船体外板加工成型自动检测方法研究

Investigation on Automatic Detection Method of Hull Shell Plate Process Moulding

应用水火弯板智能机器人测量加工后的钢板表面数据,采用Ferguson曲面模拟钢板曲面;借助参数样条曲线、空间坐标转换及误差分析理论,分别对加工后的钢板横向和纵向成型,及扭曲进行计算,以判别船体曲面外板成型状态,并提供未成型钢板二次加工所需的补火位置及补火量等信息。算例表明,该方法可对加工后的钢板成型情况作出符合工程要求的判别。

Line heating is a technics of shell plate forming, which has strong technicality and high processing difficulty, mainly used in the forming of double curvature shell plate. Up to now, hull shell plate forming still depends on workers＇ skill, and the judgment of the forming still depends on the template. For the plate which has not been shaped, the heating location and heating quantity are determined entirely by workers＇ experience, so the efficiency and the quality are very low. In this article, the surface coordinate of hull shell plate processed by the line heating intelligent robot is measured and the surface of the plate is simulated with the method of Ferguson surface. Utilizing parameter spline curve, space coordinate conversion and error analysis theory, an automatic judgment method of hull shell plate forming process is developed which changes the traditional manual judgment with template, and it can also provide the information about heating position and heating quantity which are required in second processing. The plate used in the calculation example is a saddle plate processed by line heating intelligent robot. To reduce the influence of the gravity, the plate＇s four corners are lifted by woodblocks before measuring. The plate is kept in a state as horizontal as possible to improve the precision in establishing the coordinate system. Both transverse and longitudinal direction forming, as well as distortion of the processed hull shell plate are computed and the error is analyzed by the least square method. The calculation example shows that the method presented by authros can provide reliable judgment of hull shell plate forming and essential information for subsequent second process.