A device for processing free edges of ship components and its implementation method

Abstract

A device for processing the free edge of a ship component comprises a three-degree-of-freedom movable gantry, a component processing platform, a lifting mechanism, a milling mechanism, and a controller; the three-degree-of-freedom movable gantry comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a positioning sensor; the lifting mechanism is installed on the component processing platform, and the lifting mechanism comprises a support column, an oil cylinder or an air cylinder; the milling mechanism is installed on the Z-axis moving mechanism, and the milling mechanism comprises a motor, a gearbox, a milling cutter, and a multi-dimensional torque sensor. An implementation method based on the device is also proposed. The present invention uses dedicated software to output executable programs, improves work efficiency, and reduces the requirements on the user's ability; the milling cutter can achieve multiple uses with one cutter, saving costs; the multi-dimensional torque sensor cooperates with the force / position hybrid control algorithm to adjust the milling cutter position in real time to ensure processing quality; different milling cutters can be selected according to different processing requirements, and the spindle speed and milling speed can be adjusted, thereby improving processing efficiency and product quality.

Description

Technical Field

[0001] The invention belongs to the technical field of machine tool milling, and specifically relates to a device for processing the free edge of a ship component and a method for implementing the device, and in particular relates to a device for rounding the free edges of large ship components such as ship ribs and longitudinal girders. Background Art

[0002] In order to ensure the corrosion resistance of ships and extend their service life, the hull and ship components need to be painted during the shipbuilding process. Since 2012, the ballast tank coating has to meet the PSPC requirements. After the hull structure is cut, its edges are sharp right angles. If the coating is directly applied, the anti-corrosion paint is not easy to adhere, or the paint film surface is very easy to crack, which cannot meet the long-term anti-corrosion requirements. In order to ensure the effect of the coating operation and prevent the paint film from falling off, the edges of the cut ship components need to be rounded, and the fillet radius is greater than 2mm.

[0003] Traditionally, workers use handheld grinding wheels to grind the free edges of ship components. After repeating the same trajectory three times, a fillet with a radius of more than R2 is formed. At present, some domestic shipyards use pneumatic milling cutters instead of grinding wheels to round the free edges of ship components. Only one milling is required to form the shape, the speed is increased by three times, and dust pollution is reduced compared to the use of grinding wheels. However, after processing the upper side of the free edge, the ship component needs to be turned over. The turning over of large ship components also requires the use of equipment such as gantry cranes, which is time-consuming and labor-intensive, affecting work efficiency, increasing labor costs, and having a greater impact on the health of workers and the environment. Summary of the invention

[0004] In view of the above problems, the present invention provides a device for processing the free edge of a ship component and a method for implementing the same.

[0005] The object of the present invention can be achieved by the following technical scheme: a device for processing the free edge of a ship component, comprising a three-degree-of-freedom movable gantry, a component processing platform, a lifting mechanism, a milling mechanism, and a controller; the three-degree-of-freedom movable gantry comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a positioning sensor, the X-axis moving mechanism is arranged on the side of the component processing platform, the Y-axis moving mechanism is arranged above the component processing platform and is perpendicular to the X-axis moving mechanism in the horizontal direction, the Y-axis moving mechanism is installed on the X-axis moving mechanism and moves under the drive of the X-axis moving mechanism, and the Z-axis moving mechanism is installed The component processing platform is installed on the Y-axis moving mechanism and is driven by the Y-axis moving mechanism; a lifting mechanism is installed on the component processing platform, and the lifting mechanism includes a support column, an oil cylinder or an air cylinder, and multiple support columns are embedded in the component processing platform, and the bottom of each support column is connected to an independent oil cylinder or an air cylinder; the milling mechanism is installed on the Z-axis moving mechanism of the three-degree-of-freedom movable gantry and is driven by the Z-axis moving mechanism to move, the milling mechanism includes a motor, a gearbox, a milling cutter, and a multi-dimensional torque sensor, and the multi-dimensional torque sensor is coaxially installed on the milling cutter; the controller is connected to the three-degree-of-freedom movable gantry, the lifting mechanism, and the milling mechanism.

[0006] Furthermore, the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism all include a base, a linear guide, a slide, a rack, a servo reduction motor, and a gear; the linear guide and the rack are both installed on the base, the rack is arranged along the linear guide, the servo reduction motor is installed on the slide and its output shaft is connected to a gear, and the gear is meshed with the rack to realize transmission.

[0007] Furthermore, the X-axis moving mechanism is a double linear guide structure, and is respectively installed on both sides of the component processing platform; the two ends of the base of the Y-axis moving mechanism are respectively installed on the slide of the double linear guide of the X-axis moving mechanism through the base bracket, and a positioning sensor is installed on the base of the Y-axis moving mechanism; the base of the Z-axis moving mechanism is installed on the slide of the Z-axis moving mechanism.

[0008] Furthermore, the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism all include a drag chain groove, a drag chain bracket, and a drag chain. The drag chain groove is installed on a base and is parallel to the linear guide rail. The drag chain bracket is installed on one end of the slide seat. The drag chain is arranged in the drag chain groove and one end thereof is connected to the drag chain bracket. The three-degree-of-freedom movable gantry also includes a safety grating, and the safety grating is installed on the base bracket of the Y-axis moving mechanism.

[0009] Furthermore, the plurality of support columns of the lifting mechanism are arranged in an array on the component processing platform.

[0010] Furthermore, the milling mechanism also includes a mounting seat and a lubricating oil nozzle, the mounting seat is installed on the Z-axis moving mechanism, and the lubricating oil nozzle is installed on the mounting seat; the motor and the gearbox are installed on the mounting seat, and the milling cutter includes a milling cutter shank and a milling cutter blade, the milling cutter shank is arranged vertically, the upper end of the milling cutter shank is connected to the output shaft of the gearbox, and the lower end of the milling cutter shank is circumferentially installed with 3-8 milling cutter blades.

[0011] Furthermore, each of the milling cutter blades is provided with two upper and lower symmetrical blade sections, and each blade section is concave and has a 1 / 4 arc shape with R ≥ 2mm.

[0012] A method for implementing a device for processing free edges of ship components comprises the following steps:

[0013] S1. Obtain model data of various types of ship components from the ship design software, generate executable programs corresponding to various types of ship components through the dedicated software of the device, and store the executable programs in the device;

[0014] S2. Place the ship component that needs free edge processing in the working area on the component processing platform, and then start the device;

[0015] S3, the support column of the lifting mechanism on the component processing platform rises to lift the ship component, and the ship component is fixed by the deadweight and the friction force of the support column;

[0016] S4, the operation panel of the operation controller selects the type of ship component in the current operation area, and the device then calls the corresponding executable program;

[0017] S5. Execute the executable program: S501. Use the positioning sensor to calibrate the actual position of the ship component in the operating area; S502. According to the position calibration result, correct the theoretically planned milling cutter path in the executable program to generate an actual milling trajectory; S503. Select a suitable milling cutter, and after the tool self-checks, start processing the free edge of the upper surface of the ship component; S504. Perform the tool self-check again, and then process the free edge of the lower surface of the ship component;

[0018] S6. After the executable program is executed, the ship components are loaded and unloaded onto the pallet.

[0019] Furthermore, in step S501, the positioning sensor measures the actual positions of two points set on the ship component and calculates the unit vector of the line connecting the two points; in step S502, the milling cutter path in the executable program is corrected according to the absolute position deviation between the actual positions of the two points on the ship component and the two points set in the executable program and the angular deviation between the unit vector between the two points on the ship component and the unit vector between the two points set in the executable program.

[0020] Furthermore, in steps S503 and S504, the multi-dimensional torque sensor and force / position hybrid control algorithm of the milling mechanism are relied upon to ensure that the milling trajectory tracks the free edge of the ship component in real time, so that the milling normal torque is always kept within the set value range. At the same time, during the movement of the milling cutter, the coordinates of each support column of the lifting mechanism are judged against the coordinates of the milling cutter fed back in real time, and the support columns in the coverage area below the milling cutter are controlled to automatically descend to avoid collision with the milling cutter.

[0021] At present, there is no such automated equipment for processing the free edges of ship components in China. In addition to the overall technical solution, the technical solution of the present invention also includes many details of optimization, which has the following beneficial effects:

[0022] 1. The dedicated software of the device is used. The input is the model data of the ship design software, and the output is the executable program for driving the equipment. The operation process does not require the user to have high programming ability. It is basically completed independently by the dedicated software, and only a small amount of manual intervention by the user is required, which saves trouble and labor, improves work efficiency, and reduces the ability requirements for users;

[0023] 2. The blade of the milling cutter can be used for processing the free edge of the upper surface of the ship component, and can also be used for processing the free edge of the lower surface of the ship component, so as to achieve multiple uses of one tool, reduce the frequency of tool change, save costs, and reduce tool waste;

[0024] 3. The multi-dimensional torque sensor is used to capture the torque between the milling cutter and the edge of the ship component during the free edge processing of the ship component. With the force / position hybrid control algorithm, the milling cutter position is adjusted in real time according to the torque. When the actual edge position of the ship component is inconsistent with the model, the milling cutter can complete the position fine-tuning and track the actual edge of the component, so that the tool milling torque is stable during the free edge processing, ensuring consistent processing quality and effectively protecting the tool;

[0025] 4. The operation is simple and efficient, and the free edge processing effect of ship components is good. Different milling cutters can be selected according to different processing requirements, and the spindle speed and milling speed can be adjusted to improve processing efficiency, reduce labor costs, and improve product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0027] Figure 2 It is a front view of an embodiment of the present invention.

[0028] Figure 3 It is a side view of an embodiment of the present invention.

[0029] Figure 4 Schematic diagram of a safety light curtain and an operation panel in one embodiment of the present invention.

[0030] Figure 5 It is a partial schematic diagram of a milling mechanism in one embodiment of the present invention.

[0031] Figure 6 It is a partial schematic diagram of an embodiment of the present invention in a working state.

[0032] Figure 7 It is a schematic diagram of a milling mechanism in one embodiment of the present invention processing the upper surface of a ship component.

[0033] The parts in the figure are numbered as follows:

[0034] 1 X-axis moving mechanism

[0035] 2 Y-axis moving mechanism

[0036] 3 Z-axis moving mechanism

[0037] 4 Component Processing Platform

[0038] 5 Support columns

[0039] 6Milling mechanism

[0040] 7 Positioning Sensor

[0041] 8 Safety light curtain

[0042] 9 Operation panel

[0043] 10 Mounting Seat

[0044] 11 Milling cutter handle

[0045] 12 Milling Cutter Blades

[0046] 13 Lubricating oil nozzle

[0047] 14 Multi-dimensional torque sensor

[0048] 15. Ship components. DETAILED DESCRIPTION

[0049] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention is described in conjunction with its preferred specific embodiments, these embodiments are only illustrative, rather than limiting the scope of the present invention.

[0050] See also Figures 1 to 3 A device for processing the free edge of a ship component includes a three-degree-of-freedom movable gantry, a component processing platform 4, a lifting mechanism, a milling mechanism 6, and a controller.

[0051] The three-degree-of-freedom movable gantry includes an X-axis moving mechanism 1, a Y-axis moving mechanism 2, and a Z-axis moving mechanism 3. The X-axis moving mechanism 1, the Y-axis moving mechanism 2, and the Z-axis moving mechanism 3 mainly include a base, a linear guide, a slide, a rack, a servo reduction motor, a gear, a drag chain slot, a drag chain bracket, and a drag chain. The linear guide and the rack are both installed on the base, the rack is arranged along the linear guide, the servo reduction motor is installed on the slide and its output shaft is connected with a gear, the gear and the rack are meshed to realize transmission, the drag chain slot is installed on the base and parallel to the linear guide, the drag chain bracket is installed at one end of the slide, the drag chain is arranged in the drag chain slot and one end thereof is connected to the drag chain bracket. Furthermore, an anti-collision baffle is provided at one end of the linear guide, a pad for supporting the slide is provided below the slide, and a mounting plate for installing the servo reduction motor is installed on the slide.

[0052] The X-axis moving mechanism 1 is a double linear guide structure and is respectively installed on both sides of the component processing platform 4. The Y-axis moving mechanism 2 is arranged above the X-axis moving mechanism 1 and the component processing platform 4 and is perpendicular to the X-axis moving mechanism 1 in the horizontal direction. The two ends of the base of the Y-axis moving mechanism 2 are respectively installed on the slide seat of the double linear guide of the X-axis moving mechanism 1 through the base bracket. A positioning sensor 7 for positioning the ship component 15 is installed on the base. The positioning sensor 7 is specifically a point laser ranging sensor; see Figure 4 , a safety grating 8 and a controller are installed on the base bracket, and the controller includes an operation panel 9. The base of the Z-axis moving mechanism 3 is installed on the slide of the Z-axis moving mechanism 3. The drag chain is used to place the controller signal cable, the sensor signal cable, and the lubricating oil pipeline. The controller signal cable connects the controller and the control center that controls the device, the sensor signal cable connects the positioning sensor 7 and the control center, and the lubricating oil pipeline connects the external oil tank and the lubricating oil nozzle 13 of the milling mechanism 6.

[0053] The three-degree-of-freedom movable gantry realizes XYZ three-axis linkage without mutual interference, and can effectively cover the entire operation area. Since the ship components 15 are basically sheet structures, the ship components 15 are placed parallel to the plane where the X and Y axes are located, and the milling cutter handle 11 of the milling mechanism 6 is parallel to the Z axis, so that the edge rounding of the ship components 15 can be performed.

[0054] The lifting mechanism is installed on the component processing platform 4, and the lifting mechanism includes a support column 5, an oil cylinder or an air cylinder. A plurality of the support columns 5 are arranged in an array on the component processing platform 4, and each support column 5 is embedded and installed on the component processing platform 4 along the vertical direction. The bottom of each support column 5 is connected to an independent oil cylinder or an air cylinder. Each support column 5 is driven by hydraulic or pneumatic means to achieve lifting and lowering controlled by a separate signal. The spacing between the plurality of support columns 5 is designed according to the size of the smallest ship component 15. If the spacing is too large, the number of contact points between the ship component 15 and the support column 5 will be too small to achieve the fixing of the ship component 15. If the spacing is too small, the possibility of interference between the milling cutter of the milling mechanism 6 and the support column 5 will increase.

[0055] When the ship component 15 is placed on the component processing platform 4, all the support columns 5 are raised, and the ship component 15 is lifted up accordingly. The ship component 15 is not only separated from the surface of the component processing platform 4, and its free edge is exposed, which is easy to chamfer, but also the lower surface of the ship component 15 changes from plane contact to multi-point contact. If the material of the support column 5 is a hard material with greater friction, it can be ensured that when the milling cutter of the milling mechanism 6 performs chamfering on the free edge of the ship component 15, the friction force generated by the ship component 15 due to its own weight is greater than the milling force, thereby playing a fixing role.

[0056] During milling, the milling cutter of the milling mechanism 6 moves along the free edge of the ship component 15. If it happens to pass through the raised support column 5 at this time, it may cause malfunction or damage. To avoid such a situation, the coordinates of each support column 5 are judged with the coordinates of the milling cutter fed back in real time. When the straight-line distance between the two points is less than the set safety distance, the corresponding support column 5 is lowered. When the milling cutter passes over it and the distance is greater than the safety distance, these support columns 5 are raised to restore the state of positioning the ship component 15.

[0057] See also Figure 3 and Figure 5The milling mechanism 6 is installed on the slide of the Z-axis moving mechanism 3. The milling mechanism 6 includes a mounting seat 10, a motor, a gearbox, a milling cutter handle 11, a milling cutter blade 12, a lubricating oil nozzle 13, and a multi-dimensional torque sensor 14. The mounting seat 10 is installed on the slide of the Z-axis moving mechanism 3. The motor and the gearbox are installed on the mounting seat 10. The milling cutter handle 11 and the milling cutter blade 12 constitute a milling cutter. The upper end of the milling cutter handle 11 is coaxially connected to the output shaft of the gearbox. The lower end of the milling cutter handle 11 is circumferentially installed with 3-8 milling cutter blades 12. The lubricating oil nozzle 13 is installed on the mounting seat 10 and is arranged downwardly on the side of the milling cutter handle 11. The multi-dimensional torque sensor 14 is coaxially installed on the milling cutter handle 11. Among them, the middle opening of each milling cutter blade 12 can be fixed to the milling cutter handle 11 by screws. The milling cutter blade 12 is provided with two symmetrical blades, each of which is concave and has a 1 / 4 arc shape with R ≥ 2mm. The upper blade of the milling cutter blade 12 is used to chamfer the lower surface of the ship component 15, and the lower blade of the milling cutter blade 12 is used to chamfer the upper surface of the ship component 15, so as to achieve multiple uses of one tool, reduce the frequency of tool change, and save usage costs.

[0058] The controller is installed on the base support of the Y-axis moving mechanism 2, and the controller includes a control panel.

[0059] The material model of the ship component 15 in this embodiment is AH36 steel, and the corresponding free edge normal milling force is 500N. When performing the rounding process, the multi-dimensional torque sensor 14 is used to capture the milling force of the contact between the milling cutter and the edge of the ship component 15 in real time. The milling force under normal operation is 500N. If the actual edge of the ship component 15 protrudes from the model contour, the milling cutter moves along the original path, and the milling force will be greater than 500N. At this time, the force / position hybrid control algorithm embedded in the control system is used to re-optimize and adjust the position of the milling cutter, and the milling cutter is offset to the outside of the theoretical trajectory, just consistent with the actual free edge position, to avoid damage to the prop. Conversely, if the actual edge of the ship component 15 is concave in the model contour, the milling cutter moves along the original path, and the milling force will be less than 500N. At this time, the force / position hybrid control algorithm is used to optimize and adjust the position of the milling cutter, and the milling cutter is offset to the inside of the theoretical trajectory to ensure the edge milling effect.

[0060] The implementation method based on the above device includes the following steps:

[0061] S1. Obtain model data of various types of ship components from ship design software (Tribon), wherein the model data of each type of ship component includes a three-dimensional model, material, processing requirements, and free edge position, and generate a corresponding executable program based on a G-code language through the dedicated software of the device, and store the executable program in the device, wherein the executable program includes a ship component positioning code, a milling cutter path code, a milling cutter setting code, a milling force, and a milling speed;

[0062] S2, using a gantry crane to place the ship component 15 that needs to be processed on the free edge in the working area on the component processing platform 4, and then start the device;

[0063] S3, the support column 5 of the lifting mechanism on the component processing platform 4 rises to lift the ship component 15, and the ship component 15 is fixed by its own weight and the friction force of the support column 5;

[0064] S4, operate the operation panel 9 of the controller, select the type of ship component in the current operation area, and the device will then call the executable program of the type of ship component;

[0065] S5. After confirming that the executable program matches the ship component 15 in the device, execute the executable program:

[0066] S501, executing the ship component positioning code of the executable program, using the positioning sensor 7 to measure the actual positions of two set points on the ship component 15, and calculating the unit vector of the line connecting the two points, to complete the actual position calibration of the ship component 15 in the operating area;

[0067] S502, according to the actual position deviation of the two points on the ship component 15 and the absolute position deviation of the corresponding two points in the milling cutter path code, the parameters in the milling cutter path code are corrected, and the generated milling trajectory is expressed as a translation transformation, according to the angular deviation of the unit vector between the two points on the ship component 15 and the unit vector between the corresponding two points in the milling cutter path code, the parameters in the milling cutter path code are corrected, and the generated milling trajectory is expressed as a rotational translation, thereby completing the offset of the theoretically planned milling cutter path according to the position calibration result, and generating an actual milling trajectory;

[0068] S503, after confirming that the personnel have left the danger zone by using the safety grating 8, the device selects a suitable milling cutter according to the milling cutter setting code of the executable program, and after the cutter self-checks, begins to process the free edge of the upper surface of the ship component 15, see Figure 6 and Figure 7 ;

[0069] S504, after the upper surface processing of the ship component 15 is completed, the device performs a tool self-check again, and then processes the free edge of the lower surface of the ship component 15;

[0070] S6. After the executable program is executed, the ship component 15 is loaded and unloaded onto the pallet using a gantry crane.

[0071] Among them, in the process of processing the free edge of the upper surface of the ship component 15 in S504 and the free edge of the lower surface of the ship component 15 in S505, the multi-dimensional torque sensor 14 and the force / position hybrid control algorithm are relied on to ensure that the milling trajectory tracks the free edge of the ship component 15 in real time, so that the milling normal torque is always maintained at around the set value to ensure the processing quality. At the same time, during the movement of the milling cutter, the coordinates of each support column 5 of the lifting mechanism are judged against the coordinates of the milling cutter fed back in real time, and the support column 5 of the lifting mechanism in the coverage area below the milling cutter automatically descends to avoid collision with the milling cutter.

[0072] It should be noted that the fully described invention may also have a variety of variations and modifications, and is not limited to the specific embodiments described above. The above embodiments are merely illustrative of the invention, not limiting thereof. In short, the scope of protection of the invention should include those variations or substitutions and modifications that are obvious to a person of ordinary skill in the art.

Claims

1. A device for processing the free edge of a ship component, characterized in that: It includes a three-degree-of-freedom movable gantry, a component processing platform, a lifting mechanism, a milling mechanism, and a controller; The three-degree-of-freedom movable gantry includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a positioning sensor, wherein the X-axis moving mechanism is arranged on the side of the component processing platform, the Y-axis moving mechanism is arranged above the component processing platform and is perpendicular to the X-axis moving mechanism in the horizontal direction, the Y-axis moving mechanism is installed on the X-axis moving mechanism and moves under the drive of the X-axis moving mechanism, and the Z-axis moving mechanism is installed on the Y-axis moving mechanism and moves under the drive of the Y-axis moving mechanism; The component processing platform is equipped with a lifting mechanism, which includes a support column, an oil cylinder or an air cylinder. A plurality of the support columns are embedded in the component processing platform, and the bottom of each support column is connected to an independent oil cylinder or an air cylinder. The milling mechanism is installed on the Z-axis moving mechanism of the three-degree-of-freedom movable gantry and moves driven by the Z-axis moving mechanism. The milling mechanism includes a motor, a gearbox, a milling cutter, and a multi-dimensional torque sensor. The multi-dimensional torque sensor is coaxially installed on the milling cutter. The controller is connected with a three-degree-of-freedom movable gantry, a lifting mechanism, and a milling mechanism; The milling mechanism also includes a mounting seat and a lubricating oil nozzle, wherein the mounting seat is mounted on the Z-axis moving mechanism, and the lubricating oil nozzle is mounted on the mounting seat; the motor and the gearbox are mounted on the mounting seat, and the milling cutter includes a milling cutter handle and a milling cutter blade, wherein the milling cutter handle is arranged vertically, the upper end of the milling cutter handle is connected to the output shaft of the gearbox, and the lower end of the milling cutter handle is circumferentially mounted with 3-8 milling cutter blades; Each of the milling cutter blades is provided with two symmetrical blades, each of which is concave and has a 1 / 4 arc shape with R ≥ 2mm; the multiple support columns of the lifting mechanism are arranged in an array on the component processing platform; during the movement of the milling cutter, the coordinates of each support column of the lifting mechanism are judged against the coordinates of the milling cutter fed back in real time, and the support columns in the coverage area below the milling cutter are controlled to automatically descend to avoid collision with the milling cutter.

2. The device for processing the free edge of a ship component according to claim 1, characterized in that: The X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism all include a base, a linear guide, a slide, a rack, a servo reduction motor, and a gear; the linear guide and the rack are both installed on the base, the rack is arranged along the linear guide, the servo reduction motor is installed on the slide and its output shaft is connected to a gear, and the gear is meshed with the rack to realize transmission.

3. The device for processing the free edge of a ship component according to claim 2, characterized in that: The X-axis moving mechanism is a double linear guide structure and is respectively installed on both sides of the component processing platform; the two ends of the base of the Y-axis moving mechanism are respectively installed on the slide of the double linear guide of the X-axis moving mechanism through the base bracket, and a positioning sensor is installed on the base of the Y-axis moving mechanism; the base of the Z-axis moving mechanism is installed on the slide of the Z-axis moving mechanism.

4. The device for processing the free edge of a ship component according to claim 3, characterized in that: The X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism all further include a drag chain groove, a drag chain bracket, and a drag chain. The drag chain groove is installed on a base and is parallel to the linear guide rail. The drag chain bracket is installed on one end of a slide seat. The drag chain is arranged in the drag chain groove and one end thereof is connected to the drag chain bracket. The three-degree-of-freedom movable gantry further includes a safety grating, and the safety grating is installed on the base bracket of the Y-axis moving mechanism.

5. A method for implementing the device for processing the free edge of a ship component according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1. Obtain model data of various types of ship components from the ship design software, generate executable programs corresponding to various types of ship components through the dedicated software of the device, and store the executable programs in the device; S2. Place the ship component that needs free edge processing in the working area on the component processing platform, and then start the device; S3, the support column of the lifting mechanism on the component processing platform rises to lift the ship component, and the ship component is fixed by the deadweight and the friction force of the support column; S4, the operation panel of the operation controller selects the type of ship component in the current operation area, and the device then calls the corresponding executable program; S5. Execute the executable program: S501, calibrating the actual position of the ship component in the operating area using a positioning sensor; S502, according to the position calibration result, the theoretically planned milling cutter path in the executable program is corrected to generate an actual milling trajectory; S503, selecting a suitable milling cutter, and starting to process the free edge of the upper surface of the ship component after the tool self-checks; S504, performing tool self-check again, and then processing the free edge of the lower surface of the ship component; S6. After the executable program is executed, the ship components are loaded and unloaded onto the pallet.

6. A method for implementing the device for processing the free edge of a ship component according to claim 5, characterized in that: In step S501, the positioning sensor measures the actual positions of two points set on the ship component and calculates the unit vector of the line connecting the two points; In step S502, the milling cutter path in the executable program is corrected according to the absolute position deviation between the actual position of the two points on the ship component and the two points set in the executable program and the angular deviation between the unit vector between the two points on the ship component and the unit vector between the two points set in the executable program.

7. A method for implementing the device for processing the free edge of a ship component according to claim 5 or 6, characterized in that: In steps S503 and S504, the multi-dimensional torque sensor of the milling mechanism and the force / position hybrid control algorithm are relied upon to ensure that the milling trajectory tracks the free edge of the ship component in real time, so that the milling normal torque is always kept within the set value range.

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