Cold and hot integrated ship curved plate forming processing method and forming equipment thereof

Abstract

The application discloses a cold-heat integrated ship curved plate forming processing method and a forming equipment thereof, and the first roller conveying belt is controlled to convey a ship plate to a three-roller plate rolling machine to obtain a curved plate through cold processing, the second roller conveying belt is controlled to convey the curved plate to a front laser detection device, the laser detection device obtains a model of the curved plate, a control device compares the curved plate model with a theoretical curved plate model, deviation data of the curved plate after cold processing are fed back based on compared data, and the curved plate after hot processing is reversely transmitted to a detection platform through the third roller conveying belt, three-dimensional point cloud data of the curved plate after hot processing are obtained through a laser scanner, and a ship curved plate model after hot processing is established; the application establishes a ship curved plate database to finally realize cold-heat integrated processing forming, forms a complete closed-loop forming processing system, improves processing efficiency through integrated processing flow, improves forming precision of the ship curved plate, and ensures that product quality meets standard requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship manufacturing technology, and particularly relates to a method and equipment for cold-heat integrated ship curved plate forming processing. BACKGROUND

[0002] Ship curved plate refers to the curved plate constituting the bow and stern of the ship, and is an important part of the ship plate. With the progress of shipbuilding technology and the increasing demand for ship performance, the manufacturing precision of the ship curved plate has become an important indicator of the level of shipbuilding. At present, the processing technology of the ship curved plate mainly includes two categories: single curvature curved plate and double curvature curved plate. For single curvature plate, mechanical cold bending cold forming method is usually used for processing. This method mainly relies on three-core roller or hydraulic machine to complete the forming work. For more complex double curvature plate, hot forming technology is usually used, especially water fire bending plate technology. Water fire bending plate technology softens the steel plate by local heating, and then uses water cooling to make it quickly shape. This method can better process plate with complex curved surface, and can effectively ensure the accuracy and quality of the curved plate.

[0003] At present, there are many researches and technical achievements on the forming processing of ship curved plate, but most of these technologies are concentrated on single cold forming or hot forming method. For example, the ship curved plate cold forming method disclosed in Chinese patent CN115946202A significantly improves the efficiency of plate curved surface processing, reduces unnecessary material finishing workload, and shortens the cycle of ship section construction, but is limited to cold bending processing and cannot meet the needs of certain specific curvature. The ship curved plate forming method and forming equipment based on digital twinning disclosed in Chinese patent CN115740138A continuously optimize the forming process of curved plate through the effective combination of three-dimensional simulation analysis and bending machine, and according to the simulation results, the mold is processed to ensure continuous improvement in the forming process. However, the additional manufacturing of the mold will reduce the work efficiency of the curved plate forming. For example, the curved plate forming method using three-dimensional numerical control bending machine disclosed in Chinese patent CN113953355A can effectively predict and control the deformation and springback phenomenon of the curved plate in the forming process, reduce the need for multiple processing, and improve the forming efficiency of the curved plate. However, it is also limited to cold processing and cannot process the curved plate with higher precision.

[0004] Current equipment and technologies primarily focus on two independent methods and related equipment: cold forming and hot forming. They often fail to organically combine cold and hot processing to form a comprehensive solution. In curved plate forming, cold and hot processing are typically treated as two separate steps. This separate processing mode not only increases the production cycle but also leads to limited inspection accuracy and increased labor costs due to reliance on manual inspection, ultimately affecting the forming accuracy and quality of the product. Therefore, there is an urgent need for a new 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] To address the shortcomings of the existing technology, this invention provides a method and equipment for integrated cold and hot forming of curved plates, which combines cold forming or hot forming, eliminating the need for additional mold manufacturing, achieving integrated cold and hot processing, intelligent processing quality inspection and automatic rework, and improving the forming accuracy and quality of the product.

[0006] The present invention provides a method for forming and processing a curved plate with integrated hot and cold heating, the technical solution of which includes the following steps:

[0007] Step 1): The control device has an embedded ship curved plate database. It controls the first roller conveyor belt to transport the ship plate to the three-roll plate rolling machine. The three-roll plate rolling machine rolls the ship plate and performs cold processing on the ship plate according to the data sent by the control device to obtain the curved plate. The second roller conveyor belt transports the curved plate to the laser detection device in front.

[0008] Step 2): The laser detection device acquires the model of the curved plate and sends it to the control device. The control device compares the curved plate model with the theoretical curved plate model, and feeds back the deviation data of the cold-processed curved plate based on the comparison data. It also compares the deviation details and standard error range as supplementary information to the control device.

[0009] Step 3): Set the parameters for electromagnetic induction heating. The curved plate is transported to the heat treatment platform via the third roller conveyor belt. The five-axis robotic arm controls the electromagnetic induction heater to move in the three-dimensional space above the curved plate for heat treatment.

[0010] Step 4): After the heat treatment is completed, the curved plate is transported in reverse to the inspection platform via the third roller conveyor belt. The three-dimensional point cloud data of the heat-treated curved plate is obtained by the laser scanner to establish the heat-treated ship curved plate model. The control device compares the heat-treated ship curved plate model with the theoretical curved plate model and judges whether it meets the standards to obtain the standard result.

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

[0012] The technical scheme of the cold-heat integrated curved plate forming processing forming equipment is as follows: a first, second and third roller conveyor belt, a three-core roller plate rolling machine, a laser detection device, a hot processing platform, an electromagnetic induction heating device, a five-axis mechanical arm and a control device are arranged in sequence, the first roller conveyor belt, the second and third roller conveyor belts are fixed on the ground in 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 a conveying belt, and a laser scanner is arranged on the left and right sides of the conveying belt, the third roller conveyor belt is in front of the laser detection device, the hot processing platform is in front of the third roller conveyor belt, the five-axis mechanical arm is in front of the hot processing platform, the electromagnetic induction heating device is on the right side of the hot processing platform, and the control device is beside the electromagnetic induction heating device; the electromagnetic induction heating device comprises a water cooler, a high-frequency induction power supply and an electromagnetic induction heater connected in sequence; the five-axis mechanical arm comprises five arms, the first arm is rotatably connected to the rotating shaft seat around the first axis X1 perpendicular to the ground, the second arm is rotatably connected to the upper side of the first arm around the 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 the 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 mounted with the third arm around the 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 the fifth axis X5 extending in a direction intersecting the fourth axis X4, and the electromagnetic induction heater is mounted on the five-axis mechanical arm through the fixed clamping device.

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

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

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

[0016] 3. The automatic detection of ship plates reduces the influence of human factors, can more accurately identify the location and deviation of non-standard plates, and improves the detection accuracy. Compared with the traditional manual detection method, the automatic detection is faster, and can speed up the entire production process and improve the production efficiency. Through the standardized detection procedure, it is ensured that each ship plate meets the unified quality standard, which not only enhances the consistency of product quality, but also improves the reliability.

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

[0018] Figure 1 is a three-dimensional view of a cold and hot integrated curved plate forming machining equipment of the present application;

[0019] Figure 2 is Figure 1 a cold machining process schematic diagram;

[0020] Figure 3 is Figure 1 a laser scanner process schematic diagram;

[0021] Figure 4 is Figure 1 a schematic diagram of an electromagnetic induction heating device;

[0022] Figure 5 is Figure 1 a structure schematic diagram of a five-axis mechanical arm;

[0023] Figure 6 is Figure 1 a structure schematic diagram of a five-axis mechanical arm and a holding and fixing electromagnetic induction heater;

[0024] Figure 7 is a machining whole process schematic diagram of the cold and hot integrated curved plate forming machining method of the present application;

[0025] Figure 8 is Figure 7 a hot machining process schematic diagram in

[0026] Figure 9 is a flow chart of the cold and hot integrated curved plate forming machining method of the present application. DETAILED DESCRIPTION

[0027] In order to clearly explain the purpose, technical scheme and advantages of the present application, the following will be described in detail through specific examples and in combination with the drawings.

[0028] As Figure 1 shown, the cold and hot integrated bending forming processing equipment of the application comprises: a first roller conveyor belt 101, a second roller conveyor belt 102, a third roller conveyor belt 103, a three-core roller plate rolling machine 200, a laser detection device 400, a hot processing platform 5, an electromagnetic induction heating device 600, a five-axis mechanical 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 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. The 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. The second roller conveyor belt 102 is in front of the three-core roller plate rolling machine 200 and is fixedly installed with the three-core roller plate rolling machine 200 through a 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 from back to front.

[0030] As Figure 2 shown, the three-core roller plate rolling machine 200 has a rack 202, a base 201, two left and right bases 201, an upper roller 203 and two lower rollers 204 and 205. The rack 202 is symmetrically installed on the left and right sides and is fixed on the rack 202 of the three-core roller plate rolling machine 200, and the rack 202 is fixed on the ground. The rack 202 of the three-core roller plate rolling machine 200 is installed with the first and second roller conveyor belts 101 and 102 through a first fixed shaft 3. The upper roller 203 and the two lower rollers 204 and 205 are arranged in a triangular manner and are installed on the base 201. The upper roller 203 and the lower rollers 204 and 205 can rotate around the axis in the left and right directions parallel to the ground, and the upper roller 203 can move up and down in the direction perpendicular to the ground. The power assembly is fixedly installed on the base 201 on the left side of the three-core roller plate rolling machine 200 and is connected with the upper roller 203 and the lower rollers 204 and 205 through a belt wheel and a gear, to drive the upper roller 203 and the lower rollers 204 and 205 to rotate and the upper roller 203 to move up and down.

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

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

[0033] As shown in Figure 1 The third roller conveyor 103 is installed in front of the laser detection device 400 through a third fixed shaft 3. In front of the third roller conveyor 103 is a hot working platform 5. The third roller conveyor 103 and the hot working platform 5 are installed through a fourth fixed shaft 3. A five-axis mechanical arm 700 and its base 701 are installed in front of the hot working platform 5. An electromagnetic induction heating device 600 is placed on the right side of the hot working platform 5. A control device 800 is placed beside the electromagnetic induction heating device 600.

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

[0035] As shown in Figure 5As shown, the five-axis mechanical arm 700 includes five arms, wherein the first arm 730 is rotatably connected to the rotary shaft seat 702 around the first axis X1 perpendicular to the ground, the second arm 740 is rotatably connected to the upper side of the first arm 730 around the second axis X2 parallel to the ground, the third arm 750 is rotatably connected to the rotary end of the left side of the second arm 740 around the third axis X3 extending in a direction parallel to the second axis X2, the fourth arm 760 extends downward from one side of the third arm 750 and is rotatably mounted with the third arm 750 around the 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 the 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 mechanical arm 700 through the fixed clamping device 770.

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

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

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

[0039] Step one, establish a ship curved plate database in the control device 800, including: a ship curved plate basic information library, a ship curved plate theoretical model library of each different part of a ship body, a ship curved plate mechanical cold bending processing scheme, a ship curved plate delivery standard requirement, a ship curved plate deviation data standard judgment system and a ship curved plate electromagnetic induction heating forming scheme development system.

[0040] The basic information database of the ship curved plate includes plate number, use, material, geometric parameters, material properties and processing parameters. The geometric parameters include planar size, three-dimensional curvature, boundary shape and key point coordinates. The material properties include material strength, corrosion resistance and welding adaptability. The processing parameters include cold-heat integrated processing mode, heating current, heating frequency, heating time, etc. The theoretical model database of the ship curved plate includes two-dimensional design drawings, three-dimensional models, reference curved surfaces and mesh division. The absolute accurate theoretical model of the bow, stern and other hull parts established by the finite element software is the most standard reference. The mechanical cold bending processing scheme of the ship curved plate includes formulating the mechanical cold bending processing scheme of the ship curved plate according to the theoretical curved plate model of the ship curved plate, determining the plate feeding speed, bending angle, roller shaft pressure and speed, etc. required for cold bending processing of different types of ship plates by three-core rollers. The delivery standard requirements of the ship curved plate include screening the allowable error range of different types of curved plates of each part of the ship in the delivery requirements according to the ship delivery requirement standard manual. The deviation data conformity judgment system of the ship curved plate includes performing conformity judgment on the deviation data of the ship curved plate after mechanical cold bending processing and the allowable error range of the ship curved plate delivery standard requirements, and obtaining the result of whether it is conformable. The ship curved plate electromagnetic induction heating forming scheme formulation system includes obtaining the secondary processing forming requirements of the ship plate according to the deviation data of the ship curved plate after mechanical cold bending, the theoretical curved plate model and the allowable error range of the ship curved plate delivery standard requirements, 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 two, the control device 800 works, opens the switch button 611 of the water cooler 610 and the switch knob 621 of the high-frequency induction power supply 620, selects the type, thickness and ship curved plate theoretical model of the ship curved plate 902 to be processed in the control device 800 through the touch screen 801, formulates the cold bending processing scheme of the ship curved plate, determines the plate feeding speed, bending angle and roller shaft pressure and speed, and transmits the related parameters to the three-roll plate bending machine 200. The equipment starts to run.

[0042] Step three, 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-roll plate rolling machine 200 by the first roller conveying belt 101, the plate 901 is rolled into the three-roll plate rolling machine 200, and the cold working of the ship plate 901 is carried out according to the parameters sent by the control device 800. Specifically, the upper roller 203 and the lower roller 204, 205 rotate at the plate feeding speed sent by the control device 800, the rotation directions of the upper roller 203 and the lower roller 204, 205 are opposite, and the upper roller 203 moves downward in the direction perpendicular to the ground according to the pressure and speed parameters sent by the control device 800 during rotation. At the same time, the upper and lower rollers 204, 205 rotate in opposite directions to complete the cold working. After the feeding of the three-core roller plate rolling machine 200 is completed, the second roller conveying belt 102 conveys the cold worked curved plate 902 to the front laser detection device 400.

[0043] Step four, as shown in Figure 3 The cold worked curved plate 902 is conveyed to the detection platform 410 by the conveying belt 411, and the ship curved plate model after cold working is obtained by the laser scanner 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 cold worked curved plate 902. 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. The three-dimensional point cloud data at different angles is registered by 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 working, 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 obtained ship curved plate model of the curved plate 902 and the theoretical ship curved plate model. The size and shape characteristics are compared on three orthogonal planes in three-dimensional space, XOY plane, XOZ plane and YOZ plane.

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

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

[0047] Further; if the deviation of the curved plate is within the allowable range, it is determined to be qualified and the forming process is ended, if the result is unqualified, it enters step eight.

[0048] Step eight, in the ship curved plate electromagnetic induction heating forming scheme development system, the control device 800 compares the deviation data of the curved plate 902 obtained in step six with the theoretical model in the ship curved plate database for comparative analysis. The deviation analysis report generated thereby not only covers detailed information such as the position deviation value, angle deviation value and 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 again, and to specify its specific needs. Based on these secondary processing needs, 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. Subsequently, the electromagnetic induction heating forming scheme development system in the ship curved plate database is used, combined with the known ship curved plate 901 information in the second step and the newly added information, to accurately set the electromagnetic induction heating parameters, including heating position, process method, current intensity, frequency and heating time, thereby forming a detailed electromagnetic induction heating processing scheme. The heating scheme is sent to the electromagnetic induction heating device 600 and the 5-axis mechanical arm 700, and the curved plate 902 is accurately transmitted to the heat processing platform 5 through the roller conveyor 103, ready to receive the heating treatment according to the above scheme.

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

[0050] Further; the first arm is rotatably connected to the X1 axis which is perpendicular to the ground, the electromagnetic induction heater 605 installed on the fixed clamping device 770 can be controlled to position above the 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, the electromagnetic induction heater 605 can be controlled to position close to the surface of the curved plate 902 in the XOY plane and the ZOY plane, the third arm 750 is rotatably connected to the X3 axis which is parallel to the ground and the X2 axis, after the movement of the first arm 730 and the second arm 740 is completed, it moves around the X axis, the fourth arm 760 is rotatably connected to extend on the third arm 750, because the third arm 750 rotates around the axis X3 and the second arm 740 rotates around the axis X2, the fourth arm 760 can extend downward to close to the surface of the curved plate 902, the fourth arm 760 is rotatably connected to the axis X4, and the fixed clamping device 770 is rotatably connected to the axis X5, after the first arm 730 stops rotating, i.e. after the position to be heated is determined in the XOY plane, the second arm 740 and the third arm 75 drive the electromagnetic induction heater 605 to close to 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 mechanical cold bending processed ship plate model is judged according to the ship plate delivery standard requirements in the ship plate database, if the bending angle of the curved plate 902 does not meet the allowable error range of the ship plate delivery standard requirements, it needs to be processed twice 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 scheme system in the ship plate database is used to accurately set the electromagnetic induction heating parameters, including heating position, process method, current intensity, frequency and heating time, to form a detailed electromagnetic induction heating processing scheme.

[0052] When the electromagnetic induction device 600 is ready to heat the curved plate 902, the fixed clamping device on the five-axis mechanical arm 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 heat 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, further adjusts the position of the electromagnetic induction heater 605 after the first arm 730 and the second arm 740 complete the movement, so that it approaches 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, ensuring that the electromagnetic induction heater 605 fixed on the clamping device 770 adheres to the curved plate 902 as the third arm 750 rotates around the X3 axis and the second arm 740 rotates around the X2 axis. Finally, the fixed clamping device 770 rotates around the X5 axis to provide the final angular adjustment for the electromagnetic induction heater 605, ensuring that the heater can accurately contact the surface of the curved plate 902. Once the electromagnetic induction heater 605 reaches the designated heating position, it performs the heating task according to the pre-set electromagnetic induction heating processing scheme. After each heating is completed, the third arm 750 rotates around the X3 axis to lift the fourth arm 760, so as to avoid collision between the fixed clamping device 770, the electromagnetic induction heater 605 and the curved plate 902. Subsequently, the mechanical arm moves to the next heating position for continuous processing until the entire heat processing scheme is completed. After completion, the 5-axis mechanical arm 700 returns to the initial position, preparing for the next round of work.

[0053] Step ten, the curved plate after heat processing is transmitted to the detection platform 410 of the laser detection device 400 in reverse through the roller conveyor belt 103, the three-dimensional point cloud data of the curved plate after heat processing is obtained through the laser scanner 420 located on both sides of the detection platform, the model of the curved plate after heat processing is established, and the model is sent to the control device 800. In the control device 800, the model of the curved plate after heat processing is compared with the theoretical curved plate model selected in step two and the standard is judged, and the standard result is obtained.

[0054] Further, if the deviation data of the heat processed curved plate meets the delivery standard requirement, the process ends; otherwise, step eight is entered again for heat processing. The unqualified curved plate is adjusted multiple times until it is qualified.

[0055] Step eleven, store all deviation data, processing parameters, detection models of cold and hot processing into the ship curved plate database. According to the generated processing data, optimize the processing technology of the next curved plate. Adjust the theoretical model and processing scheme for complex curved plates to improve subsequent production efficiency and precision. Generate processing history records for quality traceability and subsequent maintenance. Attach a unique number and quality inspection mark to the qualified curved plate 902. Transport the formed curved plate to the designated storage area through the roller conveyor belt.

[0056] Step twelve, record the deviation data of the curved plate after forming in detail, including the position deviation, angle deviation and distribution of the detection points after cold and hot processing, clearly mark the areas that exceed the allowed error range. Complete the record of the processing parameters used in the cold bending and hot processing process, including the pressure, speed of the roller shaft, feeding speed, and the current, frequency, time and heating path of electromagnetic induction heating. Generate a processing path visualization chart, including the process from the initial plate to the formed curved plate, mark the key procedures and detection nodes for quality analysis. Output the final detection report of the formed curved plate, bind the detection report with the unique number of the curved plate, and store it in the ship curved plate database to ensure that the report data is traceable and corresponds to a specific curved plate. According to the needs, generate a standardized output file for each curved plate for the delivery team or auditors to quickly view and verify.

[0057] Step thirteen, classify all data of curved plate processing and detection, including original three-dimensional model, detection point cloud data, deviation analysis results, processing parameters, equipment state data and final detection report of formed curved plate, according to cold and hot processing links. Backup all data of curved plate processing and detection to independent storage system to ensure data security. According to the curved plate number, archive related materials for subsequent call.

Claims

1. A method for integrated hot and cold forming of curved steel plates for ships, characterized in that... Includes the following steps: Step 1): The control device (800) has an embedded ship curved plate database. It controls the first roller conveyor belt (101) to convey the ship plate (901) to the three-roll plate rolling machine (200). The three-roll plate rolling machine (200) rolls up the ship plate (901) and performs cold processing on the ship plate (901) according to the data sent by the control device (800) to obtain the curved plate (902). The second roller conveyor belt (102) conveys the curved plate (902) to the laser detection device (400) in front. Step 2): The laser detection device (400) acquires 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 feeds back the deviation data of the cold-processed curved plate (902) based on the comparison data. It also compares the deviation details and standard error range as supplementary information to the control device (800). Step 3): Set the parameters for electromagnetic induction heating. The curved plate (902) is transferred to the heat treatment platform (5) via the third roller conveyor belt (103). The five-axis robotic arm (700) controls the electromagnetic induction heater (605) to move in the three-dimensional space above the curved plate (902) for heat treatment. Step 4): After the heat treatment, the curved plate (902) is transported in reverse to the detection platform (410) via the third roller conveyor belt (103). The three-dimensional point cloud data of the heat-treated curved plate is obtained by the laser scanner (420), and a model of the heat-treated ship curved plate is established. The control device (800) compares the heat-treated ship curved plate model with the theoretical curved plate model and judges whether it meets the standards, and obtains the standard meeting result. Step 5) Store all deviation data of cold working and hot working, processing parameters, and detection models into the ship curved plate database, and optimize the processing technology of the next curved plate based on the generated processing data.

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

3. The method for integrated hot and cold water forming of ship curved plates according to claim 2, characterized in that: The basic information database for ship hull plates includes plate number, purpose, material, geometric parameters, material properties, and processing parameters; the theoretical model database for ship hull plates includes two-dimensional design drawings, three-dimensional models, reference surfaces and mesh generation, and absolutely accurate theoretical models of the bow and stern sections established using finite element software; the mechanical cold bending processing scheme for ship hull plates includes formulating a mechanical cold bending processing scheme based on the theoretical hull plate model, determining the plate feed speed, bending angle, roller pressure, and speed required for cold bending different types of ship plates using a three-core roller; the ship hull plate delivery standard requirements include selecting from the ship hull delivery requirement standard manual. The delivery requirements specify the allowable error range for different types of curved plates in various parts of the hull; the ship curved plate deviation data compliance judgment system includes performing a compliance judgment on the deviation data of the ship curved plates after mechanical cold bending and comparing it with the allowable error range required by the ship curved plate delivery standard to obtain a result of compliance; the ship curved plate electromagnetic induction heating forming scheme formulation system includes obtaining the secondary processing forming requirements of the ship plate based on the deviation data of the ship curved plates 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 based on the forming requirements.

4. The method for integrated hot and cold water forming of ship curved plates according to claim 1, characterized in that: Based on the deviation data, a deviation analysis report is generated. The ship plate model after mechanical cold bending is judged to meet the delivery standard requirements of the ship plate in the ship plate database. The allowable error range of the ship plate delivery standard requirements is compared to obtain the compliance result. If the deviation of the plate is within the allowable range, it is judged to be qualified and the forming process ends. If the result is unqualified, the deviation data is compared with the theoretical model in the ship plate database. The deviation analysis report determines whether the plate (902) needs to be formed by secondary processing.

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

6. The method for integrated hot and cold water forming of ship curved plates according to claim 1, characterized in that: Mark the areas where the deviation data of the curved plate exceeds the allowable error range after the plate is formed, record the processing parameters used in the cold bending and hot processing, generate a visual chart of the processing path, output the inspection report of the final formed curved plate, bind the inspection report with the unique number of the curved plate, and store it in the ship curved plate database.

7. The method for integrated hot and cold water forming of ship curved plates according to claim 4, characterized in that: All data related to the processing and inspection of curved plates, including the original 3D model, inspection point cloud data, deviation analysis results, processing parameters, equipment status data, and the final inspection report of the formed curved plates, are categorized and organized according to the cold processing and hot processing stages.

8. A forming equipment for implementing the integrated hot and cold forming method for ship curved plates according to any one of claims 1-7, characterized in that: The system includes first, second, and third roller conveyor belts (101, 102, 103), a three-core roller bending machine (200), a laser detection device (400), a heat treatment platform (5), an electromagnetic induction heating device (600), a five-axis robotic arm (700), and a control device (800). The first roller conveyor belt (101), the second and third roller conveyor belts (102, 103) are fixed to the ground in a parallel manner from back to front. Laser detection devices (400) are installed on 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 center of the detection platform (410) is a conveyor belt (411). A laser scanner (420) is set on the left and right sides of the conveyor belt (411). The third roller conveyor belt (103) is in front of the laser detection device (400). The heat treatment platform (5) is in front of the third roller conveyor belt (103). The work platform (5) is in front of the heat processing platform (5) and the five-axis robotic arm (700). The electromagnetic induction heating device (600) is on the right side of the heat processing platform (5). The control device (800) is placed next to the electromagnetic induction heating device (600). The electromagnetic induction heating device (600) includes a water chiller (610), a high-frequency induction power supply (620) and an electromagnetic induction heater (605) connected in sequence. The five-axis robotic arm (700) includes five arms. 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. The fourth arm extends downward from one side of the third arm and is rotatably mounted to 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 the fifth axis X5, which extends in a direction intersecting the fourth axis X4; the electromagnetic induction heater (605) is mounted on the five-axis robotic arm (700) by the fixed clamping device.

9. The molding equipment according to claim 8, characterized in that: The fixed clamping device on the five-axis robotic arm (700) first moves the electromagnetic induction heater (605) to the initial heating position. The first arm rotates clockwise around the X1 axis, which is perpendicular to the ground, so that the fourth arm moves above the heat processing platform (5) and is parallel to the length direction of the platform. Then the second arm rotates in the Z and X2 axes, so that the electromagnetic induction heater (605) approaches the surface of the curved plate (902). The third arm rotates along the X3 axis, which is parallel to the ground and consistent with the X2 axis. After the first and second arms complete their movements, the position of the electromagnetic induction heater (605) is adjusted so that it approaches the curved plate (902) along the X axis. The fourth arm rotates around the X4 axis along its extension, so that the electromagnetic induction heater (605) fits against the curved plate (902). Finally, the fixed clamping device rotates around the X5 axis to provide the final angle adjustment for the electromagnetic induction heater (605).

10. The molding equipment according to claim 9, characterized in that: When the electromagnetic induction heater (605) reaches the designated heating position, it performs the heating task according to the preset electromagnetic induction heating processing scheme. After each heating is completed, the third arm rotates around the X3 axis to lift the fourth arm, so as to avoid the fixed clamping device and the electromagnetic induction heater (605) from colliding with the curved plate (902). Then, the robotic arm moves to the next heating position to continue processing until the entire heat processing scheme is completed.

Images