Intelligent control system and method for 3PE processing of bent pipes

Abstract

The application relates to the technical field of pipeline corrosion prevention, and discloses an intelligent control system and method for 3PE treatment of a bent pipe, which comprises a base, a heating mechanism, a driving mechanism, a positioning mechanism, a clamping mechanism, a machine vision assembly and a PLC controller. The heating mechanism is used for heating a heat-shrinkable sleeve arranged on the bent pipe workpiece. The driving mechanism is used for driving the heating mechanism to perform a profiling movement along the shape of the bent pipe workpiece. The positioning mechanism is used for positioning the bent pipe workpiece. The clamping mechanism is used for clamping and fixing the bent pipe workpiece. The machine vision assembly is used for collecting the shape profile of the bent pipe workpiece in real time. The PLC controller, the driving mechanism, the heating mechanism, the positioning mechanism, the clamping mechanism and the machine vision assembly are arranged, automatic profiling heating, accurate positioning and clamping and continuous operation functions of the 3PE corrosion prevention treatment of the bent pipe are realized, and the traditional material belt winding and the complex operation mode of multiple independent mechanisms are replaced.

Description

Technical Field

[0001] This invention relates to the field of pipeline corrosion protection technology, specifically to an intelligent control system and method for 3PE treatment of bends. Background Technology

[0002] 3PE (three-layer polyethylene) anti-corrosion coating has become the core anti-corrosion solution for buried pipeline systems in fields such as oil, natural gas, and municipal water supply and drainage due to its excellent corrosion resistance, mechanical strength, and anti-aging properties. As a key pressure-bearing component in pipeline connection, the quality of 3PE anti-corrosion treatment of bends directly determines the sealing reliability and service life of the entire pipeline system. Especially in complex geological environments and long-term media transportation conditions, the uniformity, fit, and sealing of the bend anti-corrosion coating are the core prerequisites for ensuring the safe operation of the system.

[0003] Currently, when performing 3PE anti-corrosion treatment on pipelines, heat shrink sleeves are used to heat the pipeline. However, this method is only suitable for straight pipe operations. When operating on bent pipes, the most common method is to wrap the pipe with a material tape. For example, Chinese invention patent CN108758172B discloses a 3PE wrapping anti-corrosion device for bent pipes, which includes a drive mechanism. The right side of the pipe bend outer wall spraying mechanism is provided with a pipe diameter adjustment mechanism, and the pipe diameter adjustment mechanism is provided with an epoxy powder dust removal device on its side. The pipe bend conveying structure is rotatably connected to the pipe bend outer wall spraying mechanism through the drive mechanism. The pipe bend conveying structure is provided with at least sixteen sets of pipe bend cooling mechanisms. The pipe bend cooling mechanism is provided at the front of the pipe bend conveying structure and is an arc-shaped structure. The outer end of the pipe bend cooling mechanism protrudes from the outermost side of the pipe bend conveying structure.

[0004] The above-mentioned device solves the defects of the existing technology, but it integrates multiple independent mechanisms such as powder spraying, winding, heating and cooling, resulting in a large footprint, complex structure and high debugging and maintenance costs.

[0005] Therefore, an intelligent control system and method for 3PE processing of bent pipes are proposed. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent control system and method for 3PE processing of bent pipes, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an intelligent control system for 3PE processing of bent pipes, comprising:

[0008] A base, on which a mounting bracket is fixedly installed;

[0009] A heating mechanism is used to heat the heat shrink sleeve fitted on the bent pipe workpiece;

[0010] A drive mechanism is mounted on the mounting bracket and is used to drive the heating mechanism to perform contour-following motion along the outer shape of the bent tube workpiece.

[0011] A positioning mechanism is fixedly installed on the base and is used to position the bent pipe workpiece.

[0012] A clamping mechanism is used to clamp and fix a bent pipe workpiece mounted on a positioning mechanism;

[0013] The PLC controller is connected to the electrical control terminals of the drive mechanism, heating mechanism, positioning mechanism, and clamping mechanism.

[0014] A machine vision component is installed on one side of the heating mechanism. The machine vision component is used to acquire the outline of the bent pipe workpiece in real time. The machine vision component is electrically connected to the PLC controller.

[0015] In an intelligent control system for 3PE pipe bending according to the present invention, the drive mechanism optionally includes an X-axis drive assembly, a Z-axis drive assembly and an R-axis drive assembly;

[0016] The X-axis drive assembly is capable of moving the heating mechanism along the X-axis direction. The X-axis drive assembly includes a rack and a slide rail. Both the rack and the slide rail are fixedly installed on the top of the mounting frame. A slider is slidably installed on the slide rail. A first movable seat is fixedly installed on the slider. A first servo motor is fixedly installed on the first movable seat. A gear is fixedly sleeved on the lower end of the shaft of the first servo motor. The gear meshes with the rack. A stand is fixedly installed on the first movable seat.

[0017] The Z-axis electric linear module can drive the heating mechanism to move up and down along the Z-axis. The Z-axis drive assembly includes the Z-axis electric linear module, which is fixedly installed on the stand.

[0018] The R-axis drive assembly can drive the heating mechanism to rotate along the bending angle of the bent tube workpiece. The R-axis drive assembly includes an R-axis servo motor, which is fixedly mounted on the slide of the Z-axis electric linear module via a motor mount. A connecting seat is fixedly mounted on the end of the rotating shaft of the R-axis servo motor, and one side of the heating mechanism is fixedly connected to the connecting seat.

[0019] In an intelligent control system for 3PE pipe bending according to the present invention, optionally, the positioning mechanism includes a positioning seat, which is fixedly installed at one end of the base. Two sets of positioning units are fixedly installed on the positioning seat. The two sets of positioning units are at the same horizontal height and parallel to each other. Each positioning unit includes a connecting rod and a positioning head. One end of the connecting rod is fixedly connected to a flange, which is fixedly installed on one side of the positioning seat by bolts. The positioning head is detachably installed at the end of the connecting rod away from the positioning seat. The diameter of the positioning head matches the inner diameter of the bent pipe workpiece. During positioning, the end of the bent pipe workpiece is inserted into the positioning head.

[0020] In an intelligent control system for 3PE pipe bending according to the present invention, optionally, a threaded groove is provided at the end of the connecting rod away from the positioning seat, and a screw is fixedly connected to one end of the positioning head, the screw being threadedly installed in the threaded groove.

[0021] In an intelligent control system for 3PE processing of bent pipes according to the present invention, optionally, the clamping mechanism corresponding to the positioning unit includes a double-headed clamping cylinder, wherein the piston rod ends at both ends of the double-headed clamping cylinder are fixedly mounted with mounting blocks, and arc-shaped clamping blocks are fixedly mounted on both mounting blocks.

[0022] In an intelligent control system for 3PE pipe bending according to the present invention, optionally, a pushing component for driving two sets of clamping mechanisms to move along the X-axis to transfer the processed bent pipe workpiece to the unloading area is installed on the base. The pushing component includes a mounting seat, which is fixedly installed on the base. A rodless cylinder and a guide rod are fixedly installed on the mounting seat. A second movable seat is fixedly installed on the slide of the rodless cylinder. A guide sleeve is fixedly connected to the bottom of the second movable seat. The guide sleeve is slidably sleeved on the guide rod. Both of the double-headed clamping cylinders are fixedly installed on the second movable seat.

[0023] In an intelligent control system for 3PE pipe bending according to the present invention, optionally, the heating mechanism includes a housing, one side of which is fixedly connected to the connecting seat, and a heating unit corresponding to the positioning unit is fixedly installed inside the housing. The heating unit is arranged in a ring, and the housing has through holes corresponding to the heating unit.

[0024] In an intelligent control system for 3PE pipe bending according to the present invention, optionally, the heating unit includes a heating ring, which is fixedly installed inside the housing. The inner wall of the heating ring has a plurality of grooves arranged in a circular equidistant array. An infrared radiation heating tube is fixedly installed in the groove. The inner diameter of the heating ring is D1, the outer diameter of the heat shrink sleeve to be adapted is D2, and the outer diameter of the workpiece to be bent is D3. The ratio of D1 to D2 is 1.5-5.5, and the ratio of D2 to D3 is 1.2-4.0.

[0025] In an intelligent control system for 3PE pipe bending according to the present invention, optionally, the machine vision component includes a camera mount, the camera mount is fixedly installed on one side of the housing, an industrial camera is fixedly installed at the end of the camera mount away from the housing, and the industrial camera is electrically connected to the PLC controller.

[0026] This invention also provides a method for 3PE processing of bent pipes, which employs the aforementioned intelligent control system for 3PE processing of bent pipes, and specifically includes the following steps:

[0027] S1. Pre-treatment of workpiece: Select the bent pipe workpiece to be treated. Select a suitable heat shrink sleeve according to the outer diameter D3 of the bent pipe workpiece. Coaxially sleeve the heat shrink sleeve on the outer surface of the bent pipe workpiece to ensure that the heat shrink sleeve completely covers the area of ​​the bent pipe workpiece to be protected from corrosion, and the two ends of the heat shrink sleeve extend 5-10mm beyond the edge of the area to be protected from corrosion.

[0028] S2. Loading, positioning and clamping: The end of the bent tube workpiece after being fitted with heat shrink sleeve is coaxially inserted into the positioning head of the positioning seat. Radial positioning is achieved by the precise matching of the positioning head and the inner diameter of the bent tube workpiece. The PLC controller starts the double-head clamping cylinder, which drives the arc-shaped clamping blocks at both ends to clamp the bent tube workpiece symmetrically from both sides. The clamping force is controlled at 0.3-0.6MPa to avoid workpiece displacement, deflection or surface damage during heating.

[0029] S3. Contour Acquisition and Trajectory Generation: Before processing the first group of bent tube workpieces of the same specification, the PLC controller activates the industrial camera and drive mechanism. The drive mechanism drives the heating mechanism and industrial camera to scan the bent tube workpiece while moving, and transmits the contour data to the PLC controller in real time. Based on the contour data, combined with the bending angle and radius of curvature parameters of the bent tube, the PLC controller generates a three-way collaborative contouring motion trajectory that adapts to the shape of the bent tube in real time. The contouring motion trajectory includes the X-axis travel, Z-axis lifting height and R-axis rotation angle. The trajectory accuracy is controlled within ±0.1mm. This trajectory can be reused for the processing of subsequent bent tube workpieces of the same specification.

[0030] S4. Parameter Retrieval and Three-Dimensional Collaborative Contouring Heating:

[0031] S41: Based on the ratio of the inner diameter D1 of the heating ring to the outer diameter D2 of the heat shrink sleeve, select the corresponding infrared radiation heating tube power and heating time parameters from the preset parameter library;

[0032] S42: The PLC controller drives the drive mechanism to run along a preset contouring motion trajectory: the first servo motor drives the gear and rack to mesh, so that the first moving seat moves at a constant speed along the slide rail on the X-axis; the Z-axis height of the heating mechanism is dynamically adjusted by the Z-axis electric linear module; the R-axis servo motor drives the heating mechanism to rotate synchronously along the bending angle of the bent tube workpiece on the R-axis, so as to achieve precise fitting motion between the heating mechanism and the shape of the bent tube.

[0033] S43: The infrared radiation heating tube in the heating ring is started synchronously to uniformly radiate heat to the heat shrink sleeve according to the selected preset power. During the heating process, the industrial camera continuously collects contour data and feeds it back to the PLC controller. The PLC controller dynamically corrects the contouring motion trajectory according to the shrinkage amount of the heat shrink sleeve and the workpiece position deviation to ensure that the heat shrink sleeve shrinks evenly and fits tightly with the surface of the bent tube workpiece.

[0034] S5. Pushing, unloading, and cooling: After the heating time reaches the preset value, the infrared radiation heating tube stops working, and the drive mechanism drives the heating mechanism to reset to the initial position; the PLC controller starts the rodless cylinder, which drives the second moving seat to slide smoothly along the guide rod, pushing the clamped and fixed heated bent tube workpiece to the unloading area; the double-headed clamping cylinder releases the arc-shaped clamping block, and the processed bent tube workpiece is removed by manual or robotic arm and transferred to the cooling area to complete the anti-corrosion layer shaping;

[0035] S6. Cyclic Operation: Repeat steps S1, S2, S4, and S5 to sequentially load, position, heat, and cool the new pre-processed pipe bending workpieces of the same specification, achieving continuous 3PE anti-corrosion treatment cycle for pipe bending. If the pipe bending specification is changed, only steps S1-S3 need to be repeated to re-execute pre-processing, positioning, contour acquisition, and trajectory generation. No adjustment to the system's mechanical structure is required to continue the operation.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] This invention achieves automated contour heating, precise positioning and clamping, and continuous operation functions for 3PE anti-corrosion treatment of bent pipes by setting up a PLC controller, drive mechanism, heating mechanism, positioning mechanism, clamping mechanism, and machine vision components, replacing the complex operation mode of traditional material strip winding and multiple independent mechanisms.

[0038] By setting up integrated mechanisms and PLC controllers for coordinated control, the overall structure of the equipment is simplified, the scattered setting of independent mechanisms is reduced, the equipment footprint is reduced, and the difficulty and cost of debugging and maintenance are lowered.

[0039] By setting up a three-way coordinated drive mechanism and a heating mechanism with annular distributed infrared radiation heating tubes, and in conjunction with the machine vision component to collect the contour data of the bent pipe in real time, the PLC controller generates a precise contouring trajectory, drives the heating mechanism to move along the shape of the bent pipe, realizes uniform radiation heating of the heat shrink sleeve, and ensures the uniformity, fit and sealing of the anti-corrosion layer.

[0040] By setting up a detachable and threaded positioning head and connecting rod structure, combined with a preset parameter library and trajectory reuse design, the positioning head can be quickly replaced when changing to bends with different inner diameters. There is no need to adjust the system's mechanical structure; only the contour needs to be re-acquired and the trajectory generated. This improves the equipment's adaptability to bends of different specifications and enhances operational flexibility.

[0041] By setting up automated control logic for the push component and PLC controller, the entire process of feeding and positioning, contour heating, and unloading and cooling is connected in series. The preset trajectory and parameters can be directly reused for pipe bending of the same specification, reducing manual intervention and improving the continuous operation efficiency of 3PE anti-corrosion treatment for pipe bending. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the intelligent control system for 3PE pipe bending processing according to the present invention;

[0043] Figure 2 This is a schematic diagram of the intelligent control system for 3PE pipe bending of the present invention from another perspective;

[0044] Figure 3 for Figure 2 A magnified structural diagram of part A in the diagram;

[0045] Figure 4 This is a schematic diagram of the R-axis drive mechanism of the intelligent control system for 3PE pipe bending processing of the present invention;

[0046] Figure 5 This is a partial structural schematic diagram of the intelligent control system for 3PE processing of bent pipes according to the present invention;

[0047] Figure 6 This is a schematic diagram of the heating mechanism in the intelligent control system for 3PE pipe bending processing of the present invention;

[0048] Figure 7 This is a schematic diagram of the vision sensor in the intelligent control system for 3PE pipe bending of the present invention;

[0049] Figure 8 This is a partially exploded structural diagram of the positioning mechanism in the intelligent control system for 3PE processing of bent pipes according to the present invention.

[0050] In the diagram: 1. Base; 101. Mounting bracket;

[0051] 2. Drive mechanism; 201. First servo motor; 202. First moving base; 203. Stand; 204. Rack; 205. Gear; 206. Slide rail; 207. Slider; 208. Z-axis electric linear module; 209. R-axis servo motor; 210. Connecting base;

[0052] 3. Heating mechanism; 301. Housing; 302. Through hole; 303. Heating ring; 304. Groove;

[0053] 4. Positioning mechanism; 401. Positioning seat; 402. Connecting rod; 403. Positioning head; 404. Screw; 405. Threaded groove; 406. Flange;

[0054] 5. Clamping mechanism; 501. Mounting base; 502. Rodless cylinder; 503. Second movable seat; 504. Double-headed clamping cylinder; 505. Mounting block; 506. Arc-shaped clamping block; 507. Guide rod; 508. Guide sleeve;

[0055] 6. Control panel;

[0056] 7. Control cabinet;

[0057] 8. Camera mount; 801. Industrial camera. Detailed Implementation

[0058] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0059] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this application. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0060] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0061] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating a connection between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0062] Example

[0063] Please see Figures 1 to 8 This embodiment provides an intelligent control system for 3PE pipe bending processing, including a base 1, a drive mechanism 2, a heating mechanism 3, a positioning mechanism 4, a clamping mechanism 5, a PLC controller, and a machine vision component, wherein:

[0064] A mounting bracket 101 is fixedly installed on the base 1; a heating mechanism 3 is used to heat the heat shrink sleeve fitted on the bent tube workpiece; a driving mechanism 2 is installed on the mounting bracket 101 and is used to drive the heating mechanism 3 to make contouring movements along the shape of the bent tube workpiece; a positioning mechanism 4 is fixedly installed on the base 1 and is used to position the bent tube workpiece; a clamping mechanism 5 is used to clamp and fix the bent tube workpiece installed on the positioning mechanism 4; the electrical control terminals of the driving mechanism 2, the heating mechanism 3, the positioning mechanism 4, and the clamping mechanism 5 are all electrically connected to the PLC controller; a machine vision component is installed on one side of the heating mechanism 3 and is used to collect the outline of the bent tube workpiece in real time. The machine vision component is electrically connected to the PLC controller.

[0065] By adopting the above technical solution, the base 1 provides a stable support foundation for the entire system, the mounting bracket 101 is used to fix the load-bearing drive mechanism 2, and ensure the structural stability of the drive mechanism 2 during operation; the heating mechanism 3 performs heating operations on the heat shrink sleeve fitted on the bent tube workpiece, providing the necessary conditions for the heat shrink sleeve to shrink and fit the bent tube surface; the drive mechanism 2 moves on the mounting bracket 101, driving the heating mechanism 3 to accurately follow the outline trajectory of the bent tube workpiece to perform contouring motion, ensuring uniform heating; the positioning mechanism 4 is fixed on the base 1 to achieve accurate positioning of the bent tube workpiece, avoiding workpiece position deviation from affecting the processing effect; the clamping mechanism 5 clamps and fixes the positioned bent tube workpiece to prevent workpiece displacement or deflection during heating and contouring motion; the PLC controller, as the core control unit, realizes the coordinated linkage control of the drive mechanism 2, heating mechanism 3, positioning mechanism 4, and clamping mechanism 5, ensuring accurate timing of the actions of each mechanism; the machine vision component is installed on one side of the heating mechanism 3, collects the outline data of the bent tube workpiece in real time and transmits it to the PLC controller, providing data support for the generation and correction of the contouring motion trajectory.

[0066] In this embodiment, a control cabinet 7 is fixedly installed on the base 1, and the PLC controller is fixedly installed inside the control cabinet 7.

[0067] In this embodiment, the PLC controller is a Mitsubishi FX5U-32MT / ES; the industrial camera for the machine vision component is a Hikvision MV-CA050-10GM.

[0068] In this embodiment, the drive mechanism 2 includes an X-axis drive assembly, a Z-axis drive assembly, and an R-axis drive assembly;

[0069] The X-axis drive assembly can drive the heating mechanism 3 to move along the X-axis direction. The X-axis drive assembly includes a rack 204 and a slide rail 206. Both the rack 204 and the slide rail 206 are fixedly installed on the top of the mounting frame 101. A slider 207 is slidably installed on the slide rail 206. A first moving seat 202 is fixedly installed on the slider 207. A first servo motor 201 is fixedly installed on the first moving seat 202. A gear 205 is fixedly sleeved on the lower end of the shaft of the first servo motor 201. The gear 205 meshes with the rack 204. A stand 203 is fixedly installed on the first moving seat 202.

[0070] The Z-axis drive assembly can drive the heating mechanism 3 to move up and down along the Z-axis. The Z-axis drive assembly includes a Z-axis electric linear module 208, which is fixedly installed on the stand 203.

[0071] The R-axis drive assembly can drive the heating mechanism 3 to rotate along the bending angle of the bent tube workpiece. The R-axis drive assembly includes an R-axis servo motor 209, which is fixedly mounted on the slide of the Z-axis electric linear module 208 via a motor mount. A connecting seat 210 is fixedly mounted on the end of the rotating shaft of the R-axis servo motor 209, and one side of the heating mechanism 3 is fixedly connected to the connecting seat 210.

[0072] By adopting the above technical solution, in the X-axis drive assembly, the rack 204 and slide rail 206 are fixed to the top of the mounting bracket 101. The first servo motor 201 drives the gear 205 to mesh with the rack 204, driving the first moving seat 202 to move smoothly along the slide rail 206 via the slider 207 in the X-axis direction, thereby driving the heating mechanism 3 to move along the length of the bent pipe. In the Z-axis drive assembly, the Z-axis electric linear module 208 is fixed on the stand 203. When its slide moves up and down, it drives the R-axis drive assembly and the heating mechanism. 3. The heating mechanism 3 is raised and lowered along the Z-axis to adjust its position in the vertical direction, adapting to bends of different diameters. In the R-axis drive assembly, the R-axis servo motor 209 is fixed on the slide of the Z-axis electric linear module 208 through the motor mount. Its rotating shaft drives the connecting seat 210 and the heating mechanism 3 to rotate along the bending angle of the bend workpiece, so that the heating mechanism 3 can conform to the arc contour of the bend. The X-axis drive assembly, Z-axis drive assembly and R-axis drive assembly work together to realize the three-way contouring motion of the heating mechanism 3 along the shape of the bend workpiece.

[0073] In this embodiment, the positioning mechanism 4 includes a positioning seat 401, which is fixedly installed at one end of the base 1. Two sets of positioning units are fixedly installed on the positioning seat 401. The two sets of positioning units are at the same horizontal height and are parallel to each other. The positioning unit includes a connecting rod 402 and a positioning head 403. One end of the connecting rod 402 is fixedly connected to a flange 406. The flange 406 is fixedly installed on one side of the positioning seat 401 by bolts. The positioning head 403 is detachably installed at the end of the connecting rod 402 away from the positioning seat 401. The diameter of the positioning head 403 matches the inner diameter of the bent tube workpiece. During positioning, the end of the bent tube workpiece is inserted into the positioning head 403.

[0074] By adopting the above technical solution, the positioning seat 401 is fixed at one end of the base 1, providing an installation foundation for the two sets of positioning units; the two sets of positioning units are at the same horizontal height and parallel to each other, ensuring that the axis of the bent tube workpiece remains horizontal after positioning; in the positioning unit, the connecting rod 402 is fixed to the positioning seat 401 by the flange 406 and bolts, realizing the stable installation of the connecting rod 402; the positioning head 403 is detachably installed at the end of the connecting rod 402 away from the positioning seat 401, and the positioning head 403 of the corresponding size can be replaced according to the inner diameter of different bent tube workpieces; during positioning, the end of the bent tube workpiece is inserted into the positioning head 403, and the radial positioning of the bent tube workpiece is realized through the precise matching of the positioning head 403 and the inner diameter of the bent tube workpiece, ensuring that the central axis of the bent tube workpiece coincides with the central axis of the heating mechanism 3, providing a precise positioning reference for subsequent contour heating.

[0075] In this embodiment, the end of the connecting rod 402 away from the positioning seat 401 is provided with a threaded groove 405, and one end of the positioning head 403 is fixedly connected with a screw 404, which is threadedly installed in the threaded groove 405.

[0076] By adopting the above technical solution, a threaded groove 405 is opened at the end of the connecting rod 402 away from the positioning seat 401, and a screw 404 is fixedly connected to one end of the positioning head 403. The screw 404 and the threaded groove 405 are threaded together to achieve a detachable connection between the positioning head 403 and the connecting rod 402. The threaded connection structure is simple and reliable, and easy to disassemble and assemble. It can be replaced by simply rotating the positioning head 403, which is convenient for quickly switching the corresponding specification of the positioning head 403 according to the inner diameter of different bent pipe workpieces. At the same time, the threaded connection has good coaxiality and stability, which can ensure that the positioning head 403 coincides with the axis of the connecting rod 402 after installation, thus ensuring the positioning accuracy of the bent pipe workpiece.

[0077] In this embodiment, the clamping mechanism 5, which corresponds to the positioning unit, includes a double-headed clamping cylinder 504. The piston rod ends at both ends of the double-headed clamping cylinder 504 are fixedly mounted with mounting blocks 505, and arc-shaped clamping blocks 506 are fixedly mounted on both mounting blocks 505.

[0078] By adopting the above technical solution, the clamping mechanism 5 is set up one-to-one with the positioning unit to ensure that each set of positioned bent tube workpieces can be accurately clamped; the double-headed clamping cylinder 504 serves as the power source, and the piston rods at both ends of its cylinder move synchronously to drive the mounting block 505 and the arc-shaped clamping block 506 to move closer to or away from the bent tube workpiece; the arc-shaped contour of the arc-shaped clamping block 506 is adapted to the outer circle contour of the bent tube workpiece, increasing the contact area with the bent tube workpiece and avoiding damage to the bent tube workpiece and heat shrink sleeve during clamping; through the driving force of the double-headed clamping cylinder 504, the arc-shaped clamping block 506 clamps symmetrically from both sides of the bent tube workpiece to ensure uniform clamping force and prevent the bent tube workpiece from deforming or shifting due to uneven force, thus providing a stable workpiece fixing effect for subsequent contour heating operations.

[0079] In this embodiment, a pushing component is installed on the base 1 to drive two sets of clamping mechanisms 5 to move along the X-axis, thereby transporting the processed bent pipe workpiece to the unloading area. The pushing component includes a mounting base 501, which is fixedly installed on the base 1. A rodless cylinder 502 and a guide rod 507 are fixedly installed on the mounting base 501. A second movable seat 503 is fixedly installed on the slide of the rodless cylinder 502. A guide sleeve 508 is fixedly connected to the bottom of the second movable seat 503. The guide sleeve 508 is slidably sleeved on the guide rod 507. Two double-headed clamping cylinders 504 are fixedly installed on the second movable seat 503. The solenoid valve that controls the extension and retraction of the piston rod of the double-headed clamping cylinder 504 is electrically connected to the PLC controller.

[0080] By adopting the above technical solution, the pushing component is installed on the base 1 to drive the two sets of clamping mechanisms 5 to move along the X-axis, thereby realizing the unloading and conveying of the processed bent tube workpiece; the mounting seat 501 is fixed on the base 1 to provide mounting support for the rodless cylinder 502 and the guide rod 507; the rodless cylinder 502 serves as the pushing power source, and its slide table drives the second moving seat 503 to move along the X-axis, thereby driving the two sets of clamping mechanisms 5 and the clamped bent tube workpieces fixed on the second moving seat 503 to move; the guide rod 507 cooperates with the guide sleeve 508 to provide guidance for the movement of the second moving seat 503, ensuring a smooth movement process and avoiding deviation; through the action of the pushing component, the processed bent tube workpiece can be smoothly transported from the heating area to the unloading area, realizing automated unloading, reducing manual intervention, and improving production efficiency.

[0081] In this embodiment, the heating mechanism 3 includes a housing 301. One side of the housing 301 is fixedly connected to the connecting seat 210. A heating unit corresponding to the positioning unit is fixedly installed inside the housing 301. The heating unit is arranged in a ring. A through hole 302 corresponding to the heating unit is opened on the housing 301.

[0082] By adopting the above technical solution, one side of the housing 301 is fixedly connected to the connecting seat 210, realizing a rigid connection between the heating mechanism 3 and the driving mechanism 2, ensuring that the driving mechanism 2 drives the heating mechanism 3 to perform contouring motion synchronously; heating units corresponding to the positioning units are fixedly installed inside the housing 301, so that each positioned bent tube workpiece can correspond to a set of heating units, realizing simultaneous heating of multiple workpieces and improving production efficiency; the heating units are arranged in a ring, which can uniformly heat the heat shrink sleeve fitted on the bent tube workpiece from the circumference, ensuring uniform shrinkage of the heat shrink sleeve; through holes 302 corresponding to the heating units are opened on the housing 301, which facilitates the radiation of the heat generated by the heating units to the surface of the heat shrink sleeve, and at the same time provides clearance space for the insertion and positioning of the bent tube workpiece, ensuring that the relative position of the heating mechanism 3 and the bent tube workpiece is reasonable.

[0083] In this embodiment, the heating unit includes a heating ring 303, which is fixedly installed inside the housing 301. The inner wall of the heating ring 303 has a plurality of circularly equidistantly arranged grooves 304. An infrared radiation heating tube is fixedly installed in the grooves 304. The inner diameter of the heating ring 303 is D1, the outer diameter of the heat shrink sleeve to be adapted is D2, and the outer diameter of the bent workpiece to be processed is D3. The ratio of D1 to D2 is 1.5-5.5, and the ratio of D2 to D3 is 1.2-4.0.

[0084] By adopting the above technical solution, the heating ring 303 is fixed inside the housing 301, providing an installation carrier for the infrared radiation heating tube. Several circularly equidistant grooves 304 are formed on the inner wall of the heating ring 303, ensuring that the infrared radiation heating tubes are evenly distributed in a ring after installation, enabling uniform radiant heating of the heat shrink sleeve from the circumference and avoiding uneven local heating. The infrared radiation heating tubes are installed in the grooves 304, ensuring stable installation and reducing heat loss, thus improving heating efficiency. By limiting the ratio of the inner diameter D1 of the heating ring 303 to the outer diameter D2 of the heat shrink sleeve to 1.5-5.5, a reasonable distance is maintained between the heating ring 303 and the heat shrink sleeve, allowing heat to be evenly radiated to the surface of the heat shrink sleeve, while avoiding excessively small distances leading to localized overheating of the heat shrink sleeve or excessively large distances causing heat waste. The ratio of the outer diameter D2 of the heat shrink sleeve to the outer diameter D3 of the bent workpiece is limited to 1.2-4.0, ensuring that the heat shrink sleeve can tightly adhere to the surface of the bent workpiece after shrinkage, forming a complete anti-corrosion layer and guaranteeing the anti-corrosion effect.

[0085] In this embodiment, the machine vision component includes a camera mount 8, which is fixedly installed on one side of the housing 301. An industrial camera 801 is fixedly installed at the end of the camera mount 8 away from the housing 301, and the industrial camera 801 is electrically connected to the PLC controller.

[0086] By adopting the above technical solution, the camera mounting base 8 is fixed on one side of the housing 301, providing stable installation support for the industrial camera 801, ensuring that the industrial camera 801 can move synchronously with the heating mechanism 3 and collect the outline data of the bent tube workpiece in real time; the industrial camera 801 is installed at the end of the camera mounting base 8 away from the housing 301, and its shooting direction is aimed at the bent tube workpiece, which can clearly collect the outline image of the bent tube workpiece; the industrial camera 801 is electrically connected to the PLC controller, and transmits the collected outline image data to the PLC controller in real time. The PLC controller processes and analyzes the image data, extracts key parameters such as the bending angle and radius of curvature of the bent tube workpiece, and generates a suitable contour motion trajectory; at the same time, during the heating process, the industrial camera 801 continuously collects outline data and feeds it back to the PLC controller for dynamic correction of the contour motion trajectory, ensuring that the heating mechanism 3 always fits the shape of the bent tube workpiece and ensures heating uniformity.

[0087] In this embodiment, an operation panel 6 is installed on the positioning base 401. The control buttons and display screen on the operation panel 6 are electrically connected to the PLC controller. By adopting the above technical solution, the operation panel 6 is installed on the positioning base 401, and its position is convenient for operators to operate quickly during workpiece loading, positioning, and equipment debugging. The control buttons on the operation panel 6 are electrically connected to the PLC controller, which can directly trigger core commands such as equipment start, stop, emergency stop, and manual / automatic mode switching, without the need for additional operation through a remote controller or host, thus improving the convenience of operation. The display screen is electrically connected to the PLC controller, which can display the equipment operating status, process parameters, and fault information in real time, allowing operators to intuitively grasp the equipment operating status. When the equipment malfunctions, the display screen can pop up a window to indicate the fault type and troubleshooting suggestions. At the same time, the control buttons support emergency stop operations, reducing the risk of fault expansion and further improving the safety and controllability of equipment operation.

[0088] In this embodiment, the PLC controller uses the outline data of the bent pipe collected by the machine vision component, combined with the inner diameter of the heating ring 303, to determine the shape. outer diameter of heat shrink sleeve Outer diameter of bent pipe workpiece and the effective heating length L of the heating ring h The real-time compensation attitude angle of the heating mechanism 3 during contour motion is dynamically calculated and controlled by the following thermal radiation uniformity optimization equation. :

[0089] ,in:

[0090] The real-time compensation attitude angle (°) of the heating mechanism in the plane of the bend axis is 0 to 15.

[0091] R c The average radius of curvature (mm) of the bent pipe workpiece, with a value range of 200 to 2000;

[0092] The inner diameter of the heating ring (mm) ranges from 100 to 300.

[0093] The outer diameter of the heat shrink sleeve (mm) ranges from 80 to 250.

[0094] The outer diameter (mm) of the bent pipe workpiece is 50 to 200.

[0095] L h The effective heating length of the heating ring (mm) ranges from 100 to 300.

[0096] This represents the real-time curvature (1 / mm) of the bend at its current position, with a value ranging from 0.0005 to 0.005.

[0097] The standard curvature of the bend (1 / mm) is taken from the preset value of the bend of the same specification;

[0098] α is the curvature adaptive attenuation coefficient, with a value ranging from 0.05 to 0.15.

[0099] The PLC controller will calculate the result. The posture of the heating mechanism 3 is adjusted in real time by superimposing it onto the original R-axis contour motion trajectory and using the R-axis servo motor 209.

[0100] Derivation process:

[0101] 1. Dimensionless treatment: making the gap ratio... (Dimensionless), Curvature-to-diameter ratio (Dimensionless). Therefore, the original expression can be written as:

[0102] ;

[0103] At this point, the arcsin parameter is a pure number with correct dimensions.

[0104] 2. Physical meaning:

[0105] Δ reflects the relative gap between the heat shrink sleeve and the bend.

[0106] This is the curvature geometry coupling factor, used to describe the effect of the pipe curvature on the radiation angle;

[0107] The exponential term is an adaptive decay term for curvature changes, used to smoothly transition regions with abrupt changes in curvature.

[0108] 3. Final form: Combining the adaptive attenuation term, the final equation is obtained, which ensures that the heating mechanism's posture is smoothly adjusted when the curvature of the bend changes, avoiding vibration.

[0109] Example, suppose: =150mm, =120mm, =100mm, =500mm, =200mm, =0.002mm -1 , α=0.1, detected in real time =0.0022mm -1 .

[0110] Calculate: Δ = (120 - 100) / 150 = 0.1333, β = 500 / 200 = 2.5;

[0111] ;

[0112] ;

[0113] .

[0114] The PLC uses the R-axis servo motor 209 to fine-tune the heating mechanism in real time based on this angle.

[0115] Technical effects:

[0116] 1. Improve heating uniformity: Optimize the spatial distribution of heat radiation through dynamic compensation angle;

[0117] 2. Adaptive curvature variation: The exponential term smoothly responds to changes in the pipe's geometry, avoiding mechanism vibration;

[0118] 3. High-precision control: This compensation angle can be superimposed on the original R-axis contour trajectory to achieve higher precision control;

[0119] 4. Improve the quality of the anti-corrosion layer: Ensure uniform heating of the heat shrink sleeve and improve the adhesion and sealing of the 3PE layer.

[0120] Working principle and process:

[0121] 1. Data Acquisition: Machine vision acquires the profile of the bent pipe in real time and extracts... ;

[0122] 2. Parameter Retrieval: The PLC retrieves the current specification from the database. ;

[0123] 3. Real-time calculation: The PLC calculates the compensation angle based on the above equation. ;

[0124] 4. Motion Synthesis: Total rotation angle of the heating mechanism = R-axis angle of the original contour trajectory ;

[0125] 5. Dynamic execution: Continuously calculates and adjusts during the contour heating process to optimize the uniformity of heat radiation.

[0126] This embodiment also provides a method for 3PE processing of bent pipes, which uses the aforementioned intelligent control system for 3PE processing of bent pipes, and specifically includes the following steps:

[0127] S1. Pre-treatment of workpiece: Select the bent pipe workpiece to be treated. Select a suitable heat shrink sleeve according to the outer diameter D3 of the bent pipe workpiece. Coaxially sleeve the heat shrink sleeve on the outer surface of the bent pipe workpiece to ensure that the heat shrink sleeve completely covers the area of ​​the bent pipe workpiece to be protected from corrosion, and the two ends of the heat shrink sleeve extend 5-10mm beyond the edge of the area to be protected from corrosion.

[0128] S2. Loading, positioning and clamping: The end of the bent tube workpiece after being fitted with heat shrink sleeve is coaxially inserted into the positioning head 403 of the positioning seat 401. Radial positioning is achieved by the precise matching between the positioning head 403 and the inner diameter of the bent tube workpiece. The PLC controller starts the double-head clamping cylinder 504, which drives the arc-shaped clamping blocks 506 at both ends to clamp the bent tube workpiece symmetrically from both sides. The clamping force is controlled at 0.3-0.6MPa to avoid workpiece displacement, deflection or surface damage during heating.

[0129] S3. Contour Acquisition and Trajectory Generation: Before processing the first group of bent tube workpieces of the same specification, the PLC controller activates the industrial camera 801 and the drive mechanism 2. The drive mechanism 2 drives the heating mechanism 3 and the industrial camera 801 to move and scan the bent tube workpiece, transmitting the contour data to the PLC controller in real time. Based on the contour data, combined with the bending angle and curvature radius parameters of the bent tube, the PLC controller generates a three-way collaborative contouring motion trajectory that adapts to the shape of the bent tube in real time. The contouring motion trajectory includes the X-axis travel, Z-axis lifting height, and R-axis rotation angle. The trajectory accuracy is controlled within ±0.1mm. This trajectory can be reused for processing subsequent bent tube workpieces of the same specification.

[0130] S4. Parameter Retrieval and Three-Dimensional Collaborative Contouring Heating:

[0131] S41: Based on the ratio of the inner diameter D1 of the heating ring 303 to the outer diameter D2 of the heat shrink sleeve, select the corresponding infrared radiation heating tube power and heating time parameters from the preset parameter library;

[0132] S42: The PLC controller drives the drive mechanism 2 to run along a preset contouring motion trajectory: the first servo motor 201 drives the gear 205 to mesh with the rack 204, so that the first moving seat 202 moves at a constant speed along the slide rail 206 along the X-axis; the Z-axis height of the heating mechanism 3 is dynamically adjusted by the Z-axis electric linear module 208; the R-axis servo motor 209 drives the heating mechanism 3 to rotate synchronously along the bending angle of the bent tube workpiece, so as to achieve precise fitting motion between the heating mechanism 3 and the shape of the bent tube.

[0133] S43: The infrared radiation heating tube inside the heating ring 303 is started synchronously to uniformly radiate heat to the heat shrink sleeve according to the selected preset power. During the heating process, the industrial camera 801 continuously collects contour data and feeds it back to the PLC controller. The PLC controller dynamically corrects the contouring motion trajectory according to the shrinkage amount of the heat shrink sleeve and the workpiece position deviation to ensure that the heat shrink sleeve shrinks evenly and fits tightly with the surface of the bent tube workpiece.

[0134] S5. Pushing, unloading, and cooling: After the heating time reaches the preset value, the infrared radiation heating tube stops working, and the drive mechanism 2 drives the heating mechanism 3 to reset to the initial position; the PLC controller starts the rodless cylinder 502, which drives the second moving seat 503 to slide smoothly along the guide rod 507, pushing the clamped and fixed heated bent tube workpiece to the unloading area; the double-headed clamping cylinder 504 releases the arc-shaped clamping block 506, and the processed bent tube workpiece is removed by manual or robotic arm and transferred to the cooling area to complete the anti-corrosion layer shaping;

[0135] S6. Cyclic Operation: Repeat steps S1, S2, S4, and S5 to sequentially load, position, heat, and cool the new pre-processed pipe bending workpieces of the same specification, achieving continuous 3PE anti-corrosion treatment cycle for pipe bending. If the pipe bending specification is changed, only steps S1-S3 need to be repeated to re-execute pre-processing, positioning, contour acquisition, and trajectory generation. No adjustment to the system's mechanical structure is required to continue the operation.

[0136] In step S1, the bent pipe workpiece is pre-treated and fitted with a suitable heat-shrink sleeve to ensure that the heat-shrink sleeve completely covers the area to be protected against corrosion, laying the foundation for subsequent anti-corrosion treatment; step S2 realizes the loading, positioning, and clamping of the bent pipe workpiece, ensuring accurate and stable workpiece positioning through radial positioning of the positioning head 403 and symmetrical clamping of the arc-shaped clamping block 506; step S3, for the first group of bent pipe workpieces of the same specification, the contour data is collected by the industrial camera 801, and the PLC controller generates a suitable contouring motion trajectory, which can be reused to improve the processing efficiency of workpieces of the same specification; in step S4... The PLC controller retrieves heating parameters based on the ratio of D1 to D2. The drive mechanism 2 drives the heating mechanism 3 to perform a three-way coordinated contouring motion along a preset trajectory. At the same time, the infrared radiation heating tube heats the heat shrink sleeve uniformly. The industrial camera 801 continuously feeds back data for trajectory correction to ensure uniform heating and a tight fit between the heat shrink sleeve and the workpiece. In step S5, the processed workpiece is sent to the unloading area by the push component. After cooling and shaping, the anti-corrosion treatment is completed. In step S6, the same specification workpiece is cycled. When changing specifications, only the trajectory needs to be regenerated without adjusting the mechanical structure, thus improving production flexibility.

[0137] All parts not described in this invention are the same as or can be implemented using existing technology. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent control system for 3PE processing of bent pipes, characterized in that, include: The system comprises a base (1), a heating mechanism (3), a driving mechanism (2), a positioning mechanism (4), a clamping mechanism (5), a PLC controller, and a machine vision component, wherein: A mounting bracket (101) is fixedly installed on the base (1); the heating mechanism (3) is used to heat the heat shrink sleeve fitted on the bent tube workpiece; the driving mechanism (2) is installed on the mounting bracket (101), and the driving mechanism (2) is used to drive the heating mechanism (3) to make contouring motion along the shape of the bent tube workpiece; the positioning mechanism (4) is fixedly installed on the base (1), and the positioning mechanism (4) is used to position the bent tube workpiece; the clamping mechanism (5) is used to clamp and fix the bent tube workpiece installed on the positioning mechanism (4); the electrical control terminals of the driving mechanism (2), the heating mechanism (3), the positioning mechanism (4), and the clamping mechanism (5) are all electrically connected to the PLC controller; the machine vision component is installed on one side of the heating mechanism (3), and the machine vision component is used to collect the outline of the bent tube workpiece in real time, and the machine vision component is electrically connected to the PLC controller. The drive mechanism (2) includes an X-axis drive assembly, a Z-axis drive assembly, and an R-axis drive assembly. The X-axis drive assembly can drive the heating mechanism (3) to move along the X-axis direction. The X-axis drive assembly includes a rack (204) and a slide rail (206). The rack (204) and the slide rail (206) are both fixedly installed on the top of the mounting bracket (101). A slider (207) is slidably installed on the slide rail (206). A first movable seat (202) is fixedly installed on the slider (207). A first servo motor (201) is fixedly installed on the first movable seat (202). A gear (205) is fixedly sleeved on the lower end of the shaft of the first servo motor (201). The gear (205) meshes with the rack (204). A support frame (203) is fixedly installed on (202); the Z-axis drive assembly includes a Z-axis electric linear module (208), which is fixedly installed on the support frame (203). The Z-axis electric linear module (208) can drive the heating mechanism (3) to move up and down along the Z-axis; the R-axis drive assembly can drive the heating mechanism (3) to rotate along the bending angle of the bent tube workpiece. The R-axis drive assembly includes an R-axis servo motor (209), which is fixedly installed on the slide of the Z-axis electric linear module (208) through a motor seat. A connecting seat (210) is fixedly installed at the end of the rotating shaft of the R-axis servo motor (209). One side of the heating mechanism (3) is fixedly connected to the connecting seat (210). The PLC controller uses the outline data of the bent pipe collected by the machine vision component, combined with the inner diameter of the heating ring, to... outer diameter of heat shrink sleeve Outer diameter of bent pipe workpiece and the effective heating length L of the heating ring h The heating mechanism (3) is dynamically calculated and controlled in real time during the contour motion by using the following thermal radiation uniformity optimization equation to compensate for the attitude angle. : ,in: R is the real-time compensation attitude angle of the heating mechanism in the plane normal to the bend axis, expressed in degrees. c The average radius of curvature of the bent pipe workpiece is expressed in mm. This refers to the inner diameter of the heating ring, in mm. This refers to the outer diameter of the heat shrink sleeve, in mm. L represents the outer diameter of the bent pipe workpiece, in mm. h This is the effective heating length of the heating ring, in mm. This represents the real-time curvature of the bend at its current position, expressed in 1 / mm. α is the standard curvature of the bend, in units of 1 / mm; α is the curvature adaptive attenuation coefficient. The PLC controller will calculate the result. The posture of the heating mechanism (3) is adjusted in real time by superimposing it onto the original R-axis contour motion trajectory and using the R-axis servo motor (209).

2. The intelligent control system for 3PE pipe bending processing according to claim 1, characterized in that: The positioning mechanism (4) includes a positioning seat (401), which is fixedly installed at one end of the base (1). Two sets of positioning units are fixedly installed on the positioning seat (401). The two sets of positioning units are at the same horizontal height and are parallel to each other. The positioning unit includes a connecting rod (402) and a positioning head (403). One end of the connecting rod (402) is fixedly connected to a flange (406). The flange (406) is fixedly installed on one side of the positioning seat (401) by bolts. The positioning head (403) is detachably installed at the end of the connecting rod (402) away from the positioning seat (401). The diameter of the positioning head (403) matches the inner diameter of the bent pipe workpiece. During positioning, the end of the bent pipe workpiece is inserted into the positioning head (403).

3. The intelligent control system for 3PE pipe bending processing according to claim 2, characterized in that: The connecting rod (402) has a threaded groove (405) at one end away from the positioning seat (401), and a screw (404) is fixedly connected to one end of the positioning head (403), with the screw (404) threadedly installed in the threaded groove (405).

4. The intelligent control system for 3PE pipe bending processing according to claim 3, characterized in that: The clamping mechanism (5) corresponding to the positioning unit includes a double-headed clamping cylinder (504). The piston rod ends of both ends of the double-headed clamping cylinder (504) are fixedly installed with mounting blocks (505), and arc-shaped clamping blocks (506) are fixedly installed on both mounting blocks (505).

5. The intelligent control system for 3PE processing of bent pipes according to claim 4, characterized in that: The base (1) is equipped with a push assembly for driving the two sets of clamping mechanisms (5) to move along the X-axis, thereby transferring the processed bent pipe workpiece to the unloading area. The push assembly includes a mounting base (501), which is fixedly mounted on the base (1). A rodless cylinder (502) and a guide rod (507) are fixedly mounted on the mounting base (501). A second movable seat (503) is fixedly mounted on the slide of the rodless cylinder (502). A guide sleeve (508) is fixedly connected to the bottom of the second movable seat (503). The guide sleeve (508) is slidably sleeved on the guide rod (507). Both of the double-headed clamping cylinders (504) are fixedly mounted on the second movable seat (503).

6. The intelligent control system for 3PE pipe bending processing according to claim 5, characterized in that: The heating mechanism (3) includes a housing (301), one side of which is fixedly connected to the connecting seat (210). A heating unit corresponding to the positioning unit is fixedly installed inside the housing (301). The heating unit is arranged in a ring shape. A through hole (302) corresponding to the heating unit is opened on the housing (301).

7. The intelligent control system for 3PE processing of pipe bends according to claim 6, characterized in that: The heating unit includes a heating ring (303), which is fixedly installed inside the housing (301). The inner wall of the heating ring (303) is provided with a plurality of circularly equidistant grooves (304). An infrared radiation heating tube is fixedly installed in the grooves (304). The inner diameter of the heating ring (303) is D1, the outer diameter of the heat shrink sleeve to be adapted is D2, and the outer diameter of the bent workpiece to be processed is D3. The ratio of D1 to D2 is 1.5-5.5, and the ratio of D2 to D3 is 1.2-4.

0.

8. The intelligent control system for 3PE pipe bending processing according to claim 7, characterized in that: The machine vision component includes a camera mount (8), which is fixedly installed on one side of the housing (301). An industrial camera (801) is fixedly installed at one end of the camera mount (8) away from the housing (301), and the industrial camera (801) is electrically connected to the PLC controller.

9. A method for 3PE treatment of bent pipes, characterized in that: The processing using the intelligent control system for 3PE pipe bending as described in claim 8 specifically includes the following steps: S1. Pre-treatment of workpiece: Select the bent pipe workpiece to be treated. Select a suitable heat shrink sleeve according to the outer diameter D3 of the bent pipe workpiece. Coaxially sleeve the heat shrink sleeve on the outer surface of the bent pipe workpiece to ensure that the heat shrink sleeve completely covers the area of ​​the bent pipe workpiece to be protected from corrosion, and the two ends of the heat shrink sleeve extend 5-10mm beyond the edge of the area to be protected from corrosion. S2. Loading, positioning and clamping: The end of the bent tube workpiece after being fitted with heat shrink sleeve is coaxially inserted into the positioning head (403) of the positioning seat (401). Radial positioning is achieved by the precise matching of the positioning head (403) and the inner diameter of the bent tube workpiece. The PLC controller starts the double-head clamping cylinder (504) and drives the arc-shaped clamping blocks (506) at both ends to clamp symmetrically from both sides of the bent tube workpiece. The clamping force is controlled at 0.3-0.6MPa to avoid workpiece displacement, deflection or surface damage during heating. S3. Contour Acquisition and Trajectory Generation: Before processing the first group of bent tube workpieces of the same specification, the PLC controller starts the industrial camera (801) and the drive mechanism (2). The drive mechanism (2) drives the heating mechanism (3) and the industrial camera (801) to scan the bent tube workpiece while moving, and transmits the contour data to the PLC controller in real time. Based on the contour data, the PLC controller generates a three-way collaborative contouring motion trajectory that adapts to the shape of the bent tube in real time, combined with the bending angle and curvature radius parameters of the bent tube. The contouring motion trajectory includes the X-axis travel, Z-axis lifting height and R-axis rotation angle. The trajectory accuracy is controlled within ±0.1mm. This trajectory can be reused for the processing of subsequent bent tube workpieces of the same specification. S4. Parameter Retrieval and Three-Dimensional Collaborative Contouring Heating: S41: Based on the ratio of the inner diameter D1 of the heating ring (303) to the outer diameter D2 of the heat shrink sleeve, select the corresponding infrared radiation heating tube power and heating time parameters from the preset parameter library; S42: The PLC controller drives the drive mechanism (2) to run according to the preset contour motion trajectory: the first servo motor (201) drives the gear (205) to mesh with the rack (204), so that the first moving seat (202) moves at a constant speed along the slide rail (206) along the X-axis; the Z-axis height of the heating mechanism (3) is dynamically adjusted by the Z-axis electric linear module (208); the heating mechanism (3) is driven by the R-axis servo motor (209) to rotate synchronously along the bending angle of the bent tube workpiece, so as to realize the precise fitting motion between the heating mechanism (3) and the shape of the bent tube; S43: Simultaneously start the infrared radiation heating tube in the heating ring (303) to uniformly radiate heat to the heat shrink sleeve according to the selected preset power; during the heating process, the industrial camera (801) continuously collects contour data and feeds it back to the PLC controller. The PLC controller dynamically corrects the contouring motion trajectory according to the shrinkage amount of the heat shrink sleeve and the workpiece position deviation to ensure that the heat shrink sleeve shrinks evenly and fits tightly with the surface of the bent tube workpiece. S5. Pushing and Cooling: After the heating time reaches the preset value, the infrared radiation heating tube stops working, and the drive mechanism (2) drives the heating mechanism (3) to reset to the initial position; the PLC controller starts the rodless cylinder (502), which drives the second moving seat (503) to slide smoothly along the guide rod (507) to push the clamped and fixed heated bent tube workpiece to the unloading area; the double-headed clamping cylinder (504) releases the arc-shaped clamping block (506), and the processed bent tube workpiece is removed by manual or robotic arm and transferred to the cooling area to complete the anti-corrosion layer shaping; S6. Cyclic Operation: Repeat steps S1, S2, S4, and S5 to sequentially load, position, heat, and cool the new pre-processed pipe bending workpieces of the same specification, achieving continuous 3PE anti-corrosion treatment cycle for pipe bending. If the pipe bending specification is changed, only steps S1-S3 need to be repeated to re-execute pre-processing, positioning, contour acquisition, and trajectory generation. No adjustment to the system's mechanical structure is required to continue the operation.

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