The Experimental Research On Automatic Merging Technique Of Hull Block Based On Adjustable Piers

The hull segment closure is an important part of ship manufacturing,with large quantities and high precision.In order to achieve intelligent shipbuilding,piecewise automatic counterpoint technology is a problem that must be solved.The existing piecewise Closure Technology in China is still relatively rough,with poor accuracy,low efficiency and complicated operation.The research on automatic counterpoint technology is naturally on the agenda.The piecewise automatic closure technology is divided into three dimensional adjustable piers.The device can move three degrees of freedom in its own stroke.When the project is pieced together,a number of three dimensional adjustable piers are supported to form a parallel mechanism.Through the movement of each three-dimensional adjustable pier,the subsection performs the counterpart movement according to the corresponding trajectory.The main contents of this paper are as follows:(1)A piecewise automatic alignment system is constructed to improve its workflow,namely,measurement system,data processing system and motion control system.Aiming at the motion control system,a suitable motion control method is selected to build a feasible motion control process.(2)Theoretical support is obtained for obtaining motion parameters in segmented motion.6 unknown numbers are introduced to describe the position and position coordinates of the segment,and the piecewise motion trajectories are drawn through the line fitting trajectory,the three polynomial fitting trajectory and the five polynomial fitting trajectory,and the optimal time motion trajectory is obtained by the displacement and velocity constraints,and the inverse motion of the parallel mechanism is obtained after the trajectory is obtained.The motion parameters of the three dimensional adjustable piers supported by segments are obtained by learning solution.(3)The data processing system based on VB is introduced.By inputting the global coordinates of the segmented and three dimensional adjustable piers and setting the local coordinate system by themselves,the piecewise position and posture information can be calculated and the motion parameters of the piecewise motion trajectory and the adjustable pier are calculated.The motion control card can be invoked by the corresponding function and the motion control card can be invoked by the C#,so that the motion control card can be invoked and the motion control card can be invoked to make the movement The control card controls the motor to input the corresponding speed and displacement.(4)The motion control system is verified by the 3D adjustable pier model.The straight line fitting trajectories,three polynomial fitting trajectories and five polynomial fitting trajectories are tested respectively.The displacement time curve,velocity time curve and acceleration time curve measured by the experiment are compared with the data obtained by the data processing system to verify the feasibility of the piecewise motion trajectory.