Special hydraulic machine for ship body side plate and pressing method of special hydraulic machine

Abstract

The invention relates to the technical field of hydraulic machines, in particular to a hydraulic machine special for a ship body side plate and a pressing method thereof.The hydraulic machine comprises a main cylinder, a machine body and an electric control cabinet, the electric control cabinet is located on one side of the machine body, a vertically-hollow containing cavity space is formed in the top of the machine body, and ram flat rails are arranged on the two sides of the upper end of the containing cavity space correspondingly; a movable ram is arranged on the ram flat rail, and a driving and braking device is arranged in the movable ram; the movable ram is connected with the ram flat rail through a pulley, the driving and braking device is connected with the pulley in a driving mode through a motor, and after the main cylinder penetrates through the movable ram, the movable ram drives the main cylinder to slide left and right on the ram flat rail at the upper end of the containing cavity space through the pulley, so that the pressing head can move left and right within a certain range of equipment. And within the range, the plate surface of the ship body side plate is subjected to compression molding.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic presses, and particularly relates to a special hydraulic press for the side plates of a ship hull and a pressing method thereof. Background Art

[0002] Currently, it is known that the forming of the side plates of a ship hull is achieved by a press equipped with specific upper and lower punch shapes to perform local forming on the plate surface of the side plates of the ship hull. The plate surface of the raw material is gradually pressed to realize the forming of the entire raw material plate surface. However, for the local forming of the side plates of a large ship hull, a traveling crane is required to adjust the relative position between the punch and the side plates of the ship hull to achieve local pressing and forming. However, due to the excessive size of the side plates of a large ship hull, the adjustment of the relative position between the punch and the side plates is rather cumbersome, and it is affected by the low accuracy of the pressing position. If a press used for pressing the entire side plates of the ship hull is adopted, a higher pressing force is required.

[0003] Therefore, the present invention proposes a punch that can move left and right, and a universal ball joint is equipped on the upper punch. The upper punch can move left and right within a certain range of the equipment, and within this range, the plate surface of the side plates of the ship hull on the lower punch is pressed and formed. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art, and a special hydraulic press for the side plates of a ship hull and a pressing method thereof are proposed.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: A special hydraulic press for the side plates of a ship hull includes a main cylinder, a machine body, and an electric control cabinet. The electric control cabinet is located on one side of the machine body. A cavity space that is hollow front and back is provided in the middle of the machine body. Slide pillow flat rails are respectively provided on both sides of the upper end of the cavity space. A moving slide pillow is provided on the slide pillow flat rails, and a driving and braking device is provided in the moving slide pillow; the moving slide pillow is connected to the slide pillow flat rails through pulleys, the driving and braking device is driven by a motor to connect to the pulleys, and after the main cylinder passes through the moving slide pillow, the moving slide pillow drives the main cylinder to slide left and right on the slide pillow flat rails at the upper end of the cavity space through the pulleys.

[0006] Further, a first guide post and a second guide post are respectively provided on both sides of the main cylinder, and a movable beam is provided at the end of the main cylinder; the first guide post and the second guide post pass through the moving slide pillow and are connected to the movable beam at the lower end.

[0007] Further, an upper punch is provided at the bottom of the movable beam, and a universal ball joint is provided between the movable beam and the upper punch; an arc-shaped T-shaped concave groove one is provided between the movable beam and the universal ball joint, and an arc-shaped T-shaped concave groove two is provided between the universal ball joint and the upper punch.

[0008] Further, a lower cross beam is provided at the lower end inside the fuselage, and a lower pressing head is provided on the lower cross beam. The length of the lower pressing head is greater than that of the upper pressing head, and the pressure-receiving contact surface of the lower pressing head is an arc surface with equal heights at the left and right ends and concave downward in the middle. The side plate of the hull to be pressed is placed on the pressure-receiving contact surface of the lower pressing head.

[0009] Further, a displacement sensor is provided on the moving ram, and a limit device I and a limit device II are respectively provided at both ends of the flat rail of the ram.

[0010] Further, the distance between the limit device I and the limit device II is the distance for the master cylinder to slide left and right in the cavity space.

[0011] Further, a piezoelectric ceramic sheet is embedded inside the universal ball joint to detect the pressure distribution of the pressure-receiving contact surface in real time, and a closed-loop pressure control is formed with the hydraulic system of the master cylinder to dynamically adjust the output pressure of the master cylinder. The pressure increase accuracy is improved from ±5% to ±1.5%.

[0012] Further, a laser scanner is provided on the moving ram for obtaining a three-dimensional contour map of the side plate of the hull to generate an optimal pressing path.

[0013] Further, a lubricating coating is provided on the contact surface between the circular arc T-shaped concave groove I and the circular arc T-shaped concave groove II, and the moving ram is a carbon fiber-aluminum alloy laminated structure.

[0014] A pressing method for the special hydraulic press for the side plate of the hull described in any one of the above, comprising the following steps: S1: Scanning the contour of the side plate of the hull through the laser scanner on the moving ram and generating a pressing path; the process of generating the pressing path is as follows: (a) Feature extraction: Based on the dense point cloud data obtained by the laser scanner, extracting the geometric features of the side plate of the hull; (b) Path generation: According to the geometric features, generating an initial pressing path through a surface fitting algorithm; the equation of the surface fitting algorithm is: Among them, N i,p is the basis function, N j,q is the jth basis function of order q in the v-parameter direction, and P i,j is the control point; controls the shape distribution of the surface in the transverse and longitudinal directions in two orthogonal directions by parameters u and v respectively; (c) Path optimization: Taking the minimization of the path length and the pressing path error as the optimization goal, calculating the total optimization function: , Among them, L represents the total optimization goal, and λ1 The weight representing the path length, λ 2 The weight representing the deformation error, PathLength represents the total moving distance of the pressing path, and DeformationError represents the deviation between the actual shape after pressing and the theoretical shape; (d) Force application control: According to the optimized path, control the punch to apply force along the normal direction of the curved surface; S2: The main cylinder presses the middle part of the side plate of the hull, and the piezoelectric sensor dynamically adjusts the pressure; S3: The moving crosshead moves according to the pressing path, and the universal spherical joint adaptively adjusts the angle of the upper punch; S4: After pressing is completed, the driving and braking device locks the moving crosshead.

[0015] Compared with the existing technology, the advantages of the present invention are: A special hydraulic press for the side plate of the hull and its pressing method proposed by the present invention, and a universal spherical joint is equipped on the upper punch. To achieve that the upper punch can move left and right within a certain range of the equipment, and press and form the side plate of the hull on the lower punch within this range. Description of the Drawings

[0016] Figure 1 It is the structural diagram of the special hydraulic press for the side plate of the hull in the present invention; Figure 2 In the present invention Figure 1 Side view; Figure 3 In the present invention Figure 1 Top view; Figure 4 It is the application state of the special hydraulic press for the side plate of the hull in the present invention Figure 1 ; Figure 5 It is the application state of the special hydraulic press for the side plate of the hull in the present invention Figure 2 ; Figure 6 It is the application state of the special hydraulic press for the side plate of the hull in the present invention Figure 3 ; Figure 7 It is the shape diagram of the side plate of the hull formed into a finished product in the present invention; Figure 8 It is the connection structure diagram of the universal spherical joint in the present invention; Figure 9 In the present invention Figure 8 Cross-sectional view; In the figure: 1 - master cylinder; 2 - first guide pillar; 3 - second guide pillar; 4 - flat rail of the ram; 5 - machine body; 6 - cavity space; 7 - moving ram; 8 - pulley; 9 - movable beam; 10 - upper pressure head; 11 - universal ball joint; 12 - first circular arc T-shaped concave groove; 13 - second circular arc T-shaped concave groove; 14 - lower crossbeam; 15 - lower pressure head; 16 - side plate of the hull; 17 - finished product. Detailed implementation mode

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Example 1, please refer to the Figures 1-9Among them, a special hydraulic press for the side plate of a ship's hull includes a main cylinder 1, a machine body 5, and an electric control cabinet. The electric control cabinet is located on one side of the machine body 5. In this embodiment, the electric control cabinet is a conventional technical component feature. In the electric control cabinet of this embodiment, a charge amplifier, a high-speed AD converter, a PLC controller, and a proportional servo valve are configured. A hollow cavity space 6 is provided at the top of the machine body 5. Slideway flat rails 4 are respectively provided on both sides of the upper end of the cavity space 6. A moving slide 7 is provided on the slideway flat rails 4, and a driving and braking device is provided in the moving slide 7; the moving slide 7 is connected to the slideway flat rails 4 through pulleys 8, and the driving and braking device is driven by a motor to connect to the pulley 8. After the main cylinder 1 passes through the moving slide 7, the moving slide 7 drives the main cylinder 1 to slide left and right on the slideway flat rails 4 at the upper end of the cavity space 6 through the pulley 8; Guide posts 1 2 and guide posts 2 3 are respectively provided on both sides of the main cylinder 1, and a movable beam 9 is provided at the end of the main cylinder 1; the guide posts 1 2 and the guide posts 2 3 pass through the moving slide 7 and are connected to the movable beam 9 at the lower end. An upper pressing head 10 is provided at the bottom of the movable beam 9, and a universal ball joint 11 is provided between the movable beam 9 and the upper pressing head 10; An arc-shaped T-shaped concave groove 1 12 is provided between the movable beam 9 and the universal ball joint 11, and an arc-shaped T-shaped concave groove 2 13 is provided between the universal ball joint 11 and the upper pressing head 10, as shown in 9 in the figure. The connection and left-right swing functions of the universal ball joint 11 are realized through the arc-shaped T-shaped concave groove 1 12 and the arc-shaped T-shaped concave groove 2 13. In this embodiment, a lubricating coating is provided on the contact surfaces of the arc-shaped T-shaped concave groove 1 12 and the arc-shaped T-shaped concave groove 2 13. The lubricating coating is a graphene-based solid lubricating coating. Spraying the graphene-based solid lubricating coating on the contact surfaces of the arc-shaped T-shaped concave groove 1 12 and the arc-shaped T-shaped concave groove 2 13 can achieve the beneficial effects of reducing swing friction (the friction coefficient is reduced from 0.15 to 0.03) and extending the service life of the universal ball joint 11; In this embodiment, the moving slide 7 is a carbon fiber-aluminum alloy laminated structure. Changing the moving slide 7 from a traditional steel structure to a carbon fiber-aluminum alloy laminated structure can reduce the driving load of the moving slide 7 while maintaining rigidity.

[0019] Embodiment 2: A lower crossbeam 14 is provided at the lower end inside the machine body 5. A lower pressing head 15 is provided on the lower crossbeam 14. The length of the lower pressing head 15 is greater than the length of the upper pressing head 10. The pressure-bearing contact surface of the lower pressing head 15 is an arc surface with equal heights at both left and right ends and concave downward in the middle; The ship's hull side plate 16 to be pressed is placed on the pressure-bearing contact surface of the lower pressing head 15; A displacement sensor is provided on the moving slide 7, and a limit device 1 and a limit device 2 are respectively provided at both ends of the slideway flat rail 4.

[0020] Embodiment 3: On the basis of the above embodiment: The distance between the limit device 1 and the limit device 2 is the distance for the main cylinder 1 to slide left and right in the cavity space 6.

[0021] Example 4: On the basis of the above Example 1, a piezoelectric ceramic sheet is embedded inside the universal ball joint 11 to detect the pressure distribution of the compressed contact surface in real time, and a closed-loop pressure control is formed with the hydraulic system of the master cylinder 1 to dynamically adjust the output pressure of the master cylinder 1. The pressure increase accuracy is improved from ±5% to ±1.5%. In this example, the piezoelectric ceramic sheet is a piezoelectric ceramic sensor. Specifically, 8 piezoelectric ceramic sensors (material: lead zirconate titanate, PZT-5H) are annularly distributed inside the universal ball joint 11. Each piezoelectric ceramic sensor is embedded in a reserved groove on the inner wall of the ball joint and is in direct contact with the compressed contact surface. The piezoelectric ceramic sensors are connected to a signal conditioning module through a flexible circuit board and output charge signals in real time (sensitivity: 10 pC / N). The working process is as follows: Pressure detection: During the pressing process, the piezoelectric ceramic sensors in the universal ball joint 11 detect the pressure distribution of the compressed contact surface in real time, and after being amplified and converted by a charge amplifier and a high-speed AD converter, charge signals are generated and transmitted to the PLC controller; Dynamic adjustment: The PLC controller compares the pressure distribution of the compressed contact surface detected in real time with the set value (such as 200 MPa). If the local pressure deviation exceeds ±1.5%, the following actions are triggered. Underpressure compensation: Increase the opening of the proportional servo valve to increase the output pressure of the master cylinder 1; Overpressure release: Briefly open the overflow valve to reduce the local pressure; Accuracy verification. Test data shows that when pressing the high-strength steel hull side plate (thickness 20 mm), the pressure fluctuation is reduced from ±5% to ±1.5%, and the springback amount is reduced by 40%. The achieved technical effects are: 1. Through real-time feedback and rapid response (control cycle ≤ 1 ms), the pressure control accuracy is improved to ±1.5%; 2. The standard deviation of the pressure distribution is reduced from 15 MPa to 5 MPa, avoiding local material damage; 3. It is suitable for the hybrid pressing of heterogeneous plates such as aluminum alloy and composite materials.

[0022] Example 5: On the basis of the above Example 1, a laser scanner is further provided on the moving ram 7 to obtain a three-dimensional contour map of the hull side plate 16 to generate an optimal pressing path.

[0023] Example 6: Combining the above Examples 1 - 5, in this example, the working process of the special hydraulic press for hull side plates is as follows: Place the side plate 16 of the hull to be pressed on the lower punch 15. Move the drive and brake device in the ram 7 to drive the pulley 8 to slide left and right on the flat rail 4 of the ram through the motor. The pulley 8 synchronously drives the main cylinder 1, the movable beam 9, the universal ball joint 11 and the upper punch 10 to move left or right in the cavity space 6. Then, through the guidance of the first guide post 2 and the second guide post 3, the upper punch 10 presses down on the side plate 16 of the hull, and the laser scanner on the ram 7 scans the contour of the side plate 16 of the hull and generates the pressing path; the process of generating the pressing path is as follows: (a) Feature extraction: Based on the dense point cloud data obtained by the laser scanner, extract the geometric features of the side plate of the hull; (b) Path generation: According to the geometric features, generate the initial pressing path through the surface fitting algorithm; the equation of the surface fitting algorithm is: , where N i,p is the basis function, N j,q is the j-th basis function of order q in the v-parameter direction, and P i,j is the control point; (c) Path optimization: Taking the minimization of the path length and the pressing path error as the optimization goal, calculate the total optimization function: , where L represents the total optimization goal, λ 1 represents the weight of the path length, and λ 2 represents the weight of the deformation error. PathLength represents the total moving distance of the pressing path, and DeformationError represents the deviation between the actual pressed shape and the theoretical shape; (d) Force application control: According to the optimized path, control the punch to apply force along the surface normal direction. The meaning of : The parametric surface equation represents the surface generated by fitting the basis function and the control point. Its function is: to describe the three-dimensional geometric shape of the side plate 16 of the hull or other workpieces. u and v respectively control the shape distribution of the surface in two orthogonal directions in the transverse and longitudinal directions (the value range is usually [0,1]) and are used to locate specific points on the surface; represents the i-th p-th basis function in the parameter u direction; represents the j-th q-th basis function in the parameter v direction. Its function is: The basis function is used to perform weighted combination on the control points and define the local shape characteristics of the surface. Higher-order basis functions (such as p = 3) can generate smoother surfaces; Denote the surface control points, representing the coordinates of the control points (points in three-dimensional space) in the \(i\)-th row and \(j\)-th column. By adjusting the positions and weights of the control points, the shape of the surface can be directly changed to fit the point cloud data of the actual workpiece. In this embodiment, \(n\) and \(m\) represent the number of control points in the \(u\) and \(v\) directions, which determine the number of segments and complexity of the surface. For example, \(n = 3\) and \(m = 3\) indicate that the surface is composed of \(4\times4\) control points.

[0024] In this embodiment, the side plate 16 of the hull to be pressed is placed on the pressure contact surface of the lower platen 15, and the edge of the side plate is clamped by a pneumatic fixture to ensure its horizontal placement without deviation. The initial position of the moving ram 7 is at the right end of the flat rail 4 of the ram. The pulley 8 is driven by a motor to return to the preset initial position, so that the main cylinder 1, the moving beam 9, the spherical joint 11 and the upper platen 10 are in the initial position (the upper right of the cavity space 6). Start the servo motor in the moving ram 7 to drive the pulley 8 to slide left along the flat rail 4 of the ram, and the speed is set at 10 cm / s. The pulley 8 is linked to the main cylinder 1, the moving beam 9 and the upper platen 10 through a synchronous belt, and the whole moves left to the target pressing area. The first guide post 2 and the second guide post 3 are connected to the moving beam 9 through linear bearings to ensure that the upper platen 10 has no lateral deviation when moving in the vertical direction. The laser scanner (accuracy ±0.1 mm) on the moving ram 7 scans the surface of the side plate 16 of the hull to generate dense point cloud data (point spacing 1 mm). The curvature mutation points (such as welds and bending lines) in the dense point cloud data are extracted as key path nodes through an algorithm. The dynamic programming algorithm is used to minimize the total path length (\(\lambda\) 1 = 0.6) and the deformation error (\(\lambda\) 2 = 0.4), and the optimization objective formula is: , Based on the dense point cloud data, construct a bicubic B-spline surface equation: , 1. Surface fitting process: Data acquisition: The laser scanner scans the surface of the side plate 16 of the hull to generate dense point cloud data (such as 1000 points); Parameterization and basis function selection: Set the degrees of the basis functions \(p = 3\), \(q = 3\) (bicubic B-spline surface), and the knot vectors are uniformly distributed; The number of control points \(n = 5\), \(m = 5\), a total of \(6\times6\) control points; Least squares optimization: Solve the control points through an algorithm to minimize the mean square error between the fitted surface \(s(u, v)\) and the dense point cloud data; 2. Pressing path generation: Normal force application calculation: For each pressing point \((u\) k , \(v\) k ), calculate the surface normal vector , adjust the attitude of the upper punch 10 to ensure that the pressing force is along the normal direction. Among them, and are the tangent vectors of the curved surface at the pressing point. After cross multiplication, the normal vector n is obtained; Path optimization: Combine the overall optimization goal ; 3. The actual effects achieved: Accuracy: The deviation between the fitted curved surface and the dense point cloud data is ≤0.2 mm, and the deformation error of the workpiece after pressing is ≤0.5 mm; Efficiency: The length of the pressing path is shortened by 20%, and the single-piece processing time is reduced to 12 minutes; This calculation formula realizes high-precision surface fitting through the weighted combination of basis functions and control points, and can efficiently generate pressing paths in shipbuilding to ensure the balance between processing quality and efficiency.

[0025] In this embodiment, during the movement, through the guidance of the first guide post 2 and the second guide post 3, the upper punch 10 presses downward on the middle part of the ship's side plate 16. The piezoelectric sensor dynamically adjusts the pressure. When the upper punch 10 reaches the position above the ship's side plate 16 to be pressed, the displacement sensor in the moving ram 7 controls the drive and braking device to stop driving the pulley 8, so that the moving ram 7 stops. Then, through the guidance of the first guide post 2 and the second guide post 3, it reaches the position of the ship's side plate 16 to be pressed. During the process of pressing the ship's side plate 16, it is necessary to correct the position between the upper punch 10 and the ship's side plate 16. When correcting the position, align the upper punch 10 with the local position to be pressed on the ship's side plate 16. When pressing the ship's side plate 16, the ship's side plate 16 is formed into a finished product 17. First, the upper punch 10 locally presses the middle part, the main cylinder 1 presses downward, and the upper punch 10 presses the ship's side plate 16 downward to fit with the lower punch 15, so that the middle part of the ship's side plate 16 is locally formed, as shown in the accompanying drawings of the specification Figure 4 shown. Then, let the moving ram 7 drive the upper punch 10 to move left and right along the pressing path, and the universal ball joint 11 adaptively adjusts the angle of the upper punch 10; Gradually press each position of the ship's side plate 16, so that the ship's side plate 16 becomes the shape of the finished product 17, as shown in Figure 7 shown.

[0026] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A special hydraulic press for hull side panels, comprising a main cylinder (1), a machine body (5) and an electric control cabinet, wherein the electric control cabinet is located on one side of the machine body (5), and is characterized in that: A front and rear hollow cavity space (6) is arranged in the middle of the machine body (5), and ram flat rails (4) are arranged on both sides of the upper end of the cavity space (6). A movable ram (7) is arranged on the ram flat rail (4), and a driving and braking device is arranged in the movable ram (7); the movable ram (7) is connected to the ram flat rail (4) via a pulley (8), and the driving and braking device is connected to the pulley (8) through a motor drive; after the master cylinder (1) passes through the movable ram (7), the movable ram (7) drives the master cylinder (1) to slide left and right on the ram flat rail (4) at the upper end of the cavity space (6) through the pulley (8).

2. A special hydraulic press for hull side plates according to claim 1, characterized in that: A guide column 1 (2) and a guide column 2 (3) are respectively arranged on both sides of the master cylinder (1), and a movable beam (9) is arranged at the end of the master cylinder (1); the guide column 1 (2) and the guide column 2 (3) pass through the movable ram (7) and are connected to the movable beam (9) at the lower end.

3. A special hydraulic press for hull side plates according to claim 2, characterized in that: An upper pressure head (10) is arranged at the bottom of the movable beam (9), and a universal ball joint (11) is arranged between the movable beam (9) and the upper pressure head (10); a first arc-shaped T-shaped concave groove (12) is arranged between the movable beam (9) and the universal ball joint (11), and a second arc-shaped T-shaped concave groove (13) is arranged between the universal ball joint (11) and the upper pressure head (10).

4. A special hydraulic press for hull side plates according to claim 1, characterized in that: A lower cross beam (14) is arranged at the lower end of the fuselage (5), and a lower pressure head (15) is arranged on the lower cross beam (14). The length of the lower pressure head (15) is greater than the length of the upper pressure head (10), and the pressure contact surface of the lower pressure head (15) is an arc surface with equal heights at left and right ends and a downward concave middle portion. The hull side plate (16) to be pressed is placed on the pressure contact surface of the lower pressure head (15).

5. A special hydraulic press for hull side plates according to claim 1, characterized in that: A displacement sensor is provided on the movable ram (7), and a first limiting device and a second limiting device are provided at two ends of the ram flat rail (4), respectively.

6. A special hydraulic press for hull side plates according to claim 5, characterized in that: The distance between the first limiting device and the second limiting device is the distance that the main cylinder (1) slides left and right in the cavity space (6).

7. A special hydraulic press for hull side plates according to claim 3, characterized in that: A piezoelectric ceramic sheet is embedded inside the universal ball joint (11), which detects the pressure distribution of the pressure contact surface in real time and forms a closed-loop pressure control with the hydraulic system of the master cylinder (1), dynamically adjusting the output pressure of the master cylinder (1), and the pressure increase accuracy is increased from ±5% to ±1.5%.

8. The special hydraulic press for hull side plates according to claim 5, characterized in that: The movable ram (7) is provided with a laser scanner for acquiring a three-dimensional contour image of the hull side plate (16) to generate an optimal pressing path.

9. The special hydraulic press for hull side plates according to claim 3, characterized in that: A lubricating coating is provided on the contact surfaces of the first arc-shaped T-shaped concave groove (12) and the second arc-shaped T-shaped concave groove (13), and the movable slide (7) is a carbon fiber-aluminum alloy laminated structure.

10. A pressing method for a hydraulic press for hull side plates as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Scanning the contour of the hull side plate (16) by means of a laser scanner on the moving ram (7) and generating a pressing path; the process of generating the pressing path is as follows: (a) Feature extraction: Extract the geometric features of the hull side plate based on the dense point cloud data obtained by the laser scanner; (b) Path generation: Generate the initial pressing path based on the geometric features through the surface fitting algorithm; The equation for the surface fitting algorithm is: Among them, N i,p is the basis function, N j,q is the jth basis function of order q in the direction of the v parameter, P i,j is the control point; The parameters u and v control the shape distribution of the surface in two orthogonal directions, horizontally and vertically, respectively; (c) Path optimization: Taking minimizing the path length and suppressing the path error as the optimization goal, calculate the total optimization function: , Among them, L represents the overall optimization goal, λ1 represents the weight of the path length, λ2 represents the weight of the deformation error, PathLength represents the total moving distance of the pressing path, and DeformationError represents the deviation between the actual pressed shape and the theoretical shape; (d) Force control: According to the optimized path, the pressure head is controlled to apply force along the normal direction of the surface; S2: The main cylinder (1) presses the middle part of the hull side plate (16), and the piezoelectric sensor dynamically adjusts the pressure; S3: The movable slide (7) moves along the pressing path, and the universal ball joint (11) adaptively adjusts the angle of the upper pressing head (10); S4: After the pressing is completed, the driving and braking device locks the moving slide (7).

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