Research On Key Technology Of Control And Forming Of The Line Heating Robot

According to the latest statistics of shipbuilding volume and order volume of the Ministry of Industry and Information Technology of China(up to January 16,2019):the shipbuilding volume completed in 2018 is 34.58 million tons(load),and the order quantity held is 89.31 million tons(load).The data show that China's shipbuilding volume is the first in the world.As of the end of December 2018,China's shipbuilding scale has accounted for more than 40%of the global shipbuilding market in terms of three heavy tonnages.The processing and manufacturing of hull's outer plate plays an important role in the shipbuilding industry.The processing time of hull's outer plate bending is about 25%-35%of that of the whole ship.At present,the line heating in the operation mainly relies on experienced technicians,hand-held heat source gun heating and water gun tracking cooling way to make the steel plate plastic forming.This poses a challenge to the efficiency of bending plate forming,and forces the manual labor-intensiv*e production mode of the line heating machining processing to accelerate the transformation and improve the production efficiency of the line heating to be solved urgently.Therefore,it is imperative to develop automatic hydrothermal bending robot processing equipment which can replace workers.Aiming at the problems existing in the traditional manual process of the ine heating,the third generation intelligent forming equipment of the Iine heating robot has been developed by our research team and Guangzhou Shipping International,which can realize the automatic processing of the line heating.Specific research work is as follows:1.Design of the motion control systel of-the line heating robot:Study the mechanical structure of the line heating robot,design the forming equipment of-the gantry-shaped frame plate bending robot,establish the five-axis dynamic equation of the plate bending robot through dynamic analysis,and solve the kinematic control quantity of the mechanical axis;Study the control system scheme of the line neatingg robot,design the structure of each colponent of the electric control system ot the bending plate robot,the design of servo motor circuit driver;Study the data conversion interface of bending plate robot,design the input aules of measurement and target data and the control file and output interface,solve the problem of position movement of mechanical axis and direction control of gun head.2.Control method of the manipulator of the line heating robot:Studying the system of the rnanipulator of the line heating robot,putting forward a model of the manipulator system of the line heating robot with uncertainties,and designing its controller.Aiming at the input constraints of the system,combining with the mathematical characteristics of hyperbolic tangent function,an effective solution to the input problem is designed to prevent the chattering of the controlled system.The control method of the input constraints problem and various unknown disturbances exist in the system.Because of its uncertainty,it can not be directly processed in the control method.Therefore,this paper designs a constrained control method which can effectively dynamically compensate unknown uncertain disturbances combined with adaptive control.3.Research on the line heating technology of hull hull plate:study the physical properties of hull plate forming,analyze the thermal principle of bending plate forming and linear heating line forming mechanism,as well as the forming process and influencing factors of hull plate;study the forming process model of bending plate,establish the mathematical model of temperature field and deformation field,use ANSYS finite element analysis software to carry out simulation experiments,reveal the temperature.The rules between field and deformation field are studied;the exterior panel forming characteristics and flame path strategy are studied;the flame path layout strategies of sail,saddle,torsion,cone and complex panels and their burning process parameters are analyzed to support the expert knowledge base;the flame path planning and layout algorithm of curved panels is studied;the hot line surface deployment algorithm and height difference flame path layout algorithm are proposed to realize the flame path parameter estimation and on-line burning process.Firstly,the expert knowledge system of the line heating is studied,the expert knowledge base of process parameters is established,the expert classification model of curved surface is established,the expert reasoning mechanism of flame passage is established,and the reasoning mechanism of processing parameters is established.The problem of automatic flame path planning and process parameter reasoning in automatic processing is solved.4.Research on detection technology of ship hull plate the line heating:research on measurement technology of ship hull plate the line heating;carry out laser scanning measurement by CAFF-GDUT expert system software mdependently developed;put forward arithmetic of point cloud data difference of outer plate and extraction and processing of target data;study matching of three-dimensional surface between detection plate and target plate,put forward coordinate transformation method between target plate and detection plate,and put forward number of target plate.According to the method of matching with the test board data,a fitting algorithm for the surface reconstruction of the target board is proposed.The matching process between the test board and the target board is established,the method of extracting the rib line and feature of the test board is designed,and the data matching evaluation system of the test board is established.It solves the problem of automatic inspection after sheet metal forming.Finally,the research results of this paper are applied to the intelligent forming equipment of the third generation the line heating robot,and the field procssing test of the outer slab and the processed forming board and the two kinds of sheets are carried out.The results show that the the line heating robot can process the line heating machining-board according to the flame path and motion track established by the expert system,and the final processing effect is basically consistent with the reconstructed graphics of the software.The automatic test results are consistent with the manual ones,and the accuracy is better than the manual ones.The traces of the hydrothermal bending board are more uniform,accurate and faster than the artificial burning board,and the overall work efficiency is improved by about 2.5 times.