A planning method for collaborative machining of hull plate surface forming based on dual manipulators

Abstract

The present invention proposes a planning method for the collaborative processing of hull shell surface forming based on dual manipulators, which is used to solve the lack of a unified analysis and task planning model for the current multi-task planning method, and does not take the constraints into consideration. The problem in the task allocation process specifically includes the following steps: S1, modeling analysis; S2, by determining the heating direction of the heating path, determining the starting and ending points of each heating path, and calculating the distance cost between the heating path and the heating path; S3 , the selection and definition of variables; S4, determine the constraint conditions; S5, determine the optimization target of the double manipulator for hull shell surface forming; S6, improve the artificial bee colony algorithm, and use the improved artificial bee colony algorithm to form the hull shell surface Allocation of processing tasks with dual robotic arms. The invention adopts the improved artificial bee colony algorithm to solve the task planning, and effectively solves the task allocation problem of the cooperative processing of the double mechanical arms.

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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