, etc. These methods can generate a smooth curve based on the curvature information of the path points, avoiding sudden changes or drastic angular changes when the robotic arm turns; on the basis of the smooth trajectory, further optimize the motion speed and acceleration of the robotic arm. By calculating the speed and acceleration of each point in the trajectory, ensure that the motion of the robotic arm is not too drastic, avoiding vibrations or unnecessary impacts. During the smoothing process, control the acceleration and deceleration of the robotic arm to make it move uniformly when turning, rather than having sudden increases or decreases; after generating the smooth trajectory, it is also necessary to consider the dynamic constraints of the robotic arm. For example, the maximum rotational speed, acceleration limit of the robotic arm, and the motion range of the joints, etc. These limiting conditions ensure that the robotic arm does not exceed its physical capacity range during actual operation. By setting these constraints, the robotic arm can move along the smooth trajectory while avoiding excessive forces or motion impacts; finally, after the above planning and optimization, the robotic arm moves along the smoothly optimized trajectory and applies the bending force. At this time, the motion of the robotic arm is not only stable, but also can accurately complete the bending operation according to the preset bending angle and bending arc. Through this smooth motion trajectory, the robotic arm can efficiently and stably perform the bending process of the plastic pipe, while avoiding errors and inaccurate bending caused by unsteady motion, and improving the overall processing quality.

[0041] At the same time, control the moving speed and heating power of the laser heating device, compare them with the preset bending angle and preset bending arc, and record the deviation data.

[0042] In one embodiment, the accuracy of the heating process is ensured by controlling the moving speed and heating power of the laser heating device in real time. First, the laser heating device starts heating according to a predetermined heating target area. At the same time, according to the actual state of the plastic pipe, its moving speed is adjusted to ensure that the laser stays in the correct position at the correct time, thus avoiding overheating or underheating. Meanwhile, the heating power of the laser is also adjusted in real time. The heating power needs to be dynamically adjusted according to the current temperature of the plastic pipe and the preset softening requirements. By comparing the temperature distribution of the actual heating area with the preset temperature requirements, the power can be accurately controlled to make the heating process more uniform and ensure that the plastic pipe reaches the ideal softening state. During this process, the actual heating effect is also compared with the preset bending angle and bending arc. The bending angle and bending arc are predetermined standards. By real-time monitoring and evaluating the temperature of the heating area and the deformation state of the plastic pipe, the current bending angle and bending arc are obtained and compared with the preset standards. By recording the deviation between the actual value and the preset value, deviation data can be obtained in real time, and corresponding adjustments can be made according to these data. The deviation data can help determine whether the heating is uniform and whether the bending reaches the predetermined accuracy, thereby further optimizing the operating parameters of the laser heating device and ensuring the accuracy and stability of subsequent operations.

[0043] Based on the deviation data, a cooperative control strategy for the laser heating device and the bending force is set to perform cooperative matching control on the heating process and the bending process of the plastic pipe.

[0044] In one embodiment, the recorded deviation data is used to set the collaborative control strategy of the laser heating device and the bending force in combination with the actual heating effect and bending state of the plastic pipe. Specifically, the deviation data reflects the differences from the preset targets during the actual heating and bending processes. For example, whether the temperature reaches the expected softening state, and the deviations in the bending angle and bending arc. This deviation data provides real-time feedback to the system, helping the system evaluate the matching degree between heating and bending. According to this feedback, the coordinated operation of the laser heating device and the bending force will be adjusted. That is, the deviation data is compared with the deviation degrees targeted by each preset collaborative control strategy to determine which deviation degree the deviation data belongs to, and the preset collaborative control strategy corresponding to this deviation degree is used as the current collaborative control strategy to perform collaborative matching control on the heating process and the bending process of the plastic pipe. For example, when it is detected that the deviation belongs to a moderate deviation (such as the deviation of the actual bending angle from the preset value is 8° and the temperature deviation is 15°C), the laser moving speed can be reduced (such as from 10 mm / s to 5 mm / s), the heating power of the target area can be increased (such as from 200 W to 250 W), the heating time can be extended to compensate for insufficient softening. At the same time, a gradually increasing bending force is applied by the robotic arm (such as gradually increasing from 50 N to 80 N) to ensure a smooth transition of the bending arc and ensure that the plastic pipe can be precisely bent in the optimal softened state after heating. Through this collaborative control strategy, it is possible to ensure the precise coordination between the heating process and the bending process, so that when heating and bending are carried out simultaneously, the two complement and adjust each other, and ultimately achieve high-quality processing of the plastic pipe.

[0045] In summary, the embodiments of the present application have at least the following technical effects:

[0046] In the embodiments of the present application, the plastic pipe is suspended in the working area to obtain electromagnetic field parameter information and the position and attitude information of the plastic pipe. Based on the position and attitude information, the focusing range of the laser heating device is configured, and the laser heating device is used to perform non-contact heating on the target heating area of the plastic pipe. The temperature distribution information of the plastic pipe is monitored in real time, and the heating power of the laser heating device is feedback-adjusted. After the target heating area reaches the softening temperature, a bending force is applied to bend the plastic pipe according to the preset bending angle and preset bending arc. At the same time, the moving speed and heating power of the laser heating device are controlled and compared with the preset bending angle and preset bending arc, and the deviation data is recorded. Based on the deviation data, the collaborative control strategy of the laser heating device and the bending force is set to perform collaborative matching control on the heating process and the bending process of the plastic pipe. These technical effects jointly solve the technical problems of deformation, damage, and uneven heating of the plastic pipe caused by contact heating in the traditional heating and bending methods, and achieve the technical effects of optimizing the accuracy and efficiency of the plastic pipe bending process through non-contact laser heating and intelligent control collaboration.

[0047] Embodiment 2. Based on the same inventive concept as the non-contact heating and bending treatment method of the magnetically levitated plastic pipe in the foregoing embodiment, as Figure 2 shown, the present application provides a non-contact heating and bending treatment system for a magnetically levitated plastic pipe. The system includes: a parameter acquisition module 11: suspending the plastic pipe in the working area and acquiring electromagnetic field parameter information and the position and attitude information of the plastic pipe; a non-contact heating module 12: configuring the focusing range of the laser heating device based on the position and attitude information, and performing non-contact heating on the target heating area of the plastic pipe by using the laser heating device; a bending treatment module 13: monitoring the temperature distribution information of the plastic pipe in real time, feedback-adjusting the heating power of the laser heating device, and applying a bending force to bend the plastic pipe according to a preset bending angle and a preset bending arc after the target heating area reaches the softening temperature; a deviation data recording module 14: at the same time, controlling the moving speed and heating power of the laser heating device, comparing them with the preset bending angle and the preset bending arc, and recording the deviation data; a collaborative matching control module 15: setting a collaborative control strategy for the laser heating device and the bending force based on the deviation data, and performing collaborative matching control on the heating process and the bending process of the plastic pipe.

[0048] Further, the parameter acquisition module 11 is further used to execute the following method:

[0049] Construct an electromagnetic levitation array, independently configure a PWM driving unit for each magnetic pole, and fuse the position data of the laser rangefinder and the eddy current sensor; based on the electromagnetic levitation array, configure a backstepping sliding mode controller to adjust the levitation gap, calculate the Lorentz force distribution in real time, and optimize the current ratio of each magnetic pole.

[0050] Further, the bending treatment module 13 is further used to execute the following method:

[0051] Adopt a binocular stereo camera to obtain three-dimensional point cloud data; fuse the six-axis motion data of the inertial measurement unit to construct a digital twin model and synchronously update the deformation data of the plastic pipe.

[0052] Further, the bending treatment module 13 is further used to execute the following method:

[0053] Install a distributed fiber Bragg grating sensor to measure the axial strain distribution and estimate the stress concentration coefficient in the bending area; when the local stress exceeds the safe section of the material yield strength, trigger the safety protection mechanism.

[0054] Further, the bending treatment module 13 is further used to execute the following method:

[0055] Establish a material database to identify the microstructures on the surface of the pipe; calculate the thermal diffusivity based on the microstructures on the surface of the pipe, and dynamically adjust the heating residence time.

[0056] Further, the bending processing module 13 is further configured to execute the following method:

[0057] Establish an inert gas environmental control valve, and use CFD simulation to optimize the air flow organization.

[0058] Further, the bending processing module 13 is further configured to execute the following method:

[0059] Based on the digital twin model, set the curvature parameters of M path points; smooth the motion trajectory of the robotic arm according to the curvature parameters of the M path points, and the robotic arm is used to apply the bending force.

[0060] It should be noted that the above sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above specific embodiments of this specification have been described. The processes depicted in the drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0061] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0062] This specification and the drawings are only exemplary descriptions of the present application and are considered to have covered any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. A non-contact heating and bending method for a plastic pipe supported by magnetic levitation, characterized in that: The method comprises: Suspend the plastic pipe in the working area to obtain electromagnetic field parameter information and the position and posture information of the plastic pipe; Based on the position and posture information, a focusing range of the laser heating device is configured, and the laser heating device is used to perform non-contact heating on a target heating area of ​​the plastic pipe; Monitor the temperature distribution information of the plastic pipe in real time, feedback and adjust the heating power of the laser heating device, and apply a bending force to bend the plastic pipe according to a preset bending angle and a preset bending arc after the target heating area reaches the softening temperature; At the same time, the moving speed and heating power of the laser heating device are controlled, compared with the preset bending angle and the preset bending arc, and deviation data is recorded; Based on the deviation data, a coordinated control strategy of the laser heating device and the bending force is set to perform coordinated matching control on the heating process and the bending process of the plastic pipe.

2. The method according to claim 1, characterized in that The method comprises: Construct an electromagnetic suspension array, with each magnetic pole independently equipped with a PWM drive unit, and integrate the position data of the laser rangefinder and eddy current sensor; Based on the electromagnetic suspension array, a backstepping sliding mode controller is configured to adjust the suspension gap, calculate the Lorentz force distribution in real time, and optimize the current ratio of each magnetic pole.

3. The method according to claim 2, characterized in that The method comprises: Use binocular stereo camera to obtain three-dimensional point cloud data; The six-axis motion data of the inertial measurement unit is integrated to build a digital twin model and synchronously update the deformation data of the plastic pipe.

4. The method according to claim 3, characterized in that The method comprises: Distributed fiber Bragg grating sensors are deployed to measure the axial strain distribution and estimate the stress concentration factor in the bending area; When the local stress exceeds the safety segment of the material yield strength, the safety protection mechanism is triggered.

5. The method according to claim 4, characterized in that Estimating the stress concentration factor of the bending area, the method further comprising: Establish a material database to identify the microstructure of the pipe surface; Based on the surface microstructure of the tube, the thermal diffusion coefficient is calculated and the heating residence time is dynamically adjusted.

6. The method according to claim 5, characterized in that Establish an inert gas environmental control valve and use CFD simulation to optimize the airflow organization.

7. The method according to claim 6, characterized in that The method comprises: Based on the digital twin model, setting curvature parameters of M path points; According to the curvature parameters of the M path points, the motion trajectory of the robotic arm is smoothed, and the robotic arm is used to apply a bending force.

8. A non-contact heating and bending processing system for plastic pipes supported by magnetic levitation, characterized in that: The system is used to perform the non-contact heating and bending processing method of a plastic pipe supported by magnetic levitation according to any one of claims 1 to 7, comprising: Parameter acquisition module: suspend the plastic pipe in the working area to obtain electromagnetic field parameter information and the position and posture information of the plastic pipe; Non-contact heating module: Based on the position and posture information, the laser heating device is configured with a focus range, and the laser heating device is used to perform non-contact heating on the target heating area of ​​the plastic pipe; Bending processing module: real-time monitoring of the temperature distribution information of the plastic tube, feedback adjustment of the heating power of the laser heating device, and after the target heating area reaches the softening temperature, applying a bending force to bend the plastic tube according to a preset bending angle and a preset bending arc; Deviation data recording module: at the same time, controls the moving speed and heating power of the laser heating device, compares them with the preset bending angle and the preset bending arc, and records the deviation data; Collaborative matching control module: based on the deviation data, setting the collaborative control strategy of the laser heating device and the bending force, and performing collaborative matching control on the heating process and the bending process of the plastic pipe.

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