Intelligent bending device and method for round bamboo based on real-time pressure-displacement detection

Abstract

This invention discloses an intelligent round bamboo bending device and method based on real-time pressure-displacement detection, belonging to the technical field of bamboo processing equipment. The device includes a control system, a conveying system, a heating system, a pressurizing system, a cooling system, and a housing. The pressurizing system is used to bend the round bamboo and obtain load and displacement data. The clamping device is used to fix the round bamboo. The control computer calculates the required final displacement based on the bending length and radius input by the user, and calculates the ratio of load increment to displacement increment during the bending process, intelligently determining the loading timing based on the ratio. After reaching the final displacement, air cooling is used to complete the shaping. This invention achieves intelligent coordination of loading and heating timing during the round bamboo bending process, improving bending accuracy, product consistency, and processing efficiency, and solving the problems of difficult bending timing control and low bending accuracy in manual hot bending processes.

Description

Technical Field

[0001] This invention belongs to the technical field of bamboo processing equipment, specifically relating to an intelligent round bamboo bending device and method based on real-time pressure-displacement detection. Background Technology

[0002] With the promotion of green and low-carbon development concepts and the advancement of "replacing plastic with bamboo," bamboo, due to its characteristics of being renewable, having a short growth cycle, good mechanical properties, and being biodegradable, has been widely used in the furniture manufacturing industry. Among them, round bamboo bending components, as an important structural form in round bamboo furniture, can preserve the natural hollow structure and texture of bamboo. The processing quality of these components directly affects the aesthetic effect, structural strength, and service life of the furniture products.

[0003] Currently, the processing of round bamboo bending components mainly employs manual hot bending, which involves locally heating the bamboo, applying force to bend it, and then spraying water to set the shape. This process suffers from problems such as difficulty in controlling the bending timing, low bending accuracy, and poor product consistency, resulting in low overall processing efficiency and failing to meet the demands for standardized and large-scale processing of round bamboo bending components. Therefore, how to achieve precise control of the bending timing during the round bamboo bending process and improve the bending accuracy and processing efficiency is a pressing technical problem that needs to be solved in the field of round bamboo bending processing. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] The purpose of this invention is to provide an intelligent bamboo bending device and method based on real-time pressure-displacement detection, solving the following technical problems: By using real-time feedback control from displacement sensors, it improves the low bending accuracy and poor product consistency issues in current manual bamboo hot bending processes; by using a dynamic threshold judgment of the ratio of load increment to displacement increment, it avoids cracks or breakage of the bamboo during bending due to improper loading timing. This improves the accuracy, automation level, and processing efficiency of bamboo bending.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a round bamboo intelligent bending device based on real-time pressure-displacement detection, the device including a control system, a conveying system, a heating system, a pressurizing system, a cooling system, and a housing.

[0008] The control system includes a control panel and a control computer. The control panel, located on the surface of the housing, is used to set the bending requirements for the round bamboo. The control computer, located inside the control panel, is used to receive, process data, and send instructions. The conveying system includes a conveyor belt for transporting the round bamboo to the clamping device. The heating system includes an arc-shaped heating plate for heating the round bamboo. The pressurization system includes a clamping device, a bending loading device, and a slide rail. The clamping device includes an arc-shaped caliper, a hinge structure, a connecting rod, and a slide rail. The connecting rod is connected to the housing via the slide rail, and the arc-shaped caliper is connected to the connecting rod via the hinge structure. It is used to clamp and fix the round bamboo at both ends of the required bending length. During bending, the arc-shaped caliper can adaptively rotate in accordance with the bending direction of the round bamboo through the hinge structure, maintaining stable clamping. The bending loading device includes a telescopic rod, an arc-shaped contact mold, a pressure sensor, and a displacement sensor. A control computer is connected to the telescopic rod to control its movement. The top end of the telescopic rod is connected to the housing, and the end is fixedly connected to the arc-shaped contact mold. It is used to apply bending load to the round bamboo. The pressure sensor and displacement sensor are both located on the contact surface between the arc-shaped contact mold and the round bamboo, respectively, to detect load data and displacement data during the bending process and feed them back to the control computer. The cooling system includes an air-cooling unit for cooling and shaping the round bamboo after bending loading.

[0009] The control computer is connected to the control panel, conveyor belt, arc-shaped heating plate, connecting rod, telescopic rod, pressure sensor, displacement sensor, and air-cooling unit respectively. The functional modules of the control computer are: input and preprocessing module, which receives the bending parameters input by the user and calculates the required pressurization displacement; real-time monitoring and calculation module, which receives real-time data from the pressure sensor and displacement sensor, calculates the ratio of load increment to displacement increment, and the load decrease; and decision and output module, which compares the ratio of load increment to displacement increment with a preset threshold and outputs control commands to the corresponding actuators based on the comparison results.

[0010] The intelligent bending method for round bamboo based on the above-mentioned equipment includes the following steps:

[0011] Step 1: Inputting Instructions. Input the bending length S and bending radius R of the round bamboo on the control panel; the control computer calculates the amount of pressure displacement δ' required to complete the bend according to the formula δ'=R[1-cos(S / 2R)].

[0012] Step 2: Fixing the round bamboo. The conveying system transports the round bamboo one by one into the box. The clamping device moves above the conveyor belt via the slide rail and clamps the round bamboo at both ends of the required bending length S. After the arc-shaped clamps fix the round bamboo, they move to the bending operation area via the slide rail.

[0013] Step 3: Bamboo Bending. The arc-shaped contact mold of the bending loading device descends under the action of the telescopic rod; when the arc-shaped contact mold contacts the surface of the bamboo, the pressure sensor begins to collect the load F, and the displacement sensor collects the displacement δ. The collection interval is no less than 2 seconds, and the data is transmitted to the control computer in real time. The control program is as follows:

[0014] When the arc-shaped contact mold is continuously loaded, the control computer compares the magnitude of the real-time displacement δ with the final displacement δ′, calculates the load increment ΔF and displacement increment Δδ for the received load and displacement respectively, and then calculates the ratio of ΔF / Δδ, comparing this ratio with 0.8 kg / cm; when the arc-shaped contact mold remains stationary, the difference between the load value when loading stops and the real-time load is calculated, and this difference is compared with 0.5 kg.

[0015] When the control computer detects that δ < δ′, it issues the following control command based on the magnitude of ΔF / Δδ:

[0016] (1) When ΔF / Δδ<0.8kg / cm, the arc-shaped contact mold is continuously loaded;

[0017] (2) When ΔF / Δδ≥0.8kg / cm, the arc-shaped contact mold stops loading, and the arc-shaped heating plate starts to heat the round bamboo; when the load value decreases by 0.5kg compared with the load when loading stops, the arc-shaped heating plate is turned off, and the arc-shaped contact mold (422) starts to continue loading.

[0018] Repeat steps (1) to (2) above;

[0019] When the control computer detects that δ≥δ′, the arc-shaped contact mold stops loading and maintains its current position, and records the load F′ at the time of stopping.

[0020] Step 4: Cooling and Shaping. The cooling system is activated to cool the round bamboo through the air-cooling unit; when the pressure sensor detects a load F ≤ 30% F′, the air blowing stops, and the arc-shaped contact mold remains stationary; when the pressure sensor detects a load F ≤ 10% F′, the shaping process ends, and the round bamboo bending is complete.

[0021] (III) Beneficial Effects

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] By using real-time pressure-displacement detection and feedback control, the round bamboo can be bent precisely to the set radius, avoiding the problems of low bending accuracy and poor product consistency in traditional processes, and significantly improving the level of processing automation and production efficiency.

[0024] By using a dynamic judgment threshold based on the ratio of load increment to displacement increment, heating can be initiated or loading can be continued at the optimal time, effectively preventing cracks or breakage of round bamboo during bending and reducing the scrap rate.

[0025] The equipment integrates multiple automated modules such as conveying, clamping, bending, heating, and cooling, enabling integrated intelligent operation from raw material conveying to finished product bending. It is suitable for large-scale and standardized production of products such as round bamboo furniture. Attached Figure Description

[0026] Figure 1 Schematic diagram of intelligent bending process for round bamboo

[0027] Figure 2 Schematic diagram of the internal structure of the front box.

[0028] Figure 3 A schematic diagram of the overall side structure.

[0029] Figure 4 Schematic diagram of the clamping device

[0030] Figure 5 Schematic diagram of the bending loading device

[0031] Figure 6 Schematic diagram of the position change of the bending loading device during bending.

[0032] 1-Control system, 11-Control panel, 12-Control computer, 2-Conveying system, 21-Conveyor belt, 3-Heating system, 31-Arc-shaped heating plate, 4-Pressure system, 41-Clamping device, 411-Arc-shaped caliper, 412-Hinged structure, 413-Connecting rod, 42-Bending loading device, 421-Telescopic rod, 422-Arc-shaped contact mold, 423-Pressure sensor, 424-Displacement sensor, 43-Slide rail, 5-Cooling system, 51-Air-cooled unit, 6-Box. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0034] The control system 1 includes a control panel 11 and a control computer 12. The control panel 11 is embedded in the front surface of the housing 6. The control computer 12 is an embedded industrial computer, installed inside the rear side of the control panel 11. The control computer 12 is connected to the control panel 11, the conveyor belt 21 of the conveying system 2, the arc-shaped heating plate 31 of the heating system 3, the connecting rod 413, the telescopic rod 421, the pressure sensor 423, the displacement sensor 424 of the pressurization system 4, and the air-cooling unit 51 of the cooling system 5.

[0035] The conveying system 2 includes a conveyor belt 21, which is driven by a stepper motor and is horizontally mounted on the inner bottom plate of the housing 6. It is used to convey the round bamboo to be processed one by one to the clamping station. The surface of the conveyor belt 21 is provided with arc-shaped grooves to prevent the round bamboo from rolling.

[0036] The heating system 3 includes an arc-shaped heating plate 31. The inner arc surface of the arc-shaped heating plate faces the bending area of ​​the round bamboo. It is installed on the side of the bending loading device 42 and connected to the control computer 12, enabling stepless adjustment of the heating power. The heating temperature range of the arc-shaped heating plate 31 is 40℃~400℃.

[0037] The pressurization system 4 includes a clamping device 41, a bending loading device 42, and a slide rail 43. For example... Figure 2 , Figure 3 As shown, the clamping device 41 consists of an arc-shaped clamp 411, a hinge structure 412, a connecting rod 413, and a slide rail 43. The slide rail 43 consists of two parallel electric linear guide rails positioned on the top of the housing 6. The upper end of the connecting rod 413 is slidably connected to the slide rail 43 via a slider, and the lower end of the connecting rod 413 is connected to the arc-shaped clamp 411 via the hinge structure 412. The arc-shaped clamp 411 consists of two symmetrically arranged semi-circular arc-shaped grippers, with rubber anti-slip pads adhered to their inner surfaces. The arc-shaped clamp 411 can clamp or release both ends of the round bamboo. The hinge structure 412 allows the arc-shaped clamp 411 to adaptively rotate ±15° in a direction perpendicular to the bending plane, thus maintaining contact with the surface of the round bamboo throughout the bending process. Figure 4 As shown, the bending loading device 42 includes a telescopic rod 421, an arc-shaped contact mold 422, a pressure sensor 423, and a displacement sensor 424. The telescopic rod 421 is fixed to the top of the housing 6 in the bending operation area, and the end of the telescopic rod 421 is fixedly connected to the arc-shaped contact mold 422. During bending, the arc-shaped contact mold 422 is located in the middle of the bending position of the round bamboo. The arc-shaped contact mold 422 is a rigid pressure block in the shape of an arc. The pressure sensor 423 has a range of 0-100kg and an accuracy of 0.1%FS, and is embedded inside the arc-shaped contact mold 422; the displacement sensor 424 has a range of 0-800mm and an accuracy of ±0.05mm, and is fixed inside the arc-shaped contact mold 422. The signal lines of the pressure sensor 423 and the displacement sensor 424 are both connected to the control computer 12.

[0038] The cooling system 5 includes an air-cooled unit 51. The air outlet of the air-cooled unit 51 faces the outer surface of the bent round bamboo, and the fan speed is controlled by the signal from the control computer 12.

[0039] Example 1

[0040] This embodiment provides a smart bamboo bending device and method based on real-time pressure-displacement detection, used to bend round bamboo with a diameter of 4cm and a length of 100cm, with a target bending radius R = 20cm and a bending length S = 60cm.

[0041] Step 1: Input bending command

[0042] The operator inputs S = 60cm and R = 30cm via control panel 11. The input and preprocessing module of control computer 12 automatically calculates the required pressurization displacement δ'.

[0043] δ'=R×[1-cos(S / (2R))]=30×[1-cos(60 / (2×30))]=30×[1-cos(60 / 60)]=30×[1-cos(1)].

[0044] cos(1.5rad)≈0.5403023, so δ'=30×(1-0.54)=30×0.46=13.80cm.

[0045] Control panel 11 displays the calculation results. After the operator confirms them, the device enters standby mode.

[0046] Step 2: Fixing the round bamboo

[0047] The conveyor system 2 is activated, and the conveyor belt 21 transports a bamboo stalk with a diameter of 4cm and a length of 100cm into the interior of the housing 6. The clamping device 41 moves above the conveyor belt 21 via the slide rail 43, the connecting rod 413 descends, and the arc-shaped clamp 411 opens, clamping the bamboo stalk at 20cm from each end (i.e., the endpoints where the bending length S = 60cm). The arc-shaped clamp 411 adaptively adjusts its angle via the hinge structure 412, ensuring that the rubber anti-slip pad is fully in contact with the bamboo surface. After clamping, the connecting rod 413 moves the bamboo stalk horizontally along the slide rail 43 to directly below the bending loading device 42, at which point the center point of the bamboo stalk is located at the vertical projection center of the arc-shaped contact mold 422.

[0048] Step 3: Bending the round bamboo

[0049] The control computer 12 controls the telescopic rod 421 to load downwards at a speed of 0.4 cm / s, and the arc-shaped contact mold 422 gradually approaches the middle of the round bamboo. When the arc-shaped contact mold 422 just contacts the surface of the round bamboo, the pressure sensor 423 detects that the load changes from 0 to 0.1 kg. The control computer 12 records this position as the zero displacement point and begins to collect the load F (in kg) and displacement δ (in cm) at a sampling interval of 1 second. The control computer 12 compares the current displacement δ with the final displacement δ' (13.80 cm) in real time.

[0050] First loading: Initial sampling F1 = 0.2 kg, δ1 = 0.4 cm; second sampling 1 second later: F2 = 0.9 kg, δ2 = 0.8 cm. Calculate the load increment ΔF = 0.7 kg, displacement increment Δδ = 0.4 cm, ΔF / Δδ = 1.75 kg / cm. Since ΔF / Δδ ≥ 0.8 kg / cm, the control computer 12 issues a command: the telescopic rod 421 stops loading, and simultaneously the arc-shaped heating plate 31 starts, heating the round bamboo at a set temperature of 150℃. During heating, the pressure sensor 423 monitors the load change in real time. When loading stops, the load F_stop = 0.9 kg. After approximately 30 seconds of heating, the load drops to 0.4 kg. The control computer 12 detects that the load drop has reached 0.5 kg and immediately issues a command: the arc-shaped heating plate 31 shuts down, and the telescopic rod 421 starts to continue loading. At this time, the displacement δ is still less than δ', so loading resumes.

[0051] Second loading: Continue loading, sampling data: when δ3 = 1.2cm, F3 = 1.2kg, ΔF = 0.8kg, Δδ = 0.4cm, ΔF / Δδ = 2kg / cm ≥ 0.8kg / cm, stop loading again and heat up. At this time, the displacement δ is still less than δ'. After the load decreases by 0.5kg, continue loading.

[0052] Third loading: Continue loading, sampling data: when δ3 = 1.6cm, F3 = 1kg, ΔF = 0.3kg, Δδ = 0.4cm, ΔF / Δδ = 0.75kg / cm < 0.8kg / cm, continue loading; when δ4 = 2cm, F4 = 1.8kg, ΔF = 0.8kg, Δδ = 0.4cm, ΔF / Δδ = 2kg / cm ≥ 0.8kg / cm, stop loading again and heat up. At this time, the displacement δ is still less than δ'. After the load decreases by 0.5kg, continue loading.

[0053] Repeat the above cycle. As the bending displacement increases, the plastic deformation of the round bamboo gradually accumulates. Multiple cyclic loading cycles are performed as follows:

[0054]

[0055] When the control computer 12 detects that the current displacement δ reaches 13.80cm (≥δ'=13.80cm), it immediately issues a command: the telescopic rod 421 stops loading and maintains its current position, entering the cooling and shaping stage.

[0056] Step 4: Cooling and Shaping

[0057] After the cooling and shaping process begins, the control computer 12 immediately activates the cooling system 5, and the air-cooling unit 51 blows air at a medium speed to cool the curved area of ​​the round bamboo. The initial load F′ during cooling is 5.2 kg. As the temperature of the round bamboo decreases, the lignin glass transition is completed, internal stress is released, and the load gradually decreases.

[0058] When pressure sensor 423 detects that the load has decreased from 5.2 kg to 1.56 kg (≤30%F′), control computer 12 issues a command to stop blowing, but telescopic rod 421 remains stationary. Shaping continues for approximately 150 seconds. When pressure sensor 423 detects that the load has further decreased to 0.52 kg (≤10%F′), it indicates that the round bamboo has been fully shaped and no longer exerts significant reaction force on the inner mold. Control computer 12 determines that the shaping process is complete, telescopic rod 421 retracts to its original position, arc-shaped clamp 411 opens, and clamping device 41 moves away along slide rail 43. The bent round bamboo is then conveyed out of box 6 by conveyor belt 21, resulting in a round bamboo bending component with a bending radius precisely 30 cm and an arc length of 60 cm.

[0059] Example 2

[0060] This embodiment provides a smart bamboo bending device and method based on real-time pressure-displacement detection, used to bend bitter bamboo with a diameter of 3cm and a length of 80cm, with a target bending radius R = 35cm and a bending length S = 50cm.

[0061] Step 1: Input bending command

[0062] The operator inputs S = 50cm and R = 35cm via control panel 11. The input and preprocessing module of control computer 12 automatically calculates the required pressurization displacement δ'.

[0063] δ'=R×[1-cos(S / (2R))]=35×[1-cos(50 / (2×35))]=35×[1-cos(0.7142857)].

[0064] cos(0.7142857)≈0.7549, therefore δ'=35×(1-0.7549)=35×0.2451=8.5785≈8.58cm.

[0065] Control panel 11 displays the calculation results. After the operator confirms them, the device enters standby mode.

[0066] Step 2: Fixing the round bamboo

[0067] The conveyor system 2 is activated, and the conveyor belt 21 transports a piece of bitter bamboo with a diameter of 3cm and a length of 80cm into the interior of the housing 6. The clamping device 41 moves above the conveyor belt 21 via the slide rail 43, the connecting rod 413 descends, and the arc-shaped clamp 411 opens, clamping the bamboo at 15cm from each end (i.e., the endpoints where the bending length S = 50cm). The arc-shaped clamp 411 adaptively adjusts its angle through the hinge structure 412, ensuring that the rubber anti-slip pad is fully in contact with the surface of the bamboo. After clamping, the connecting rod 413 moves the bamboo horizontally along the slide rail 43 to directly below the bending loading device 42, at which point the center point of the bamboo is located at the vertical projection center of the arc-shaped contact mold 422.

[0068] Step 3: Bending the round bamboo

[0069] The control computer 12 controls the telescopic rod 421 to load downwards at a speed of 0.2 cm / s, and the arc-shaped contact mold 422 gradually approaches the middle of the round bamboo. When the arc-shaped contact mold 422 just contacts the surface of the round bamboo, the pressure sensor 423 detects that the load changes from 0 to 0.1 kg. The control computer 12 records this position as the zero displacement point and begins to collect the load F (in kg) and displacement δ (in cm) at a sampling interval of 1 second. The control computer 12 compares the current displacement δ with the final displacement δ' (8.58 cm) in real time.

[0070] First loading: Initial sampling F1 = 0.2 kg, δ1 = 0.2 cm; second sampling 1 second later: F2 = 0.3 kg, δ2 = 0.4 cm. Calculate the load increment ΔF = 0.1 kg, displacement increment Δδ = 0.2 cm, ΔF / Δδ = 0.5 kg / cm. Since ΔF / Δδ is less than 0.8 kg / cm, the arc-shaped contact mold 422 continues to load. F3 = 0.7 kg, δ3 = 0.6 cm, ΔF = 0.4 kg, Δδ = 0.2 cm, ΔF / Δδ = 2 kg / cm ≥ 0.8 kg / cm, the control computer 12 issues a command: the telescopic rod 421 stops loading, and simultaneously the arc-shaped heating plate 31 starts, heating the round bamboo at a set temperature of 150℃. During heating, the pressure sensor 423 monitors the load change in real time. When loading stops, the load F_stop = 0.7 kg. After heating for approximately 30 seconds, the load decreased to 0.2 kg. The control computer 12 detected that the load had decreased by 0.5 kg and immediately issued a command: the arc-shaped heating plate 31 was shut off, and the telescopic rod 421 was activated to continue loading. At this time, the displacement δ was still less than δ', and the loading process resumed.

[0071] Second loading: Continue loading, sampling data: F4 = 1.2 kg, δ4 = 0.8 cm, ΔF = 0.8 kg, Δδ = 0.2 cm, ΔF / Δδ = 4 kg / cm ≥ 0.8 kg / cm, stop loading again and heat up. At this time, the displacement δ is still less than δ'. After the load decreases by 0.5 kg, continue loading.

[0072] Third loading: Continue loading, sampling data: F5 = 0.8 kg, δ5 = 1 cm, ΔF = 0.1 kg, Δδ = 0.2 cm, ΔF / Δδ = 0.5 kg / cm < 0.8 kg / cm, continue loading; F6 = 1.5 kg, δ6 = 1.2 cm, ΔF = 0.7 kg, Δδ = 0.2 cm, ΔF / Δδ = 3.5 kg / cm ≥ 0.8 kg / cm, stop loading again and heat up. At this time, the displacement δ is still less than δ'. After the load decreases by 0.5 kg, continue loading.

[0073] ······

[0074] Repeat the above cycle. As the bending displacement increases, when the displacement sensor 424 detects that the current displacement δ has accumulated to 8.58 cm (after multiple cycles), the control computer 12 issues a command: the telescopic rod 421 stops loading and maintains its current position.

[0075] Step 4: Cooling and Shaping

[0076] The control computer 12 starts the cooling system 5, and the air-cooling unit 51 blows air at a medium speed to cool the curved area of ​​the round bamboo. The initial load F′ is 3.8 kg during the initial shaping. As the temperature of the round bamboo decreases, the lignin glass transition is completed, the internal stress is released, and the load gradually decreases.

[0077] When pressure sensor 423 detects that the load has decreased from 3.8 kg to 1.14 kg (≤30%F′), control computer 12 issues a command to stop blowing, but telescopic rod 421 remains stationary. Shaping continues for approximately 150 seconds. When pressure sensor 423 detects that the load has further decreased to 0.38 kg (≤10%F′), it indicates that the round bamboo has been fully shaped and no longer exerts significant reaction force on the inner mold. Control computer 12 determines that the shaping process is complete, telescopic rod 421 retracts to its original position, arc-shaped clamp 411 opens, and clamping device 41 moves away along slide rail 43. The bent round bamboo is then conveyed out of box 6 by conveyor belt 21, resulting in a round bamboo bending component with a bending radius precisely 35 cm and an arc length of 50 cm.

Claims

1. A smart bamboo bending device based on real-time pressure-displacement detection, characterized in that, include: Control system (1), conveying system (2), heating system (3), pressurizing system (4), cooling system (5), housing (6); The control system (1) includes a control panel (11) and a control computer (12); the control panel (11) is located on the surface of the housing (6) and is used to set the bending requirements of the round bamboo; the control computer (12) is located inside the control panel (11) and is used to receive, process data and send instructions. The conveying system (2) includes a conveyor belt (21) for conveying round bamboo to the clamping device (41); The heating system (3) includes an arc-shaped heating plate (31) for heating the round bamboo; The pressurization system (4) includes a clamping device (41), a bending loading device (42), and a slide rail (43); The clamping device (41) includes an arc-shaped clamp (411), a hinge structure (412), and a connecting rod (413). The connecting rod (413) is connected to the box (6) via a slide rail (43). The arc-shaped clamp (411) is connected to the connecting rod (413) via the hinge structure (412). It is used to clamp and fix the round bamboo at both ends of the required bending length. During the bending process, the arc-shaped clamp (411) can adaptively rotate in accordance with the bending direction of the round bamboo via the hinge structure (412) to maintain a stable clamping of the round bamboo. The bending loading device (42) includes: a telescopic rod (421), an arc-shaped contact mold (422), a pressure sensor (423), and a displacement sensor (424); a control computer (12) is connected to the telescopic rod (421) to control the movement of the telescopic rod (421); the top end of the telescopic rod (421) is connected to the box (6), and the end end is fixedly connected to the arc-shaped contact mold (422) to apply bending load to the round bamboo; The pressure sensor (423) is used to detect load data during the bending process, and the displacement sensor (424) is used to detect displacement data. The detected data is fed back to the control computer (12). Both are set on the contact surface between the arc-shaped contact mold (422) and the round bamboo. The cooling system (5) includes an air-cooling unit (51) for cooling and shaping the round bamboo after bending loading; The control computer (12) is connected to the control panel (11), the conveyor belt (21) of the conveying system (2), the arc-shaped heating plate (31) of the heating system (3), the connecting rod (413) of the pressurization system (4), the telescopic rod (421), the pressure sensor (423), the displacement sensor (424) and the air-cooling unit (51) of the cooling system (5), respectively. The functional modules of the control computer (12) are: an input and preprocessing module, which receives the bending parameters input by the user and calculates the required pressurization displacement; a real-time monitoring and calculation module, which receives real-time data from the pressure sensor (423) and the displacement sensor (424), calculates the ratio of the load increment to the displacement increment, and the load decrease; and a decision and output module, which compares the ratio of the load increment to the displacement increment with a preset threshold and outputs control commands to the corresponding actuators based on the comparison results.

2. A bending method based on the intelligent bamboo bending device according to claim 1, characterized in that, Includes the following steps: Step 1: Input bending command. Input the bending requirements of the round bamboo in the control panel (11), that is, the required bending length S and bending radius R of the round bamboo; The control computer (12) calculates the final displacement δ′ required to complete the bending according to the formula δ′=R[1-cos(S / 2R)]. Step 2: Fixing the round bamboo, the conveying system (2) conveys the round bamboo one by one into the box (6), the clamping device (41) moves to the top of the conveyor belt (21) through the slide rail (43), clamps the round bamboo at both ends of the required bending length S, and the arc-shaped clamp (411) fixes the round bamboo and moves to the bending operation area through the slide rail (43). Step 3: The round bamboo is bent. The arc-shaped contact mold (422) of the bending loading device (42) is lowered by the telescopic rod (421). When the arc-shaped contact mold (422) contacts the surface of the round bamboo, the pressure sensor (423) starts to collect the load F, and the displacement sensor (424) collects the displacement δ. The collection interval is not less than 2 seconds. The collected F and δ are transmitted to the control computer (12) in real time through the connecting line. The control program is as follows: When the arc-shaped contact mold (422) is continuously loaded, the control computer (12) compares the magnitude relationship between the real-time displacement δ and the final displacement δ′, calculates the load increment ΔF and displacement increment Δδ for the received load and displacement respectively, and then calculates the ratio of ΔF to Δδ, and compares the ratio with 0.8 kg / cm. When the arc-shaped contact mold (422) remains stationary, calculate the difference between the load value at the time of stopping and the real-time load, and compare the difference with 0.5 kg. When the control computer (12) detects that δ < δ′, the control computer (12) issues the following control command based on the magnitude of ΔF / Δδ: (1) When ΔF / Δδ<0.8kg / cm, the arc-shaped contact mold (422) continues to be loaded; (2) When ΔF / Δδ≥0.8kg / cm, the arc-shaped contact mold (422) stops loading, and the arc-shaped heating plate (31) starts to heat the round bamboo; when the load value is reduced by 0.5kg compared with the load when loading stops, the arc-shaped heating plate (31) is turned off, and the arc-shaped contact mold (422) starts to continue loading. Repeat steps (1) to (2) above; When the control computer (12) detects that δ≥δ′, the arc-shaped contact mold (422) stops loading and maintains its current position, and records the load F′ at the time of stopping; Step 4: Cooling and shaping. The cooling system (5) is started and the round bamboo is cooled by the air-cooling unit (51). When the pressure sensor (423) detects that the load F ≤ 30% F′, the blowing stops and the arc-shaped contact mold (422) remains stationary. When the pressure sensor (423) detects that the load F ≤ 10% F′, the shaping process ends and the round bamboo bending is completed.

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