Cold and hot integrated ship bent plate forming machining method and forming equipment thereof

Abstract

The invention discloses a cold and hot integrated ship curved plate forming processing method and forming equipment thereof.The method comprises the steps that a first roller conveying belt is controlled to convey a ship plate to a three-roller plate rolling machine for cold machining to obtain a curved plate, a second roller conveying belt conveys the curved plate to a laser detection device in front, and the laser detection device obtains a model of the curved plate; the control device compares the bent plate model with a theoretical bent plate model, feeds back deviation data of the bent plate subjected to cold machining based on the compared data, compares the deviation data with the theoretical model, and reversely transmits the bent plate subjected to hot machining to the detection platform through a third roller conveying belt; three-dimensional point cloud data of the bent plate after hot processing is obtained through a laser scanner, and a ship bent plate model after hot processing is established. According to the ship bent plate hot-cold integrated processing method, a set of complete closed-loop forming processing system is formed from establishment of a ship bent plate database to final hot-cold integrated processing forming, the processing efficiency is improved through the integrated processing flow, the forming precision of the ship bent plate is improved, and the ship bent plate hot-cold integrated processing system is suitable for large-scale popularization and application. And the finished product quality meets the standard requirement.

Description

Technical Field

[0001] The invention relates to the technical field of ship processing and manufacturing, and in particular to a method and a forming device for forming a ship curved plate through hot and cold integration. Background Art

[0002] Hull curved plates refer to the curved outer plates that constitute the bow and stern of the hull. They are an important part of the outer plates of ships. With the advancement of shipbuilding technology and the continuous improvement of ship performance requirements, the manufacturing accuracy of hull curved plates has become an important indicator for measuring the level of shipbuilding. At present, the processing technology of hull curved plates is mainly divided into two categories: single-curvature curved plates and double-curvature curved plates. For single-curvature outer plates, mechanical cold bending is usually used for cold processing. This method mainly relies on equipment such as three-core rollers or hydraulic presses to complete the forming work. For more complex double-curvature outer plates, hot processing forming technology is often used, especially water-fire bending technology. Water-fire bending technology softens the steel plate by local heating, and then uses water cooling to quickly shape it. This method can better handle plates with complex curved surfaces and can effectively ensure the accuracy and quality of the curved plates.

[0003] At present, there have been many research and technological achievements on the forming processing of curved outer plates of ships, but most of these technologies are concentrated on a single cold processing or hot processing forming method. For example, China Invention Patent Publication No. CN115946202A discloses a cold processing forming method for curved outer plates of ships. This method significantly improves the efficiency of outer plate curved surface processing, reduces unnecessary material finishing workload, and shortens the period of hull segment construction, but is limited to cold bending processing, which is difficult to meet certain specific curvature requirements. China Invention Patent Publication No. CN115740138A discloses a ship curved plate forming method and forming equipment based on digital twins. Through the effective combination of three-dimensional simulation analysis and plate bending machine, the forming process of the curved plate is continuously optimized, and mold processing is performed according to the simulation results to ensure continuous improvement in the forming process, but the additional manufacturing of molds will reduce the working efficiency of curved plate forming. For example, Chinese invention patent publication number CN113953355A discloses a method for forming curved plates using a three-dimensional CNC plate bending machine, which can effectively predict and control the deformation and springback phenomena that may occur in the curved plates during the forming process, reduce the need for multiple processing, and improve the forming efficiency of the curved plates. However, it is also limited to the scope of cold processing and cannot perform higher-precision processing on the curved plates.

[0004] Current equipment and technology mainly focus on two independent methods and related equipment: cold forming or hot forming. Cold forming and hot forming are often not organically combined to form a comprehensive solution. In the process of curved plate forming, cold forming and hot forming are usually regarded as two separate processes. This separate processing mode not only increases the production cycle, but also leads to limited detection accuracy and increased labor costs due to reliance on manual inspection, which ultimately affects the molding accuracy and quality of the product. Therefore, there is an urgent need for a new type of composite curved plate forming processing method and system that can achieve integrated cold and hot processing, intelligent processing quality inspection, and automatic rework. Summary of the invention

[0005] In view of the defects in the above-mentioned prior art, the present invention provides a cold and hot integrated curved plate forming processing method and forming processing equipment, which combines cold processing or hot processing forming, does not require additional mold manufacturing, realizes cold and hot integrated processing, intelligent processing quality inspection and automatic rework, and improves the molding accuracy and quality of the product.

[0006] The present invention provides a method for forming a cold and hot integrated curved plate, and the technical solution adopted comprises the following steps:

[0007] Step 1): The control device is embedded with a ship curved plate database, controls the first roller conveyor belt to convey the ship plate to the three-roller plate rolling machine, the three-roller plate rolling machine rolls the ship plate in, and performs cold processing on the ship plate to obtain a curved plate according to the data sent by the control device, and the second roller conveyor belt conveys the curved plate to the laser detection device in front;

[0008] Step 2): The laser detection device obtains the model of the curved plate and sends it to the control device. The curved plate model of the control device is compared with the theoretical curved plate model. Based on the compared data, the deviation data of the curved plate after cold working is fed back and compared with the theoretical model. The deviation details and standard error range are input into the control device as supplementary information;

[0009] Step 3): Set the parameters of electromagnetic induction heating, the curved plate is transferred to the thermal processing platform through the third roller conveyor, and the five-axis robot controls the electromagnetic induction heater to move in the three-dimensional space above the curved plate for thermal processing.

[0010] Step 4): The curved plate after the heat treatment is then transmitted back to the detection platform through the third roller conveyor belt, and the three-dimensional point cloud data of the curved plate after the heat treatment is obtained by a laser scanner, and a ship curved plate model after the heat treatment is established. The control device compares the ship curved plate model after the heat treatment with the theoretical curved plate model and makes a compliance judgment to obtain the compliance result.

[0011] Step 5): Store all deviation data, processing parameters and detection models of cold processing and hot processing into the ship curved plate database, and optimize the processing technology of the next curved plate based on the generated processing data.

[0012] The technical solution adopted by the hot and cold integrated curved plate forming and processing equipment of the present invention is: it includes the first, second and third roller conveyor belts, a three-core roller plate rolling machine, a laser detection device, a heat processing platform, an electromagnetic induction heating device, a five-axis robot arm and a control device, the first roller conveyor belt, the second and third roller conveyor belts are fixed on the ground in a manner parallel to the ground from back to front; laser detection devices are installed on the left and right sides in front of the second roller conveyor belt, the laser detection device has a horizontal detection platform, the middle of the detection platform is the conveyor belt, and a laser scanner is arranged on the left and right sides of the conveyor belt; in front of the laser detection device is the third roller conveyor belt, in front of the third roller conveyor belt is the heat processing platform, in front of the heat processing platform is the five-axis robot arm, on the right side of the heat processing platform is the electromagnetic induction heating device, and next to the electromagnetic induction heating device is placed The electromagnetic induction heating device includes a water cooler, a high-frequency induction power supply and an electromagnetic induction heater connected in sequence; the five-axis robot arm includes five arms, wherein the first arm is rotatably connected to the rotating shaft seat around a first axis X1 perpendicular to the ground, the second arm is rotatably connected to the upper side of the first arm around a second axis X2 parallel to the ground, the third arm is rotatably connected to the rotating end of the left side of the second arm around a third axis X3 extending in a direction parallel to the second axis X2, the fourth arm extends downward from one side of the third arm and is rotatably installed with the third arm around a fourth axis X4 extending in a direction intersecting the third axis X3; the fixed clamping device is rotatably connected to the front end of the fourth arm around a fifth axis X5 extending in a direction intersecting the fourth axis X4; the electromagnetic induction heater is mounted on the five-axis robot arm through the fixed clamping device.

[0013] Compared with the prior art, the advantages and beneficial effects of the present invention include:

[0014] 1. The current equipment and technology mainly focus on two independent methods and related equipment of cold processing or hot processing. The present invention forms a complete closed-loop forming system from the establishment of a ship curved plate database to the final cold and hot integrated processing. The integrated processing flow improves the processing efficiency, improves the forming accuracy of the ship curved plate, and ensures that the quality of the finished product meets the standard requirements.

[0015] 2. By comparing the ship plate model after mechanical cold bending with the theoretical model, the deviation data is used to guide the subsequent processing steps, realizing a data-driven optimization mechanism, reducing material waste caused by processing errors, and reducing production costs.

[0016] 3. Automated testing of ship plates reduces the impact of human factors, can more accurately identify the location and deviation of plates that do not meet the standards, and improves the detection accuracy. Compared with traditional manual testing methods, automated testing is faster and can accelerate the entire production process and improve production efficiency. Through standardized testing procedures, it is ensured that each ship plate meets the unified quality standards, which not only enhances the consistency of product quality, but also improves reliability.

[0017] 4. Combined with the ship curved plate database, the hot and cold integrated forming plan of ship plates is automatically formulated, which reduces human intervention, improves the automation and intelligence level of the forming process, speeds up the production cycle of ship manufacturing, and improves production efficiency. Through the application of electromagnetic induction heating forming technology, the problem of complex shape curved plate forming that is difficult to handle by traditional methods is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of a hot-cold integrated curved plate forming and processing equipment of the present invention;

[0019] Figure 2 for Figure 1 Schematic diagram of the intercooling process;

[0020] Figure 3 for Figure 1 Schematic diagram of the laser scanner process;

[0021] Figure 4 for Figure 1 Schematic diagram of electromagnetic induction heating device;

[0022] Figure 5 for Figure 1 Schematic diagram of the structure of the five-axis robotic arm;

[0023] Figure 6 for Figure 1 Schematic diagram of the structure of the five-axis robot arm and the electromagnetic induction heater;

[0024] Figure 7 It is a schematic diagram of the whole process of the hot-cold integrated curved plate forming processing method of the present invention;

[0025] Figure 8 for Figure 7 Schematic diagram of the thermal processing process;

[0026] Fig. 9 This is a flow chart of the hot and cold integrated curved plate forming processing method of the present invention. DETAILED DESCRIPTION

[0027] In order to clearly explain the purpose, technical solutions and advantages of the present invention, specific embodiments are described in detail below in conjunction with the accompanying drawings.

[0028] like Figure 1 As shown, a hot and cold integrated curved plate forming processing equipment of the present invention includes: a first roller conveyor belt 101, a second roller conveyor belt 102, a third roller conveyor belt 103, a three-core roller bending machine 200, a laser detection device 400, a hot processing platform 5, an electromagnetic induction heating device 600, a five-axis robot arm 700 and a control device 800.

[0029] The first roller conveyor belt 101, the second roller conveyor belt 102 and the third roller conveyor belt 103 are all fixed on the ground in a manner parallel to the ground, and each roller of the three roller conveyor belts rotates in the same direction with an axis parallel to the ground. A three-core roller plate rolling machine 200 is installed in front of the first roller conveyor belt 101, and is fixedly installed with the first roller conveyor belt 101 through a first fixed shaft 3. In front of the three-core roller plate rolling machine 200 is the second roller conveyor belt 102, and the second roller conveyor belt 102 is fixedly installed with the three-core roller plate rolling machine 200 through the first fixed shaft 3, so that the first roller conveyor belt 101, the three-core roller plate rolling machine 200 and the second roller conveyor belt 102 are fixed together in sequence from back to front.

[0030] like Figure 2 As shown, the three-core roller plate rolling machine 200 has a frame 202, a base 201, two left and right bases 201, an upper roller 203 and two lower rollers 204, 205. The frame 202 is symmetrically installed on the left and right sides and fixed on the frame 202 of the three-core roller plate rolling machine 200, and the frame 202 is fixed on the ground. The frame 202 of the three-core roller plate rolling machine 200 is installed with the first and second roller conveyor belts 101, 102 through the first fixed shaft 3. An upper roller 203 and two lower rollers 204, 205 are arranged in a triangle and installed on the base 201. The upper roller 203 and the lower rollers 204, 205 can rotate around the axis in the left and right direction parallel to the ground, and the upper roller 203 can move up and down in the direction perpendicular to the ground at the same time. The power assembly is fixedly mounted on the base 201 on the left side of the three-roller plate rolling machine 200, and is connected to the upper roller 203 and the lower rollers 204, 205 through pulleys and gears, driving the upper roller 203 and the lower rollers 204, 205 to rotate and the upper roller 203 to move up and down.

[0031] like Figure 1 As shown, laser detection devices 400 are installed on both sides of the front of the second roller conveyor belt 102. The laser detection device 400 has a horizontal detection platform 410. The detection platform 410 is installed with the second roller conveyor belt 102 and the third roller conveyor belt 103 through the second fixed shaft 3. Figure 3As shown, the conveyor belt 411 is located in the middle of the detection platform 410. The conveyor belt 411 is at the same height as the second roller conveyor belt 102 and the third roller conveyor belt 103, which is convenient for the transmission of the curved plate 902. The laser detection device 420 is symmetrically placed on both sides of the detection platform 410 and fixed on the ground, and is used to detect the curved plate 902 on the conveyor belt 411.

[0032] A laser scanner 420 is arranged on both sides of the conveyor belt 411. The laser scanner 420 is fixed to the ground through a base. A track 421 in the front-rear direction is installed on the upper end of the laser scanner 420. A three-dimensional scanner 403 is installed on each track 421. The three-dimensional scanner 403 can move forward and backward parallel to the ground along the corresponding track 421.

[0033] like Figure 1 As shown, a third roller conveyor belt 103 is installed in front of the laser detection device 400 through a third fixed axis 3, a heat treatment platform 5 is in front of the third roller conveyor belt 103, the third roller conveyor belt 103 and the heat treatment platform 5 are installed through a fourth fixed axis 3, a five-axis robot arm 700 and its base 701 are installed in front of the heat treatment platform 5, an electromagnetic induction heating device 600 is placed on the right side of the heat treatment platform 5, and a control device 800 is placed next to the electromagnetic induction heating device 600.

[0034] like Figure 4 As shown, the electromagnetic induction heating device 600 includes a water cooler 610, a high-frequency induction power supply 620 and an electromagnetic induction heater 605 connected in sequence. A display screen 613, a switch button 611, a control button 612 and a heat dissipation hole 614 are provided on the water cooler 610. The display screen 613 is used to display the working temperature, power and other data of the water cooler 610 during the electromagnetic induction heating process. The heat dissipation hole 614 is used for heat dissipation. The water cooler 610 is connected to the high-frequency induction power supply 620 through an input coaxial cable 603 and an output coaxial cable 604 to transmit electric energy and circulating cold water during the thermal processing process. A display screen 623, a switch knob 621 and a control button 622 are provided on the high-frequency induction power supply 620. The display screen 623 is used to display the current intensity, heating frequency and other parameters of the electromagnetic induction heater 605 during the electromagnetic induction heating process. The electromagnetic induction heater 605 is connected to the high-frequency induction power supply 620 through a coaxial cable 606.

[0035] like Figure 5As shown, the five-axis robot arm 700 includes five arms, wherein the first arm 730 is rotatably connected to the rotating shaft seat 702 around a first axis X1 perpendicular to the ground, the second arm 740 is rotatably connected to the upper side of the first arm 730 around a second axis X2 parallel to the ground, the third arm 750 is rotatably connected to the rotating end on the left side of the second arm 740 around a third axis X3 extending in a direction parallel to the second axis X2, and the fourth arm 760 extends downward from one side of the third arm 750 and is rotatably installed with the third arm 750 around a fourth axis X4 extending in a direction intersecting the third axis X3. The fixed clamping device 770 is rotatably connected to the front end of the fourth arm 760 around a fifth axis X5 extending in a direction intersecting the fourth axis X4. As shown Figure 6 As shown, the electromagnetic induction heater 605 is mounted on the five-axis robot arm 700 via a fixed clamping device 770 .

[0036] The touch display screen of the control device 800 is located at the upper end of the control device. It is used to display the relevant parameters of each link of the hot and cold integrated curved plate forming processing equipment during the working process and to perform human-computer interaction with the operator. The switch button, start button, emergency stop button, digital and control buttons on the control device 800 are located below the touch display screen.

[0037] The first roller conveyor 101, the three-core roller plate rolling machine 200, the second roller conveyor 102, the laser detection device 400, the third roller conveyor 103, the hot processing platform 5 and the five-axis robot 700, as well as the electromagnetic induction heating device 600 and the control device 8000 are arranged from back to front to realize the cold and hot integrated curved plate forming process. The cold and hot integrated processing of the ship curved plate is realized by combining the three-core roller plate rolling machine 200 to perform cold processing on the ship plate and the electromagnetic induction heating device 600 to perform hot processing. The closed-loop curved plate forming processing system of intelligent processing quality detection and automatic rework is realized by combining the laser detection device 400 with the control device 800.

[0038] like Figure 7As shown, the control device 800 has a built-in ship curved plate database, and controls the cold processing, three-dimensional detection, and hot processing links; the three-core roller plate rolling machine 200 first cold processes the ship plate 901 to obtain the ship curved plate 902, and then obtains the ship curved plate model of the cold-processed curved plate 902 through the laser detection device 400, and hot processes the cold-processed curved plate 902 through the electromagnetic induction heating device 600 and the five-axis robot 700, and transports the plates to be processed through the first, second, and third roller conveyor belts 101, 102, and 103. Through the roller conveyor belts 101, 102, and 103, the three-core roller plate rolling machine 200, the laser detection device 400, the hot processing platform 5, the electromagnetic induction heating device 600, the five-axis robot 700, and the control device 800, a closed-loop curved plate forming processing system for integrated cold and hot curved plate forming processing, intelligent processing quality detection, and automatic rework of the ship plate 901 to the ship curved plate 902 is realized. Fig. 9 As shown, the specific working steps are as follows:

[0039] Step 1, establish a ship curved plate database in the control device 800, including; a basic information library of ship curved plates, a theoretical model library of ship curved plates at different parts of the hull, a mechanical cold bending processing plan for ship curved plates, standard requirements for ship curved plate delivery, a ship curved plate deviation data compliance judgment system, and a ship curved plate electromagnetic induction heating forming plan formulation system.

[0040] The basic information library of ship curved plates includes curved plate number, purpose, material, geometric parameters, material properties and processing parameters; the geometric parameters include plane size, three-dimensional curvature, boundary shape and key point coordinates; the material properties include material strength, corrosion resistance, welding adaptability; the processing parameters include hot and cold integrated processing mode, heating current, heating frequency, heating time, etc. The theoretical model library of ship curved plates includes two-dimensional design drawings, three-dimensional models, reference surfaces and grid divisions. The absolutely accurate theoretical models of the bow, stern and other hull parts established by finite element software are the most standard references. The mechanical cold bending processing scheme of ship curved plates includes formulating the mechanical cold bending processing scheme of ship curved plates according to the theoretical curved plate model of the hull curved plate, and determining the plate feed speed, bending angle, roller pressure and speed required for cold bending of different types of ship plates by three-core rollers. The standard requirements for the delivery of ship curved plates include screening out the allowable error range of different types of curved plates in various parts of the hull in the delivery requirements according to the standard manual of hull delivery requirements. The ship curved plate deviation data compliance judgment system includes executing the obtained ship curved plate deviation data after mechanical cold bending and the allowable error range required by the ship curved plate delivery standard to make a compliance judgment, and obtaining a result of whether it is in compliance with the standard. The ship curved plate electromagnetic induction heating forming plan formulation system includes obtaining the secondary processing forming requirements of the ship plate based on the ship curved plate deviation data after mechanical cold bending and the theoretical curved plate model, combined with the allowable error range required by the ship curved plate delivery standard, and obtaining the heating position, process method, heating current, heating frequency, heating time and other parameters of electromagnetic induction heating forming according to the forming requirements.

[0041] Step 2: The control device 800 works, turns on the switch button 611 of the water cooler 610 and the switch knob 621 of the high-frequency induction power supply 620, and selects the model, thickness and theoretical model of the ship curved plate 902 to be processed in the control device 800 through the touch display screen 801. The control device 800 formulates a cold bending processing plan for the ship curved plate, determines the plate feed speed, bending angle, pressure and speed of the roller, and transmits the relevant parameters to the three-roller rolling machine 200, and the equipment starts to run.

[0042] Step three, such as Figure 2As shown, the cold working process of the ship curved plate is carried out, the ship plate 901 is conveyed to the vicinity of the three-roller plate rolling machine 200 by the first roller conveyor belt 101, the three-roller plate rolling machine 200 rolls the plate 901 in, and the ship plate 901 is cold worked according to the parameters sent by the control device 800, specifically, the upper roller 203 and the lower rollers 204, 205 rotate at the plate feeding speed sent by the control device 800, the upper roller 203 and the lower rollers 204, 205 rotate in opposite directions, during the rotation, the upper roller 203 moves downward in a direction perpendicular to the ground according to the pressure and speed parameters sent by the control device 800, and at the same time, the upper and lower rollers 204, 205 rotate in reverse to complete the cold working, after the feeding of the three-core roller plate rolling machine 200 is completed, the second roller conveyor belt 102 conveys the cold worked curved plate 902 to the laser detection device 400 in front.

[0043] Step 4: Figure 3 As shown, the curved plate 902 after cold processing is conveyed to the detection platform 410 by the conveyor belt 411, and the ship curved plate model of the curved plate 902 after cold processing is obtained by the laser scanners located on both sides of the detection platform. During the detection process, the three-dimensional scanner 403 installed on the track 421 obtains the three-dimensional point cloud data of the curved plate 902 after cold processing. Further, the three-dimensional scanner 403 moves along the track 421 to obtain the three-dimensional point cloud data of the curved plate 902 at multiple different positions, and the three-dimensional point cloud data at different angles are aligned through coordinate unification processing to obtain the complete three-dimensional point cloud data of the curved plate 902, establish the ship curved plate model after cold processing, and send the model to the control device 800 for storage.

[0044] Step five, in the control device 800, the ship curved plate model of the curved plate 902 is compared with the theoretical curved plate model selected in step two, mainly to evaluate the geometric consistency between the acquired ship curved plate model of the curved plate 902 and the theoretical ship curved plate model, and compare the size and shape features on three orthogonal planes in three-dimensional space, namely, the XOY plane, the XOZ plane and the YOZ plane.

[0045] Step six, based on the data after comparing the ship curved plate model of the curved plate 902 in step five with the theoretical curved plate model, the deviation data of the curved plate 902 after cold processing is fed back, including but not limited to detailed information such as the position deviation value, angle deviation value and its distribution of each detection point, to generate a deviation analysis report of the ship curved plate.

[0046] Step seven, in the ship curved plate deviation data compliance judgment system of the control device 800, a deviation analysis report is generated based on the deviation data of the curved plate 902 obtained in step five, and the compliance of the ship plate model after mechanical cold bending is judged in combination with the ship curved plate delivery standard requirements in the ship curved plate database, and the allowable error range of the ship curved plate delivery standard requirements is compared to obtain the compliance result.

[0047] Furthermore, if the deviation of the curved plate is within the allowable range, it is judged to be qualified and the forming process is terminated. If the result is unqualified, step eight is entered.

[0048] Step 8, in the system for formulating the electromagnetic induction heating forming scheme for the ship curved plate, the control device 800 compares and analyzes the deviation data of the curved plate 902 obtained in step 6 with the theoretical model in the ship curved plate database. The resulting deviation analysis report not only covers detailed information such as the position deviation value, angle deviation value and its distribution of each detection point, but also combines the allowable error range specified in the ship curved plate delivery standard to determine whether the curved plate 902 needs to be processed and formed for the second time, and to clarify its specific requirements. Based on these secondary processing requirements, the deviation details such as the bending radius and bending angle of the current curved plate 902 and the standard error range are input into the control device 800 as supplementary information. Subsequently, the electromagnetic induction heating forming scheme formulation system in the ship curved plate database is used to combine the known ship curved plate 901 information in the second step with the newly added information to accurately set the parameters of electromagnetic induction heating, including heating position, process method, current intensity, frequency and heating time, so as to form a detailed electromagnetic induction heating processing scheme. The heating scheme is sent to the electromagnetic induction heating device 600 and the 5-axis robot 700, and the curved plate 902 is accurately transferred to the thermal processing platform 5 through the roller conveyor 103, ready to receive the heating treatment performed according to the above scheme.

[0049] Step nine, such as Figure 5 , 6 and Figure 8 As shown, the electromagnetic induction device 600 is started to perform thermal processing on the curved plate 902. The electromagnetic induction device 600 performs electromagnetic induction thermal processing according to the parameters sent by the control device 800. The display screen mainly displays the current water inlet temperature and water outlet temperature of the water cooler, that is, the operating status of the internal cooling fan. The display screen mainly displays the current current intensity, heating frequency and heating time of the electromagnetic induction heater, as well as the operating status of the electromagnetic induction heater. The electromagnetic induction heater 605 is installed on the fixed clamping device of the five-axis robot 700 and moves in three-dimensional space according to the heating position sent by the control device 800.

[0050] Furthermore, the first arm is rotatably connected to the X1 axis perpendicular to the ground, and the electromagnetic induction heater 605 installed on the fixed clamping device 770 can be controlled to be positioned above the processing curved plate 902 in the XOY plane. The second arm 740 is connected to the first arm 730, so that it can rotate around the Z axis and the X2 axis at the same time, and the electromagnetic induction heater 605 can be controlled to be positioned close to the surface of the processing curved plate 902 in the XOY plane and the ZOY plane. The third arm 750 is rotatably connected to the X3 axis parallel to the ground and the X2 axis. After the first arm 730 and the second arm 740 have completed their movements, they move around the X axis. The fourth arm 760 is rotatably connected to extend Later on the third arm 750, due to the rotation of the third arm 750 around the axis X3 and the rotation of the second arm 740 around the axis X2, the fourth arm 760 can extend downward close to the surface of the curved plate 902, the fourth arm 760 can be rotatably installed around the axis X4, and the fixed clamping device 770 can be rotatably installed around the axis X5. After the rotation of the first arm 730 is completed, that is, after the first arm 730 stops rotating at the position to be heated in the XOY plane, the second arm 740 and the third arm 75 drive the electromagnetic induction heater 605 to approach the curved plate 902 to be processed, and the fourth arm 760 and the fixed clamping device 770 drive the electromagnetic induction heater 605 to perform electromagnetic induction heating on the curved plate 902.

[0051] For example: According to the error analysis report generated in step six, the ship plate model after mechanical cold bending is judged to be in compliance with the ship curved plate delivery standard requirements in the ship curved plate database. The bending angle of curved plate 902 does not meet the allowable error range required by the ship curved plate delivery standard, and secondary processing is required to meet the delivery standard requirements. The bending angle error is fed back to the control device 800 as supplementary information, and the electromagnetic induction heating forming plan formulation system in the ship curved plate database is used to combine the known ship curved plate 901 information and feedback information in the second step to accurately set the parameters of electromagnetic induction heating - including heating position, process method, current intensity, frequency and heating time, to form a detailed electromagnetic induction heating processing plan.

[0052] When the electromagnetic induction device 600 is started to prepare for hot processing of the curved plate 902, the fixed clamping device on the five-axis robot 700 first moves the electromagnetic induction heater 605 to the initial heating position. The specific operation is as follows: the first arm 730 rotates clockwise around the X1 axis perpendicular to the ground, so that the fourth arm 760 moves above the hot processing platform 5 and ensures that it is parallel to the length direction of the platform. Then, the second arm 740 rotates in the Z axis and X2 axis directions so that the electromagnetic induction heater 605 can approach the surface of the curved plate 902. The third arm 750 rotates along the X3 axis parallel to the ground and consistent with the X2 axis. After the first arm 730 and the second arm 740 complete the movement, the position of the electromagnetic induction heater 605 is further adjusted to make it close to the curved plate 902 along the X axis. The fourth arm 760 is connected to the third arm 750 and can rotate around the X4 axis along its extension. As the third arm 750 rotates around the X3 axis and the second arm 740 rotates around the X2 axis, the electromagnetic induction heater 605 fixed on the clamping device 770 is ensured to fit the curved plate 902. Finally, the fixed clamping device 770 rotates around the X5 axis to provide the electromagnetic induction heater 605 with the final angle adjustment to ensure that the heater can accurately contact the surface of the curved plate 902. Once the electromagnetic induction heater 605 reaches the designated heating position, the heating task is performed according to the preset electromagnetic induction heating processing scheme. After each heating is completed, the third arm 750 will rotate around the X3 axis to lift the fourth arm 760 to prevent the fixed clamping device 770 and the electromagnetic induction heater 605 from colliding with the curved plate 902. Subsequently, the robot arm moves to the next heating position to continue processing until the entire thermal processing scheme is completed. After completion, the 5-axis robot arm 700 returns to the initial position to prepare for the next round of work.

[0053] Step 10: The curved plate after the heat treatment is reversely transmitted to the detection platform 410 of the laser detection device 400 through the roller conveyor 103, and the three-dimensional point cloud data of the curved plate of the ship after the heat treatment is obtained by the laser scanner 420 located on both sides of the detection platform, and the model of the curved plate of the ship after the heat treatment is established, and the model is sent to the control device 800. In the control device 800, the curved plate model of the ship after the heat treatment is compared with the theoretical curved plate model selected in step 2 and the compliance is judged to obtain the compliance result.

[0054] Furthermore, if the deviation data of the hot-processed curved plate meets the delivery standard requirements, the process ends; otherwise, the process goes to step eight to perform hot processing again. The unqualified curved plate is adjusted multiple times until it is qualified.

[0055] Step 11: Store all deviation data, processing parameters, and inspection models of cold and hot processing into the ship curved plate database. Optimize the processing technology of the next curved plate based on the generated processing data. Adjust the theoretical model and processing plan for complex curved plates to improve subsequent production efficiency and accuracy. Generate processing history records to facilitate quality traceability and subsequent maintenance. Attach unique numbers and quality inspection marks to qualified curved plates 902. Transport the formed curved plates to the designated storage area via roller conveyor belts.

[0056] Step 12, record the deviation data of the bent plate after forming in detail, including the position deviation, angle deviation and distribution of the inspection points after cold processing and hot processing, and clearly mark the areas that exceed the allowable error range. Completely record the processing parameters used in the cold bending and hot processing processes, including the pressure, speed, feed speed of the rollers, and the current, frequency, time and heating path of electromagnetic induction heating. Generate a visualization chart of the processing path, including the process of the bent plate from the initial plate to the forming, marking the key processes and inspection nodes for quality analysis. Output the inspection report of the final formed bent plate, bind the inspection report to the unique number of the bent plate, and store it in the ship bent plate database to ensure that the report data is traceable and corresponds to the specific bent plate. Generate standardized output files for each bent plate as needed for quick review and verification by the delivery team or auditors.

[0057] Step 13: All the data of the processing and testing of the curved plate, including the original 3D model, the detection point cloud data, the deviation analysis results, the processing parameters, the equipment status data and the final test report of the formed curved plate, are sorted and organized according to the cold processing and hot processing links. All the data of the processing and testing of the curved plate are backed up to an independent storage system to ensure data security. The relevant information is archived according to the curved plate number for subsequent retrieval.

Claims

1. A hot and cold integrated ship curved plate forming processing method, characterized in that The following steps are involved: Step 1): the control device (800) is embedded with a ship curved plate database, controls the first roller conveyor (101) to convey the ship plate (901) to the three-roller plate rolling machine (200), the three-roller plate rolling machine (200) rolls the ship plate (901) in, and performs cold processing on the ship plate (901) according to the data sent by the control device (800) to obtain a curved plate (902), and the second roller conveyor (102) conveys the curved plate (902) to the laser detection device (400) in front; Step 2): The laser detection device (400) obtains the model of the curved plate (902) and sends it to the control device (800). The control device (800) compares the curved plate model with the theoretical curved plate model, and based on the compared data, feedbacks the deviation data of the curved plate (902) after cold working, and compares it with the theoretical model, and inputs the deviation details and standard error range as supplementary information into the control device (800); Step 3): Setting the parameters of electromagnetic induction heating, the curved plate (902) is transferred to the thermal processing platform (5) via the third roller conveyor belt (103), and the five-axis robot arm (700) controls the electromagnetic induction heater (605) to move in the three-dimensional space above the curved plate (902) to perform thermal processing; Step 4): The curved plate (902) after the heat treatment is then transmitted back to the detection platform (410) via the third roller conveyor belt (103), and the three-dimensional point cloud data of the curved plate after the heat treatment is obtained by the laser scanner (420), and a ship curved plate model after the heat treatment is established. The control device (800) compares the ship curved plate model after the heat treatment with the theoretical curved plate model and determines whether it is in compliance with the standard, and obtains the compliance result. Step 5) All the deviation data, processing parameters and detection models of cold processing and hot processing are stored in the ship curved plate database, and the processing technology of the next curved plate is optimized based on the generated processing data.

2. The method for forming a cold and hot integrated ship curved plate according to claim 1, characterized in that: The ship curved plate database includes: basic information database of ship curved plates, theoretical model library of ship curved plates in different parts of the hull, mechanical cold bending processing scheme of ship curved plates, standard requirements for delivery of ship curved plates, standard judgment system for deviation data of ship curved plates, and electromagnetic induction heating forming scheme formulation system for ship curved plates.

3. The method for forming a cold and hot integrated ship curved plate according to claim 2, characterized in that: The basic information library of ship curved plates includes curved plate numbers, uses, materials, geometric parameters, material properties and processing parameters; the theoretical model library of ship curved plates includes two-dimensional design drawings, three-dimensional models, reference surfaces and grid divisions, and absolutely accurate theoretical models of the bow and stern parts established by finite element software; the mechanical cold bending processing scheme of ship curved plates includes formulating a mechanical cold bending processing scheme of ship curved plates based on the theoretical curved plate model of hull curved plates, and determining the plate feed speed, bending angle, roller pressure and speed required for cold bending of different types of ship plates by three-core rollers; the standard requirements for the delivery of ship curved plates include screening out the ship curved plates based on the standard manual of hull delivery requirements. The allowable error range of different types of curved plates in various parts of the hull in the delivery requirements; the ship curved plate deviation data compliance judgment system includes executing the obtained ship curved plate deviation data after mechanical cold bending and the allowable error range required by the ship curved plate delivery standard to make a compliance judgment, and obtain the result of whether it meets the standard; the ship curved plate electromagnetic induction heating forming plan formulation system includes obtaining the secondary processing and forming requirements of the ship plate according to the ship curved plate deviation data after mechanical cold bending and the theoretical curved plate model, combined with the allowable error range required by the ship curved plate delivery standard, and obtaining the heating position, process method, heating current, heating frequency, and heating time parameters of electromagnetic induction heating forming according to the forming requirements.

4. The method for forming a cold and hot integrated ship curved plate according to claim 1, characterized in that: A deviation analysis report is generated based on the deviation data. Combined with the ship curved plate delivery standard requirements in the ship curved plate database, the ship plate model after mechanical cold bending is judged to be in compliance with the standards. The allowable error range required by the ship curved plate delivery standard is compared to obtain the compliance result. If the curved plate deviation is within the allowable range, it is judged to be qualified and the forming process is terminated. If the result is unqualified, a comparative analysis is performed based on the deviation data and the theoretical model in the ship curved plate database. In the deviation analysis report, it is determined whether the curved plate 902 needs secondary processing and forming.

5. The method for forming and processing a cold and hot integrated ship curved plate according to claim 4, characterized in that: Based on the needs of secondary processing, the bending radius and bending angle deviation details and standard error range of the current curved plate (902) are input into the control device (800) as supplementary information; then, the electromagnetic induction heating forming plan formulation system in the ship curved plate database is used to combine the known ship curved plate (901) information with the newly added information to set the electromagnetic induction heating parameters.

6. The method for forming a cold and hot integrated ship curved plate according to claim 1, characterized in that: The deviation data of the bent plate after forming is marked in the area beyond the allowable error range, the processing parameters used in the cold bending and hot processing processes are recorded, a visualization chart of the processing path is generated, and a test report of the final formed bent plate is output. The test report is bound to the unique number of the bent plate and stored in the ship bent plate database.

7. The method for forming a cold and hot integrated ship curved plate according to claim 4, characterized in that: All data on curved plate processing and testing, including the original 3D model, test point cloud data, deviation analysis results, processing parameters, equipment status data and final test report of the formed curved plate, are classified and sorted according to the cold processing and hot processing links.

8. A forming device for realizing the hot-cold integrated ship curved plate forming processing method according to any one of claims 1 to 7, characterized in that: The invention comprises a first, a second and a third roller conveyor belt (101, 102, 103), a three-core roller plate rolling machine (200), a laser detection device (400), a heat treatment platform (5), an electromagnetic induction heating device (600), a five-axis robot arm (700 and a control device (800), wherein the first roller conveyor belt (101), the second and the third roller conveyor belt (102, 103) are fixed on the ground in a manner parallel to the ground from back to front; the laser detection device (400) is installed on both the left and right sides in front of the second roller conveyor belt (102), the laser detection device (400) has a horizontal detection platform (410), the middle of the detection platform (410) is a conveyor belt (411), and a laser scanner (420) is arranged on both the left and right sides of the conveyor belt (411); the front of the laser detection device (400) is the third roller conveyor belt (103), and the front of the third roller conveyor belt (103) is a heat treatment device (420). A hot working platform (5) is provided, in front of the hot working platform (5) is a five-axis robot arm (700), on the right side of the hot working platform (5) is an electromagnetic induction heating device (600), and a control device (800) is placed next to the electromagnetic induction heating device (600); the electromagnetic induction heating device (600) comprises a water cooler (610), a high-frequency induction power supply (620) and an electromagnetic induction heater (605) connected in sequence; the five-axis robot arm (700) comprises five arms, wherein the first arm is rotatably connected to a rotating shaft seat around a first axis X1 perpendicular to the ground, the second arm is rotatably connected to the upper side of the first arm around a second axis X2 parallel to the ground, the third arm is rotatably connected to the rotating end on the left side of the second arm around a third axis X3 extending in a direction parallel to the second axis X2, and the fourth arm extends downward from one side of the third arm and is rotatably installed with the third arm around a fourth axis X4 extending in a direction intersecting the third axis X3; The fixed clamping device is rotatably connected to the front end of the fourth arm around a fifth axis X5 extending in a direction intersecting the fourth axis X4; the electromagnetic induction heater (605) is mounted on the five-axis robot arm (700) through the fixed clamping device.

9. The molding device according to claim 8, characterized in that: The fixed clamping device on the five-axis robot arm (700) first moves the electromagnetic induction heater (605) to the initial heating position, and the first arm rotates clockwise around the X1 axis perpendicular to the ground, so that the fourth arm moves to the top of the hot processing platform (5) and is parallel to the length direction of the platform; then the second arm rotates in the Z axis and X2 axis directions to make the electromagnetic induction heater (605) close to the surface of the curved plate (902); the third arm rotates along the X3 axis parallel to the ground and consistent with the X2 axis, and after the first arm and the second arm complete the movement, the position of the electromagnetic induction heater (605) is adjusted to be close to the curved plate (902) along the X axis; the fourth arm rotates around the X4 axis along its extended part, and the electromagnetic induction heater (605) fits the curved plate (902); finally, the fixed clamping device rotates around the X5 axis to provide a final angle adjustment for the electromagnetic induction heater (605).

10. The molding device according to claim 9, characterized in that: When the electromagnetic induction heater (605) reaches the designated heating position, the heating task is performed according to the preset electromagnetic induction heating processing plan. After each heating is completed, the third arm rotates around the X3 axis to lift the fourth arm to avoid collision between the fixed clamping device and the electromagnetic induction heater (605) and the curved plate (902). Then, the robot arm moves to the next heating position to continue processing until the entire thermal processing plan is completed.

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