Planning method of ship hull plate curved surface forming collaborative machining based on dual mechanical arms

Abstract

The invention provides a planning method of ship hull plate curved surface forming collaborative machining based on dual mechanical arms. The problems that a unified analysis and task planning model lacks for a multi-task planning method at present, and a constraint condition is not considered in an actual task distribution process can be solved. The method specially comprises the following stepsof S1, carrying out modeling analysis; S2, through determining of a heating direction of heating paths, determining a beginning end and a tail end of each heating path, and calculating distance cost between the heating paths; S3, selecting and defining variables; S4, determining a constraint condition; S5, determining a ship hull plate curved surface forming dual-mechanical-arm optimizing target;and S6, improving an artificial bee colony algorithm. The improved artificial bee colony algorithm is adopted for carrying out distribution on ship hull plate curved surface forming dual-mechanical-arm machining tasks, the improved artificial bee colony algorithm is adopted for carrying out solving of task planning, and the task distribution problem of dual-mechanical-arm collaborative machining can be effectively solved.

Description

technical field [0001] The invention relates to the technical field of forming and processing planning of hull outer plate curved surfaces, in particular to a planning method for collaborative processing of hull outer plate curved surface forming based on dual robotic arms. Background technique [0002] The hull is composed of complex and non-developable spatial surfaces, and the steel plates for ships should be processed into the curved surface shape of the outer plates of the hull. At present, most of the methods used by shipyards in the world are linear water-fire ship plate surface forming processes. The principle of this process is to achieve the overall bending deformation of the steel plate by utilizing the thermal elastic-plastic deformation produced after the steel plate is partially cooled at high temperature. The surface forming of the hull plate is a process mode that utilizes the elastic-plastic deformation of the steel plate to complete the processing. Since t...

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Problems solved by technology

[0005] The present invention proposes a planning method for the collaborative processing of hull shell surface forming based on dual robotic arms to solve the lack of a unified analysis and task planning model for current multi-task planning methods, and does not take constraints into account in actual task allocation In the process, the problem of poor applicability of this solution is to fully consider the constraints to effectively solve the task allocation problem of dual-manipulator collaborative processing, so that the task planning method can be well applied to practice.

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