Hull outer plate curved surface forming equipment based on double mechanical arms and implementation method thereof

Abstract

The invention relates to hull outer plate curved surface forming equipment based on double mechanical arms and an implementation method thereof. A main body of an equipment hardware system adopts a frame structure of a portal frame, two floating six-shaft industrial mechanical arms are mounted on a cross beam of the portal frame, and a flame gun heating device, a water spray cooling device and a distance measuring sensor are mounted at the tail end of each mechanical arm; a camera acquires ship plate shape data; and a touch control console manipulates the entire equipment. The equipment software system integrates an intelligent forming decision support subsystem for the hull outer plate curved surface, a motion control subsystem and the like, the former is used to generate a heating trackand machining parameters, and the latter is used to control the coordinated motion of the double mechanical arms. The equipment provided by the invention can automatically process the curved surface shape of a ship steel plate, and reduces the labor intensity of workers.

Description

technical field [0001] The invention relates to the technical field of forming a curved surface of a ship's outer plate, in particular to an equipment and a method for realizing the forming process of a curved surface of a ship's outer plate by using double mechanical arms. Background technique [0002] The outer shell part of the ship is welded by a combination of multiple ship plates. The outer plate of the shell has many curved plates. At present, domestic shipyards still use the manual operation mode of workers when processing the curved surface of the ship plate. The hull shell surface forming process manually operated by workers has high requirements for workers’ experience and technology. In addition, the high temperature, water vapor, and harmful gases generated during heating make the workers’ working environment quite harsh, which greatly reduces the workers’ work efficiency and Ship plate forming accuracy. [0003] At present, some patents on the forming equipmen...

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problems existing in the prior art that only single-line heating can be realized and the heating effect is average, both are single mechanical arms and cannot realize simultaneous heating on both sides of the ship plate, and improve processing efficiency. The mechanical arm hull surface forming equipment and its realization method introduce computer vision devices to realize the complex control of hull forming, hull deformation measurement and secondary forming, so as to improve the work efficiency and forming of hull surface forming precision, reducing the labor intensity of workers

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