A method and system for controlling stamping production of marine propellers

Abstract

The present invention discloses a method and system for controlling the stamping and forming production of marine propellers. The method comprises: obtaining structural design parameters of the marine propeller to be produced, and obtaining a historical stamping die having the highest similarity to the structural design parameters; constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters; setting the historical stamping die in a stamping and forming device, and placing a heated blank into the historical stamping die for stamping to obtain an initial marine propeller; scanning and three-dimensionally modeling the initial marine propeller by a laser device to obtain a three-dimensional propeller model; comparing the three-dimensional propeller model with the three-dimensional structural model to obtain a deviation value, and calculating a die compensation amount according to the deviation value; adjusting the historical stamping die according to the die compensation amount to obtain an actual stamping die, and setting the actual stamping die in the stamping and forming device to perform stamping and forming production of the marine propeller.

Description

Technical Field

[0001] The present invention relates to the technical field of propeller production, and in particular to a stamping forming production control method and system for marine propellers. Background Art

[0002] Propeller blades are highly complex three-dimensional free-form surfaces, whose shape is crucial to hydrodynamic performance. Propeller dimensions, structures, and sizes vary for vessels of varying tonnage and usage requirements. Marine propellers are produced through stamping, a process involving plastic deformation. During the stamping process, the flow and deformation of the material at various locations are extremely complex.

[0003] Currently, the stamping process for marine propellers involves placing the pre-processed front and back panels into dedicated stamping dies. A press is then used to apply pressure to the dies, stamping the front and back panels into the corresponding camber according to the die shape, thus forming the propeller blades. However, for newly designed marine propellers, the mold structure needs to be redesigned. However, since marine propellers are generally similar in structure, differing only in parameters such as the blades, a complete mold redesign would extend the production cycle. Furthermore, for large quantities of newly designed and customized propellers, the operation process would be complex and production efficiency would be low. Summary of the Invention

[0004] The present invention provides a method and system for controlling the stamping production of marine propellers, so as to solve the technical problems in the prior art of extending the production cycle of marine propellers, and causing complex operation processes and low production efficiency for propellers that require large quantities of newly designed and customized propellers.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a method for controlling stamping production of a marine propeller, comprising:

[0006] Obtaining structural design parameters of the marine propeller to be produced, and obtaining a historical stamping die having the highest similarity to the structural design parameters from a historical stamping die library;

[0007] Constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters;

[0008] A historical stamping die is set in a stamping forming device, and a heated blank is placed in the historical stamping die for stamping to obtain an initial marine propeller;

[0009] Scanning and three-dimensionally modeling the initial marine propeller using a laser device to obtain a three-dimensional propeller model;

[0010] Comparing the propeller three-dimensional model with the three-dimensional structural model to obtain a deviation value, and calculating a mold compensation amount based on the deviation value;

[0011] The historical stamping die is adjusted according to the die compensation amount to obtain an actual stamping die, and the actual stamping die is set in a stamping forming device to carry out stamping and forming production of marine propellers.

[0012] As a preferred solution, the step of obtaining the structural design parameters of the marine propeller to be produced and obtaining the historical stamping die with the highest similarity to the structural design parameters from a historical stamping die library specifically includes:

[0013] Obtaining structural design parameters of a marine propeller to be produced; wherein the structural design parameters include: size parameters, shape parameters, material parameters and hub structural parameters;

[0014] Calculating a first structural weight value of the marine propeller to be produced and a second structural weight value of each historical die in the historical stamping die library according to preset structural weights; wherein the preset weights include weight coefficients corresponding to size parameters, shape parameters, material parameters, and hub structural parameters, respectively;

[0015] The first structural weight value is subtracted from each second structural weight value to obtain a historical die with the second structural weight value when the difference is minimum, which is used as the historical stamping die with the highest similarity to the structural design parameters.

[0016] As a preferred solution, constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters specifically includes:

[0017] Determining the diameter and number of blades of the marine propeller to be produced according to the size parameters;

[0018] Determining the pitch, disc ratio, longitudinal skew and lateral skew of the marine propeller to be produced according to the shape parameters;

[0019] Constructing a structural model based on the diameter, number of blades, pitch, disc ratio, longitudinal skew, lateral skew and hub structural parameters;

[0020] Checking the structural model and optimizing the structural model according to the checking result;

[0021] According to the material parameters, materials and properties are added to the structural model, thereby obtaining a three-dimensional structural model of the marine propeller to be produced.

[0022] As a preferred solution, the method of providing a historical stamping die in a stamping forming device and placing the heated blank into the historical stamping die for stamping to obtain an initial marine propeller specifically includes:

[0023] According to the modular preliminary punching die in the historical stamping die, the stamping forming equipment is adjusted in space and position, and the modular preliminary punching die is set after the adjustment; wherein the historical stamping die includes the modular preliminary punching die and the combined fine punching die;

[0024] The heated blank is placed in a modular initial punching die, and the heated blank is punched to obtain an initial punched marine propeller;

[0025] According to the combined fine blanking die in the historical stamping die, the stamping forming equipment is subjected to secondary adjustment in space and position, and the combined fine blanking die is set after the secondary adjustment;

[0026] The initially punched marine propeller is placed in a combined fine punching die, and the initially punched marine propeller is punched to obtain an initial marine propeller.

[0027] As a preferred solution, scanning and three-dimensional modeling of the initial marine propeller by laser equipment to obtain a three-dimensional propeller model specifically includes:

[0028] Scanning the initial marine propeller using a laser device to obtain a plurality of point cloud data;

[0029] Based on the preset coordinate axis, the point cloud data under the same perspective are spliced ​​to obtain the point cloud data model under each perspective, and the point cloud data models are combined to obtain the initial three-dimensional model;

[0030] The edge contour features of the initial three-dimensional model are extracted, and based on the edge contour features, the point cloud data of different perspectives are re-joined along the edge contour features to obtain a three-dimensional model of the propeller.

[0031] As a preferred solution, the three-dimensional propeller model and the three-dimensional structural model are compared to obtain a deviation value, and a mold compensation amount is calculated according to the deviation value, specifically including:

[0032] Analyzing the three-dimensional structural model to obtain point cloud data of the three-dimensional structural model;

[0033] The central rotation axes of the propeller 3D model and the 3D structural model are respectively set on the z-axis on the preset coordinate axis, and the 3D propeller model is rotated around the z-axis to determine whether the point cloud data of the 3D structural model overlaps with the point cloud data of the propeller 3D model during the rotation process;

[0034] If not, calculate the probability of overlap between the point cloud data of the three-dimensional structural model and the point cloud data of the propeller three-dimensional model during the rotation process, and obtain the non-overlapping point cloud data between the three-dimensional structural model and the propeller three-dimensional model at the position when the overlap probability is maximum, and based on the error between the non-overlapping point cloud data, obtain the deviation value, and based on the deviation value, determine the mold compensation amount of the historical stamping mold.

[0035] As a preferred solution, the deviation value is obtained based on the error between the non-overlapping point cloud data, specifically including:

[0036] Extracting edge contour features of the three-dimensional structure model, and extracting a region where a deviation exists between the edge contour features of the propeller three-dimensional model and the edge contour features of the three-dimensional structure model as an error region;

[0037] A number of feature points are set in the error area, and the feature points are mapped to the propeller three-dimensional model and the three-dimensional structural model, so as to calculate the error value between the point cloud data of the propeller three-dimensional model and the three-dimensional structural model corresponding to each feature point as the deviation value.

[0038] Accordingly, the present invention also provides a marine propeller stamping production control system, comprising:

[0039] A mold module is used to obtain the structural design parameters of the marine propeller to be produced, and to obtain the historical stamping mold with the highest similarity to the structural design parameters from the historical stamping mold library;

[0040] A modeling module, configured to construct a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters;

[0041] A stamping module is used to set a historical stamping die in a stamping forming device, and place the heated blank into the historical stamping die for stamping to obtain an initial marine propeller;

[0042] A scanning module is used to scan and three-dimensionally model the initial marine propeller using a laser device to obtain a three-dimensional model of the propeller;

[0043] a calculation module, configured to compare the three-dimensional propeller model with the three-dimensional structural model to obtain a deviation value, and calculate a mold compensation amount based on the deviation value;

[0044] An adjustment module is used to adjust the historical stamping die according to the die compensation amount to obtain an actual stamping die, and to set the actual stamping die in a stamping forming device for stamping and forming production of marine propellers.

[0045] Accordingly, the present invention also provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the marine propeller stamping production control method as described in any one of the above items.

[0046] Accordingly, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the marine propeller stamping production control method as described in any one of the above.

[0047] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0048] The technical solution of the present invention obtains the structural design parameters of the marine propeller to be produced to obtain the corresponding historical stamping die and construct a corresponding three-dimensional structural model, and then uses the historical stamping die to simulate the stamping production, and then scans and three-dimensionally models the initial marine propeller obtained by the simulated stamping production to obtain a three-dimensional propeller model, and compares it with the three-dimensional structural model to obtain the corresponding deviation value, and then calculates the die compensation amount, thereby avoiding the need to redesign a new set of dies. After the compensation adjustment based on the historical stamping die, the marine propeller with the required specifications can be stamped and formed by the historical stamping die after compensation adjustment, thereby improving the automation level and processing efficiency of the hot stamping forming of the marine propeller, and avoiding the extension of the production cycle caused by redesigning the die. In the scenario of mass customization of newly designed marine propellers, high-quality and high-performance propeller blades can be produced quickly and efficiently to meet the design requirements of different ship propulsion systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 : A flow chart of the steps of a stamping production control method for a marine propeller provided by an embodiment of the present invention;

[0050] Figure 2 : A structural diagram of a marine propeller stamping production control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] Example 1

[0053] Please refer to Figure 1 , a marine propeller stamping production control method provided by an embodiment of the present invention includes the following steps S101-S106:

[0054] S101: Obtain structural design parameters of a marine propeller to be produced, and obtain a historical stamping die having the highest similarity to the structural design parameters from a historical stamping die library.

[0055] As a preferred solution of this embodiment, the step of obtaining the structural design parameters of the marine propeller to be produced and obtaining the historical stamping die with the highest similarity to the structural design parameters from the historical stamping die library specifically includes:

[0056] Structural design parameters of a marine propeller to be produced are obtained; wherein the structural design parameters include: size parameters, shape parameters, material parameters and hub structural parameters; according to preset structural weights, a first structural weight value of the marine propeller to be produced and a second structural weight value of each historical mold in the historical stamping mold library are calculated; wherein the preset weights include weight coefficients corresponding to the size parameters, shape parameters, material parameters and hub structural parameters, respectively; the first structural weight value is subtracted from each second structural weight value to obtain a historical mold having a second structural weight value corresponding to the minimum difference, as the historical stamping mold having the highest similarity to the structural design parameters.

[0057] In this embodiment, the structural design parameters of the marine propeller to be produced are first collected. These structural design parameters comprehensively describe the propeller's design requirements and provide a key basis for subsequent matching of historical molds. Then, based on preset weight coefficients for each structural parameter, a weighted calculation is performed on the structural design parameters of the current propeller to be produced, resulting in a first structural weight value. It is understood that the importance of each parameter is quantified so that it can be compared with the corresponding values ​​of historical molds for greater comparability. Consequently, for each historical mold in the historical stamping die library, a second structural weight value is calculated using the same method and preset weight coefficients as for the propeller to be produced. Finally, the difference between the first structural weight value of the propeller to be produced and the second structural weight value of each historical mold is calculated, and the case with the smallest difference is found. The smallest difference indicates the highest similarity in structural features between the two. In this case, the corresponding historical mold is the mold most similar to the current design propeller, providing an important reference for subsequent mold selection or optimization. The historical stamping die library contains several historical molds pre-stored.

[0058] In this embodiment, for size parameters, shape parameters, material parameters and hub structural parameters, the preset structural weights have different weight coefficients, for example, for size parameters, there is a weight coefficient k1, for shape parameters there is k2, for material parameters there is k3, and for hub structural parameters there is k4. Therefore, by combining the specific parameter values ​​of the size parameters, shape parameters, material parameters and hub structural parameters of the marine propeller with the corresponding weight coefficients, the first structural weight value of the marine propeller to be produced and the second structural weight value corresponding to the propeller produced by each historical mold in the historical stamping die library can be calculated, thereby quantifying the structure of the marine propeller and finding the difference between the first structural weight value and each second structural weight value, so that the historical stamping die with the highest similarity to the structural design parameters can be quickly matched in the historical stamping die library.

[0059] It can be understood that the structural weight value includes the sub-weights corresponding to the size parameters, shape parameters, material parameters and hub structural parameters. For example, the size parameters include: pitch P, disk ratio DL, longitudinal inclination R and lateral inclination S, and the sub-weights of the size parameters can be P·k1 + DL·k1 + R·k1 + S·k1. The sub-weights corresponding to the shape parameters, material parameters and hub structural parameters are calculated in a similar manner. For parameters that cannot be quantified, such as the material in the material parameters, the steel material can be pre-set to 1, the copper alloy to 2, the carbon fiber material to 3, and so on, for calculation.

[0060] S102: Constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters.

[0061] As a preferred solution of this embodiment, constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters specifically includes:

[0062] According to the size parameters, the diameter and the number of blades of the marine propeller to be produced are determined; according to the shape parameters, the pitch, disk ratio, longitudinal skew and lateral skew of the marine propeller to be produced are determined; according to the diameter, number of blades, pitch, disk ratio, longitudinal skew, lateral skew and hub structural parameters, a structural model is constructed; the structural model is inspected and optimized according to the inspection results; according to the material parameters, materials and properties are added to the structural model, so as to obtain a three-dimensional structural model of the marine propeller to be produced.

[0063] In this embodiment, the structural design parameters of a marine propeller primarily include basic dimensional parameters, shape parameters, material parameters, and structural parameters. Basic dimensional parameters include the diameter of the circular trajectory formed by the blade tip during propeller rotation and the number of blades. Generally, the larger the propeller diameter, the lower the rotational speed and the higher its efficiency. However, the diameter should not be too large, as this will reduce the average wake at the blade disc and reduce hull efficiency. The number of blades also affects the propulsion efficiency and hydrodynamic performance of the propeller.

[0064] Further dimensional parameters include pitch, area ratio, skew, and skew. Pitch directly affects propeller thrust and torque. Area ratio is the ratio of the extended area to the disc area, indicating the width of the blades. The area ratio is primarily determined by the number of blades and the chord length distribution. Skew refers to the projection of the propeller reference line onto the axis and is primarily used to increase the clearance between the blades and the hull or stern frame, thereby reducing propeller-induced hull vibrations. Skew refers to the distance between the tip of an asymmetric blade and a reference line. Using an appropriate skew distribution can reduce the pulsating pressure on the hull surface and the exciting force on the propeller shaft caused by the propeller operating in a non-uniform wake; material parameters include the materials used and the manufacturing accuracy. Marine propellers are usually made of stainless steel, copper alloy and other materials. The performance of the materials needs to meet the requirements of strength, corrosion resistance and wear resistance. According to the use requirements of the propeller, the manufacturing accuracy is divided into different levels; structural parameters include: panel, back plate, support plate and hub structural parameters, etc. In the structure of a hollow propeller, the panel is on the pressure side and the back plate is on the suction side. The support plate is a reinforcing strip that supports the panel and back plate inside the blade. The hub is the component connecting the blade to the stern shaft.

[0065] In this embodiment, a three-dimensional structural model of a newly designed marine propeller is inspected for geometric accuracy, dimensional conformity, and structural integrity to ensure that the model truly reflects the design requirements. Based on the inspection results, the structural model is then optimized. This involves adjusting the model's geometry, repairing defects, and improving structural details to improve its quality and performance. Furthermore, the goal of optimization is to make the model more consistent with actual production requirements and enhance its reliability and efficiency in subsequent processing and use. Based on the optimized structural model, appropriate material and property information is added to the model based on material parameters. This includes selecting an appropriate material type (e.g., stainless steel, copper alloy, etc.) and setting material properties such as density, elastic modulus, and yield strength. Ultimately, after inspection, optimization, and addition of material properties, a three-dimensional structural model of the marine propeller to be produced is obtained. This three-dimensional structural model, which contains complete geometric information and material properties, can be used for further analysis, simulation, and manufacturing preparation.

[0066] S103: Setting a historical stamping die in a stamping forming device, and placing the heated blank into the historical stamping die for stamping to obtain an initial marine propeller.

[0067] As a preferred solution of this embodiment, the method of providing a historical stamping die in a stamping forming device and placing the heated blank into the historical stamping die for stamping to obtain an initial marine propeller specifically includes:

[0068] According to the modular initial punching die in the historical stamping die, the stamping forming equipment is adjusted in space and position, and the modular initial punching die is set after the adjustment; wherein, the historical stamping die includes a modular initial punching die and a combined fine punching die; the heated blank is placed in the modular initial punching die, and the heated blank is stamped to obtain an initial punched marine propeller; according to the combined fine punching die in the historical stamping die, the stamping forming equipment is adjusted in space and position for a secondary time, and a combined fine punching die is set after the secondary adjustment; the initial punched marine propeller is placed in the combined fine punching die, and the initial punched marine propeller is stamped to obtain an initial marine propeller.

[0069] In this embodiment, a modular initial punching die is selected from a historical stamping die library, and the stamping forming equipment is adjusted in space and position according to the size and shape of the modular initial punching die to ensure that the die can be correctly installed and work normally. Among them, the modular initial punching die can be positioned by a visual camera through machine vision recognition, and the positioned modular initial punching die can be adjusted using a robotic arm to ensure the normal installation of the die. Then, the modular initial punching die is installed on the adjusted stamping equipment, and after the blank is heated to a suitable temperature, it is placed in the modular initial punching die for stamping to obtain an initial punched marine propeller. It can be understood that heating is to improve the plasticity of the material and facilitate stamping.

[0070] In this embodiment, according to the size and shape of the combined fine blanking die, the stamping forming equipment is adjusted in space and position for the second time to adapt to the installation and operation requirements of the fine blanking die, and then the combined fine blanking die is installed on the adjusted stamping equipment, and the initial punched marine propeller is placed in the combined fine blanking die for stamping, thereby further improving the dimensional accuracy and shape accuracy of the propeller, and finally obtaining the initial marine propeller.

[0071] In this embodiment, the blank heating is to heat the blank to an appropriate temperature range according to the properties of the material and the requirements of the stamping process. The heating temperature needs to be precisely controlled to ensure that the material has good plasticity and fluidity during the stamping process, while avoiding degradation of material properties caused by overheating. The stamping operation includes an initial stamping operation and a fine stamping operation. The stamping operation is to accurately place the heated blank into the modular initial stamping die, start the stamping equipment for stamping, and control the stamping speed, pressure and other parameters during the stamping process to ensure that the blank can be smoothly formed and defects are avoided. The fine stamping operation is to place the propeller after the initial stamping into the combined fine stamping die for secondary stamping, wherein the stamping parameters need to be more accurately controlled during the fine stamping process to improve the dimensional accuracy and surface quality of the propeller. The heating method can adopt methods such as induction heating and furnace heating. During the heating process, the temperature of the blank needs to be monitored in real time to ensure uniform heating.

[0072] S104: Scanning and three-dimensionally modeling the initial marine propeller using a laser device to obtain a three-dimensional propeller model.

[0073] As a preferred solution of this embodiment, scanning and three-dimensional modeling of the initial marine propeller by a laser device to obtain a three-dimensional propeller model specifically includes:

[0074] The initial marine propeller is scanned by a laser device to obtain a number of point cloud data; based on a preset coordinate axis, the point cloud data at the same perspective are spliced ​​to obtain a point cloud data model at each perspective, and the point cloud data models are combined to obtain an initial three-dimensional model; the edge contour features of the initial three-dimensional model are extracted, and based on the edge contour features, the point cloud data at different perspectives are re-spliced ​​along the edge contour features to obtain a three-dimensional model of the propeller.

[0075] In this embodiment, a laser scanning device is used to perform multi-view scanning on the initial marine propeller to obtain a number of point cloud data. Each point cloud data represents the surface information of the propeller at a specific viewing angle. Then, based on the preset coordinate axis, the point cloud data at the same viewing angle are spliced ​​to obtain a point cloud data model at each viewing angle. The preset coordinate axis is the global coordinate axis of the propeller. Then, the point cloud data models are combined to obtain a preliminary initial three-dimensional model, and the edge contour features are extracted from the initial three-dimensional model. The extracted edge contour features are used to re-splice the point cloud data at different viewing angles. The edge contour features are the key geometric information of the propeller surface and are used to describe the structure of the propeller. Since the propeller blade is a curved surface, the precision and accuracy of the splicing can be improved by determining the edge contour features before splicing, and the point cloud data can be aligned more accurately, reducing the splicing error, and ultimately obtaining a high-quality three-dimensional propeller model.

[0076] In this embodiment, comprehensive point cloud data is acquired through multi-view scanning and fused into a complete 3D model. This effectively addresses the occlusion and data incompleteness issues that may exist with single-view scanning. Furthermore, secondary stitching of the point cloud data using edge contour features improves stitching precision and model accuracy, while also enabling better processing of objects with complex geometric shapes and reducing stitching errors. This embodiment first performs preliminary stitching of the point cloud data to obtain an initial 3D model, and then optimizes the model through feature extraction and secondary stitching. This gradual optimization process ensures the quality of the final model.

[0077] In this embodiment, the acquired point cloud data undergoes preprocessing operations such as denoising and filtering to remove noise and outliers generated during the scanning process. The integrity of the point cloud data is then checked, and interpolation or patching methods can be considered to repair missing parts. Simultaneously, point cloud data from the same perspective are spliced ​​together using point cloud data processing software (such as CloudCompare and MeshLab). During the splicing process, the alignment accuracy of the point cloud data needs to be considered. The splicing effect can be improved by setting overlapping areas and matching algorithms. The spliced ​​point cloud data model is then checked to ensure that its geometric shape and size meet expectations.

[0078] In this embodiment, edge contour feature extraction can be performed using edge detection algorithms (such as Canny edge detection and the Sobel operator) to extract edge contour features from the initial 3D model. This ensures that the extracted edge contour features are sufficiently accurate and representative to accurately reflect the propeller's geometric shape. Based on the extracted edge contour features, the point cloud data from different perspectives are re-stitched. Methods based on feature point matching, such as the Iterative Closest Point (ICP) algorithm, can be employed to achieve precise alignment. During the secondary stitching process, the stitching results require real-time monitoring and adjustment to ensure that the stitching error remains within an acceptable range. The resulting 3D propeller model is then optimized, such as through smoothing and hole filling, to improve the model's visual quality and data quality.

[0079] S105: Compare the propeller three-dimensional model with the three-dimensional structural model to obtain a deviation value, and calculate a mold compensation amount based on the deviation value.

[0080] As a preferred solution of this embodiment, the three-dimensional propeller model and the three-dimensional structural model are compared to obtain a deviation value, and a mold compensation amount is calculated according to the deviation value, specifically including:

[0081] The three-dimensional structural model is analyzed to obtain point cloud data of the three-dimensional structural model; the central rotation axes of the propeller three-dimensional model and the three-dimensional structural model are respectively set on the z-axis on the preset coordinate axis, and the propeller three-dimensional model is rotated around the z-axis to determine whether there is a situation in which the point cloud data of the three-dimensional structural model overlaps with the point cloud data of the propeller three-dimensional model during the rotation process; if not, the probability of overlap between the point cloud data of the three-dimensional structural model and the point cloud data of the propeller three-dimensional model during the rotation process is calculated, and at the position where the overlap probability is maximum, the point cloud data that does not overlap between the three-dimensional structural model and the propeller three-dimensional model is obtained, and based on the error between the non-overlapping point cloud data, a deviation value is obtained, and based on the deviation value, the mold compensation amount of the historical stamping mold is determined.

[0082] In this embodiment, a 3D structural model of a marine propeller to be produced is analyzed using 3D modeling software or a point cloud data information processing tool to extract its point cloud data. The central rotation axes of the 3D propeller model and the 3D structural model are respectively set on the Z axis of a preset coordinate system, thereby rotating the 3D propeller model about the Z axis to find the overlap between the point cloud data of the two models. During the rotation process, a real-time determination is made as to whether the point cloud data of the 3D structural model and the point cloud data of the 3D propeller model overlap. If no complete overlap is found during the rotation process, the probability of overlap between the point cloud data of the two models during the rotation process is calculated. The overlap probability is the percentage probability of overlap between the point cloud data of the 3D structural model and the point cloud data of the 3D propeller model. By calculating the overlap probability of the point cloud data of the two models, the angle and position of the 3D propeller model at which the overlap probability is maximized can be determined.

[0083] In this embodiment, a point cloud comparison algorithm (such as nearest neighbor search and spatial indexing) can be used to determine in real time whether the point cloud data of two models contain overlapping points. The accuracy of the overlap determination depends on the density of the point cloud data and the accuracy of the comparison algorithm. During the rotation process, each rotation step can be set, and rotations can be selected based on the rotation step. After each rotation, the probability of overlap of the point cloud data of the two models is calculated. The overlap probability can be calculated by calculating the ratio of the number of overlapping points to the total amount of point cloud data. Mathematical models or statistical methods can then be used to analyze the overlap probability and find the rotation angle corresponding to the maximum value.

[0084] In this embodiment, at the position where the probability of overlap is the highest, non-overlapping point cloud data between the two models is obtained, and the deviation value is calculated based on the error between the non-overlapping point cloud data. The mold compensation amount of the historical stamping mold is determined based on the calculated deviation value to optimize the subsequent stamping production process and improve product quality.

[0085] In this embodiment, at the position where the probability of overlap is the highest, the non-overlapping point cloud data between the two models are extracted, and the error between the non-overlapping point cloud data is calculated, wherein the Euclidean distance or other appropriate distance measurement methods can be used. Then, the error values ​​are summarized and analyzed to obtain the deviation value, which can reflect the overall degree of deviation between the two models. Finally, the compensation amount of the historical stamping die is determined based on the deviation value. Among them, the calculation of the die compensation amount needs to take into account the material properties, processing accuracy and stamping process requirements of the die. The compensation amount can be used to adjust the shape or size of the die to reduce deviations in subsequent production and improve product quality.

[0086] As a preferred solution of this embodiment, obtaining the deviation value based on the error between the non-overlapping point cloud data specifically includes:

[0087] Extracting edge contour features of the three-dimensional structural model, and extracting an area where there is a deviation between the edge contour features of the propeller three-dimensional model and the edge contour features of the three-dimensional structural model as an error area; setting a number of feature points in the error area, and mapping the feature points to the propeller three-dimensional model and the three-dimensional structural model, thereby calculating the error value between the point cloud data of the propeller three-dimensional model and the three-dimensional structural model corresponding to each feature point as a deviation value.

[0088] In this embodiment, edge contour features of the 3D structural model are extracted from the point cloud data of the 3D structural model. These features are then combined with those of the 3D propeller model to identify deviation regions. Specifically, the edge contour features of the two models are compared to identify areas of deviation, which are then defined as error regions. Several feature points are then assigned to the error regions and mapped to the 3D propeller model and the 3D structural model. For each feature point, the error between the point cloud data of the 3D propeller model and the 3D structural model is calculated as a deviation value.

[0089] In this embodiment, by extracting the edge contour features of the models, the deviation areas between the models can be quickly located, effectively reducing the amount of calculation and improving comparison efficiency. Furthermore, by identifying the error region, the area of ​​deviation between the two models can be identified, providing a target area for subsequent precise measurement and adjustment, and avoiding the error masking problem that may arise from global comparison. Furthermore, by setting feature points in the error region and calculating the error value of the point cloud data, the deviation between the models can be accurately quantified, providing specific data support for model optimization and mold adjustment.

[0090] In this embodiment, edge contour feature extraction can use edge detection algorithms (such as Canny edge detection, Sobel operator, etc.) to extract edge contour features from the three-dimensional model to ensure that the extracted edge contour features have sufficient accuracy and continuity and can accurately reflect the geometric shape of the model. At the same time, edge contour feature extraction can also be achieved through software tools (such as SolidWorks, MeshLab, CloudCompare, etc.). Then, the deviation area is identified, that is, the edge contour features of the two models are compared to identify the area where the deviation exists. The comparison method may include direct geometric comparison, distance field calculation, etc. Then, the deviation area is marked for subsequent feature point setting and error calculation.

[0091] In this embodiment, a number of feature points are evenly or as needed within the deviation region. The number and distribution of the feature points should be determined based on the size and complexity of the deviation region. Simultaneously, a mapping algorithm (such as nearest neighbor mapping or interpolation mapping) is used to map the feature points to the two models, ensuring mapping accuracy and avoiding calculation errors caused by mapping errors. For each feature point, the error between the point cloud data of the propeller 3D model and the 3D structural model is calculated. This error can be measured using Euclidean distance, normal vector difference, or other appropriate metrics. The calculated error value is used as the deviation value, which is recorded and analyzed to determine the overall deviation between the models. Thus, the location and error value of the feature points are recorded, and the error data is analyzed to determine the error distribution pattern and the main deviation areas, providing a basis for subsequent model optimization or mold adjustment. Ultimately, the obtained offset is used to determine the location and specific value of the required compensation in the mold, thereby obtaining the corresponding mold compensation amount.

[0092] Furthermore, the deviation value reflects the error between the 3D structural model and the 3D propeller model. This error may be caused by mold wear, material deformation, or other deviations in the production process. By analyzing the distribution and magnitude of the deviation value, the specific value required for mold adjustment is calculated, that is, the corresponding mold compensation amount. The calculation of mold compensation requires considering the mold's material properties, machining accuracy, and stamping process requirements. Computer-aided design (CAD) and computer-aided manufacturing (CAM) software can be used to assist in calculating and verifying the accuracy of the compensation amount.

[0093] Furthermore, stamping involves plastic deformation, but when the mold is unloaded and separated, the material undergoes elastic recovery, a phenomenon known as springback. For complex shapes such as propeller blades, the amount of springback varies significantly at different locations on the curved surface and is difficult to accurately predict. Existing automated systems lack the ability to compensate for springback in real time, resulting in the final part shape accuracy (such as pitch and cross-sectional shape) deviating from design requirements, necessitating extensive manual refining. In this embodiment, the springback phenomenon that occurs during the subsequent actual stamping process can also be offset by determining the mold compensation amount.

[0094] S106: Adjust the historical stamping die according to the die compensation amount to obtain an actual stamping die, and set the actual stamping die in a stamping forming device to perform stamping and forming production of marine propellers.

[0095] In this embodiment, after determining the die compensation amount based on the calculated deviation value, the 3D structural model or the 3D propeller model can be optimized and adjusted. In actual production, the shape or size of the stamping die is adjusted based on the die compensation amount to reduce deviations in subsequent production and improve product quality. Furthermore, the historical stamping die is adjusted based on the calculated compensation amount. Adjustment methods may include machining (such as milling or grinding), welding, or adding compensation shims. For die shape adjustment, high-precision CNC machining equipment can be used to automatically perform precise machining of the die surface according to the compensation requirements. For die size adjustment, material can be added or removed. For example, if a part of the die needs to be enlarged, compensation material can be added by welding or bonding; if it needs to be reduced, excess material can be removed by machining. During the adjustment process, strict control of adjustment accuracy is required to ensure that the adjusted die meets production requirements. High-precision measuring equipment (such as a coordinate measuring machine or laser tracker) can be used to inspect and calibrate the adjusted die. The adjusted die should undergo multiple inspections and verifications to ensure its accuracy and reliability.

[0096] In this embodiment, the adjusted actual stamping die is installed in the stamping equipment. During the installation process, it is necessary to ensure that the die is accurately positioned, aligned with the centerline of the stamping equipment, and securely installed. Furthermore, positioning tools and calibration equipment (such as a dial indicator and laser alignment instrument) are used to ensure the installation accuracy of the die. Based on the size and shape of the actual stamping die, the stamping equipment is adjusted as necessary. This includes adjusting parameters such as the stamping force, stamping speed, and die gap to ensure the stability of the stamping process and product quality. Finally, the stamping equipment is tested to check its operating status and the fit of the die.

[0097] In this embodiment, a blank suitable for stamping is prepared, ensuring that its material, size, and shape meet design requirements. Necessary pretreatment, such as heating and surface cleaning, is performed to improve its plasticity and stamping quality. The blank is then placed in the actual stamping die, and the stamping equipment is activated to perform the stamping operation. During the stamping process, stamping parameters (such as pressure, speed, and stroke) must be controlled to ensure process stability and product quality. The stamped propellers are inspected and tested to ensure that their size, shape, and performance meet design requirements. During the production process, each batch of propellers undergoes spot and full inspections, and any defects detected are analyzed and recorded. The stamping process or die are then adjusted promptly to ensure stable and consistent product quality. Finally, the stamping process and die are continuously optimized based on feedback from the production process. For example, if the stamping quality in a particular area is found to be unstable, the die can be further adjusted or the stamping parameters optimized. This allows for regular maintenance of the stamping equipment and die, ensuring long-term stable operation.

[0098] In this embodiment, propellers are pre-produced by combining historical molds, and the structures of the newly designed propellers are compared with the currently produced propellers, so that the structural relationship between the two can be accurately and detailedly compared, and the corresponding molds can be corrected, avoiding the problems of redeveloping and designing the mold, resulting in a long propeller development cycle and involving complex production processes.

[0099] It is understandable that the design of marine propellers varies depending on the type, size, purpose and operating conditions of the ship to meet specific performance requirements. For example, for passenger ships, the propellers are required to provide stable and continuous propulsion to ensure the comfort of passengers during the voyage. For cargo ships, due to their large size and heavy-load transportation needs, the propellers of cargo ships need to be able to provide sufficient thrust to maintain the stable navigation of the hull while coping with the needs of different loads and sailing speeds. For special ships, such as tugboats, rescue ships and icebreakers, the propellers need to be designed according to specific functional requirements. Tugboats require high torque and large thrust, while rescue ships need to maintain stability and steering capabilities in harsh sea conditions. Icebreakers must have strong icebreaking capabilities and forward thrust.

[0100] The implementation of the above embodiment has the following effects:

[0101] The technical solution of the present invention obtains the structural design parameters of the marine propeller to be produced to obtain the corresponding historical stamping die and construct a corresponding three-dimensional structural model, and then uses the historical stamping die to simulate the stamping production, and then scans and three-dimensionally models the initial marine propeller obtained by the simulated stamping production to obtain a three-dimensional propeller model, and compares it with the three-dimensional structural model to obtain the corresponding deviation value, and then calculates the die compensation amount, thereby avoiding the need to redesign a new set of dies. After the compensation adjustment based on the historical stamping die, the marine propeller with the required specifications can be stamped and formed by the historical stamping die after compensation adjustment, thereby improving the automation level and processing efficiency of the hot stamping forming of the marine propeller, and avoiding the extension of the production cycle caused by redesigning the die. In the scenario of mass customization of newly designed marine propellers, high-quality and high-performance propeller blades can be produced quickly and efficiently to meet the design requirements of different ship propulsion systems.

[0102] Example 2

[0103] See also Figure 2 , which provides a marine propeller stamping production control system according to the present invention, comprising:

[0104] The mold module 201 is used to obtain the structural design parameters of the marine propeller to be produced, and obtain the historical stamping mold with the highest similarity to the structural design parameters from the historical stamping mold library;

[0105] A modeling module 202 is used to construct a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters;

[0106] The stamping module 203 is used to set a historical stamping die in a stamping forming device, and place the heated blank into the historical stamping die for stamping to obtain an initial marine propeller;

[0107] A scanning module 204 is configured to scan and perform three-dimensional modeling on the initial marine propeller using a laser device to obtain a three-dimensional propeller model;

[0108] a calculation module 205 for comparing the three-dimensional propeller model with the three-dimensional structural model to obtain a deviation value, and calculating a mold compensation amount based on the deviation value;

[0109] The adjustment module 206 is used to adjust the historical stamping die according to the die compensation amount to obtain an actual stamping die, and set the actual stamping die in a stamping forming device to perform stamping and forming production of marine propellers.

[0110] As a preferred solution, the step of obtaining the structural design parameters of the marine propeller to be produced and obtaining the historical stamping die with the highest similarity to the structural design parameters from a historical stamping die library specifically includes:

[0111] Obtaining structural design parameters of a marine propeller to be produced; wherein the structural design parameters include: size parameters, shape parameters, material parameters and hub structural parameters;

[0112] Calculating a first structural weight value of the marine propeller to be produced and a second structural weight value of each historical die in the historical stamping die library according to preset structural weights; wherein the preset weights include weight coefficients corresponding to size parameters, shape parameters, material parameters, and hub structural parameters, respectively;

[0113] The first structural weight value is subtracted from each second structural weight value to obtain a historical die with the second structural weight value when the difference is minimum, which is used as the historical stamping die with the highest similarity to the structural design parameters.

[0114] As a preferred solution, constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters specifically includes:

[0115] Determining the diameter and number of blades of the marine propeller to be produced according to the size parameters;

[0116] Determining the pitch, disc ratio, longitudinal skew and lateral skew of the marine propeller to be produced according to the shape parameters;

[0117] Constructing a structural model based on the diameter, number of blades, pitch, disc ratio, longitudinal skew, lateral skew and hub structural parameters;

[0118] Checking the structural model and optimizing the structural model according to the checking result;

[0119] According to the material parameters, materials and properties are added to the structural model, thereby obtaining a three-dimensional structural model of the marine propeller to be produced.

[0120] As a preferred solution, the method of providing a historical stamping die in a stamping forming device and placing the heated blank into the historical stamping die for stamping to obtain an initial marine propeller specifically includes:

[0121] According to the modular preliminary punching die in the historical stamping die, the stamping forming equipment is adjusted in space and position, and the modular preliminary punching die is set after the adjustment; wherein the historical stamping die includes the modular preliminary punching die and the combined fine punching die;

[0122] The heated blank is placed in a modular initial punching die, and the heated blank is punched to obtain an initial punched marine propeller;

[0123] According to the combined fine blanking die in the historical stamping die, the stamping forming equipment is subjected to secondary adjustment in space and position, and the combined fine blanking die is set after the secondary adjustment;

[0124] The initially punched marine propeller is placed in a combined fine punching die, and the initially punched marine propeller is punched to obtain an initial marine propeller.

[0125] As a preferred solution, scanning and three-dimensional modeling of the initial marine propeller by laser equipment to obtain a three-dimensional propeller model specifically includes:

[0126] Scanning the initial marine propeller using a laser device to obtain a plurality of point cloud data;

[0127] Based on the preset coordinate axis, the point cloud data under the same perspective are spliced ​​to obtain the point cloud data model under each perspective, and the point cloud data models are combined to obtain the initial three-dimensional model;

[0128] The edge contour features of the initial three-dimensional model are extracted, and based on the edge contour features, the point cloud data of different perspectives are re-joined along the edge contour features to obtain a three-dimensional model of the propeller.

[0129] As a preferred solution, the three-dimensional propeller model and the three-dimensional structural model are compared to obtain a deviation value, and a mold compensation amount is calculated according to the deviation value, specifically including:

[0130] Analyzing the three-dimensional structural model to obtain point cloud data of the three-dimensional structural model;

[0131] The central rotation axes of the propeller 3D model and the 3D structural model are respectively set on the z-axis on the preset coordinate axis, and the 3D propeller model is rotated around the z-axis to determine whether the point cloud data of the 3D structural model overlaps with the point cloud data of the 3D propeller model during the rotation process;

[0132] If not, calculate the probability of overlap between the point cloud data of the three-dimensional structural model and the point cloud data of the propeller three-dimensional model during the rotation process, and obtain the non-overlapping point cloud data between the three-dimensional structural model and the propeller three-dimensional model at the position when the overlap probability is maximum, and based on the error between the non-overlapping point cloud data, obtain the deviation value, and based on the deviation value, determine the mold compensation amount of the historical stamping mold.

[0133] As a preferred solution, the deviation value is obtained based on the error between the non-overlapping point cloud data, specifically including:

[0134] Extracting edge contour features of the three-dimensional structure model, and extracting a region where a deviation exists between the edge contour features of the propeller three-dimensional model and the edge contour features of the three-dimensional structure model as an error region;

[0135] A number of feature points are set in the error area, and the feature points are mapped to the propeller three-dimensional model and the three-dimensional structural model, so as to calculate the error value between the point cloud data of the propeller three-dimensional model and the three-dimensional structural model corresponding to each feature point as the deviation value.

[0136] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0137] The implementation of the above embodiment has the following effects:

[0138] The technical solution of the present invention obtains the structural design parameters of the marine propeller to be produced to obtain the corresponding historical stamping die and construct a corresponding three-dimensional structural model, and then uses the historical stamping die to simulate the stamping production, and then scans and three-dimensionally models the initial marine propeller obtained by the simulated stamping production to obtain a three-dimensional propeller model, and compares it with the three-dimensional structural model to obtain the corresponding deviation value, and then calculates the die compensation amount, thereby avoiding the need to redesign a new set of dies. After the compensation adjustment based on the historical stamping die, the marine propeller with the required specifications can be stamped and formed by the historical stamping die after compensation adjustment, thereby improving the automation level and processing efficiency of the hot stamping forming of the marine propeller, and avoiding the extension of the production cycle caused by redesigning the die. In the scenario of mass customization of newly designed marine propellers, high-quality and high-performance propeller blades can be produced quickly and efficiently to meet the design requirements of different ship propulsion systems.

[0139] Example 3

[0140] Accordingly, the present invention also provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the marine propeller stamping production control method as described in any one of the above embodiments.

[0141] The terminal device of this embodiment includes: a processor, a memory, and a computer program and computer instructions stored in the memory and capable of running on the processor. When the processor executes the computer program, each step in the above embodiment 1 is implemented, such as Figure 1 Alternatively, when the processor executes the computer program, the functions of each module / unit in the above device embodiment, such as the stamping module 203, are realized.

[0142] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the terminal device. For example, the stamping module 203 is used to set a historical stamping die in a stamping forming device, and place a heated blank into the historical stamping die for stamping to obtain an initial marine propeller.

[0143] The terminal device may be a computing device such as a desktop computer, laptop, PDA, or cloud server. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a terminal device and does not limit the terminal device. The terminal device may include more or fewer components than shown, or a combination of certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, and the like.

[0144] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of the terminal device and connects various parts of the entire terminal device using various interfaces and lines.

[0145] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store an operating system, at least one application required for a function, etc.; the data storage area may store data created based on the use of the mobile terminal, etc. In addition, the memory may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0146] If the module / unit integrated into the terminal device is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content of the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0147] Example 4

[0148] Accordingly, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the marine propeller stamping production control method as described in any one of the above embodiments.

[0149] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for controlling the stamping production of a marine propeller, characterized in that: include: Obtaining structural design parameters of a marine propeller to be produced, and obtaining a historical stamping die with the highest similarity to the structural design parameters from a historical stamping die library; wherein the structural design parameters include: size parameters, shape parameters, material parameters, and hub structure parameters; determining the diameter and number of blades of the marine propeller to be produced based on the size parameters; and determining the pitch, disk ratio, longitudinal skew, and lateral skew of the marine propeller to be produced based on the shape parameters; Constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters; A historical stamping die is set in a stamping forming device, and a heated blank is placed in the historical stamping die for stamping to obtain an initial marine propeller; Scanning and three-dimensionally modeling the initial marine propeller using a laser device to obtain a three-dimensional propeller model; Comparing the propeller three-dimensional model with the three-dimensional structural model to obtain a deviation value, and calculating a mold compensation amount based on the deviation value; The historical stamping die is adjusted according to the die compensation amount to obtain an actual stamping die, and the actual stamping die is set in a stamping forming device to carry out stamping and forming production of marine propellers.

2. A method for controlling stamping production of marine propellers according to claim 1, characterized in that: The obtaining of structural design parameters of the marine propeller to be produced and obtaining a historical stamping die having the highest similarity to the structural design parameters from a historical stamping die library specifically includes: Obtaining structural design parameters of the marine propeller to be produced; Calculating a first structural weight value of the marine propeller to be produced and a second structural weight value of each historical die in the historical stamping die library according to preset structural weights; wherein the preset structural weights include weight coefficients corresponding to size parameters, shape parameters, material parameters, and hub structural parameters, respectively; The first structural weight value is subtracted from each second structural weight value to obtain a historical die with the second structural weight value when the difference is minimum, which is used as the historical stamping die with the highest similarity to the structural design parameters.

3. A method for controlling stamping production of marine propellers according to claim 2, characterized in that: The step of constructing a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters specifically includes: Constructing a structural model based on the diameter, number of blades, pitch, disc ratio, longitudinal skew, lateral skew and hub structural parameters; Checking the structural model and optimizing the structural model according to the checking result; According to the material parameters, materials and properties are added to the structural model, thereby obtaining a three-dimensional structural model of the marine propeller to be produced.

4. A method for controlling stamping production of marine propellers according to claim 1, characterized in that: The method of providing a historical stamping die in a stamping forming device and placing a heated blank into the historical stamping die for stamping to obtain an initial marine propeller specifically includes: According to the modular preliminary punching die in the historical stamping die, the stamping forming equipment is adjusted in space and position, and the modular preliminary punching die is set after the adjustment; wherein the historical stamping die includes the modular preliminary punching die and the combined fine punching die; The heated blank is placed in a modular initial punching die, and the heated blank is punched to obtain an initial punched marine propeller; According to the combined fine blanking die in the historical stamping die, the stamping forming equipment is subjected to secondary adjustment in space and position, and the combined fine blanking die is set after the secondary adjustment; The initially punched marine propeller is placed in a combined fine punching die, and the initially punched marine propeller is punched to obtain an initial marine propeller.

5. A method for controlling stamping production of marine propellers according to claim 4, characterized in that: Scanning and three-dimensionally modeling the initial marine propeller using a laser device to obtain a three-dimensional propeller model specifically includes: Scanning the initial marine propeller using a laser device to obtain a plurality of point cloud data; Based on the preset coordinate axis, the point cloud data under the same perspective are spliced ​​to obtain the point cloud data model under each perspective, and the point cloud data models are combined to obtain the initial three-dimensional model; The edge contour features of the initial three-dimensional model are extracted, and based on the edge contour features, the point cloud data of different perspectives are re-joined along the edge contour features to obtain a three-dimensional model of the propeller.

6. A method for controlling stamping production of marine propellers according to claim 5, characterized in that: The step of comparing the propeller three-dimensional model with the three-dimensional structural model to obtain a deviation value, and calculating a mold compensation amount based on the deviation value, specifically includes: Analyzing the three-dimensional structural model to obtain point cloud data of the three-dimensional structural model; The central rotation axes of the propeller 3D model and the 3D structural model are respectively set on the z-axis on the preset coordinate axis, and the 3D propeller model is rotated around the z-axis to determine whether the point cloud data of the 3D structural model overlaps with the point cloud data of the 3D propeller model during the rotation process; If not, calculate the probability of overlap between the point cloud data of the three-dimensional structural model and the point cloud data of the propeller three-dimensional model during the rotation process, and obtain the non-overlapping point cloud data between the three-dimensional structural model and the propeller three-dimensional model at the position when the overlap probability is maximum, and based on the error between the non-overlapping point cloud data, obtain the deviation value, and based on the deviation value, determine the mold compensation amount of the historical stamping mold.

7. A method for controlling stamping production of marine propellers according to claim 6, characterized in that: The deviation value is obtained based on the error between the non-overlapping point cloud data, specifically including: Extracting edge contour features of the three-dimensional structure model, and extracting a region where a deviation exists between the edge contour features of the propeller three-dimensional model and the edge contour features of the three-dimensional structure model as an error region; A number of feature points are set in the error area, and the feature points are mapped to the propeller three-dimensional model and the three-dimensional structural model, so as to calculate the error value between the point cloud data of the propeller three-dimensional model and the three-dimensional structural model corresponding to each feature point as the deviation value.

8. A marine propeller stamping production control system, characterized in that: include: a mold module, configured to obtain structural design parameters of a marine propeller to be produced, and to obtain a historical stamping mold with the highest similarity to the structural design parameters from a historical stamping mold library; wherein the structural design parameters include: size parameters, shape parameters, material parameters, and hub structure parameters; based on the size parameters, the diameter and number of blades of the marine propeller to be produced are determined; and based on the shape parameters, the pitch, disk ratio, longitudinal skew, and lateral skew of the marine propeller to be produced are determined; A modeling module, configured to construct a three-dimensional structural model of the marine propeller to be produced according to the structural design parameters; A stamping module is used to set a historical stamping die in a stamping forming device, and place the heated blank into the historical stamping die for stamping to obtain an initial marine propeller; A scanning module, configured to scan and three-dimensionally model the initial marine propeller using a laser device to obtain a three-dimensional model of the propeller; a calculation module, configured to compare the three-dimensional propeller model with the three-dimensional structural model to obtain a deviation value, and calculate a mold compensation amount based on the deviation value; An adjustment module is used to adjust the historical stamping die according to the die compensation amount to obtain an actual stamping die, and to set the actual stamping die in a stamping forming device for stamping and forming production of marine propellers.

9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the method for controlling the stamping production of a marine propeller according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the marine propeller stamping production control method according to any one of claims 1 to 7.

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