CN105107901B - Automatic-forming machining route confirming and forming effect detecting method for vessel bidirectional curvature plate - Google Patents
Automatic-forming machining route confirming and forming effect detecting method for vessel bidirectional curvature plate Download PDFInfo
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Abstract
The invention discloses an automatic-forming machining route confirming and deforming detecting method for a vessel complex curvature plate. The method comprises the following steps that firstly, a plurality of discrete feature points are selected from data points forming a target curve surface; secondly, an initial rolling path of a flat plate to be machined is determined; thirdly, initial rolling is carried out, wherein a cold and hot integrated system is driven to carry out force/displacement loading on the plate to be formed, automatic rolling is carried out on the face of the plate along the rolling path obtained in the second step through a cold loading convex wheel, a cold loading concave wheel and a hot loading element, and integral bidirectional curvature plastic deformation of the plate is formed; fourthly, correction rolling is carried out; fifthly, the fourth step is repeated until the bidirectional curvature plate meeting a machining target is formed. According to the method, the optimal rolling path of the bidirectional curvature plate formed through a rolling method can be obtained, the machining forming efficiency is greatly improved, processes needed in forming are reduced, and the technical difficulty of operation of workers is lowered.
Description
Technical field
The invention belongs to shipbuilding technical field, more particularly, to ship bidrectional cured plate automatic moulding road is processed
Footpath determines and molding effect detection method.
Background technology
The processing and forming of ship bidrectional cured plate, there is various methods, and roll forming is one kind therein, and the method is mainly former
Reason is that flat board is rolled by upper and lower concave, makes sheet material produce plastic deformation to reach molding purpose.The method it is excellent
Point be can use it is a set of combine hot loading element the molding of roller shaped device complexity bidrectional cured ship sheet material,
And after completing to automatically determine rolling path and loading parameter, it is possible to achieve the automatic loading of sheet material, significantly lift ship
The shaping efficiency of plate sheet material, optimizes the working environment of personnel, reduces worker workload.Its difficult point is to be difficult to determine optimum
Rolling path, and improperly Path selection will increase the workload of follow-up error correction and be difficult to ensure that final molding matter
Amount.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the present invention is to solve how to determine the rolling road of optimum
The problem in footpath, for this problem, the present invention provides a kind of determination method that cold-hot integrated molding rolls path, can improve processing
Efficiency, reduce rolling times, reduce person works amount, machining accuracy can be improved.A kind of deformation separate-blas estimation side is proposed simultaneously
Method, can intuitively reflect the deviation that sheet forming exists with target plate, be that the determination in drift correction stage rolling path is carried
For technical support.
For achieving the above object, according to one aspect of the present invention, there is provided a kind of ship bidrectional cured plate cold-hot integrated
The rolling forming method of molding, it is characterised in that：Comprise the following steps：
1) several discrete characteristic points are chosen in the data point of composition target surface, then determines target bi curved plate
Including the essential information including material, thickness of slab and form parameter, the form parameter is by each spy on bidrectional cured plate curved surface
Then curvature at levying be utilized respectively each characteristic point and the data point around it fit corresponding surface equation representing,
Then obtain the curvature at each characteristic point；
2) the first rolling path of flat board to be processed is determined：
Target surface is first divided into the grid surface being made up of quadrilateral mesh, is then expanded into grid surface flat
Face, and obtain each corresponding point after each characteristic point is launched and launch the stress distribution situation of plane, then by target surface
Curvature information at each characteristic point is illustrated respectively in the corresponding point position for launching plane, is obtaining launching the song of each corresponding point in plane
After rate information distribution, the distribution situation or strain information distribution situation and target bi curved plate of curvature information in plane will be launched
Essential information input cold-hot integrated molding expert database system；
Setting curvature deviation μ1, by curvature on Developing Surface in kj±μ1Characteristic point setting identical rolling parameter, so as to
Cook up first rolling path, wherein kjFor the feature curvature set according to the curvature information distributed areas of characteristic point, j=1,
2...；
Or, setting strain deviation μ2, will strain in ε on Developing Surfacej±μ2Characteristic point setting identical rolling ginseng
Number, so as to cook up first rolling path, wherein εjFeature to be set according to the strain information distributed areas of characteristic point should
Become, j=1,2...；
3) first rolling：Order about cold-hot integrated molding system and be treated as based plate implementation capacity/displacement loading, carried by cold rnning
Convex, recessed wheel and hot loading element are in sheet material plate face along step 2) the rolling path automatic rolling that draws, form the entirety of sheet material
Bidrectional cured plastic deformation；
4) amendment rolling：The molding effect of sheet material is detected, and compares and feed back molded shape, curvature and target
Difference between shape, curvature.Based on the difference, using the curved surface formed after front once rolling as reference surface, using right
Target surface is expanded into into reference surface according to approximate expansion method, then the stress distribution information of reference surface after being launched will
The stress distribution information input cold-hot integrated molding expert database system of the reference surface, chooses strain information numerical value close
Region adds to plan to be modified to roll on the path and machined parameters of correcting rolling, then the sheet forming after front once rolling
Work；
5) step 4 is repeated), until forming the bidrectional cured plate for meeting editing objective.
Preferably, step 1) in, surface equation is fitted using method of least square, comprise the following steps that：
1.1) characteristic point P is obtained respectivelyiTo the point { Q of m data around1,Q2...QmGeometric distanceWherein 1≤i≤N and i are integer, and N is the characteristic point of selection
Total number；
1.2) by above-mentioned these data points to sort relative to the distance of characteristic point, and a point sequence Q is formedi1,
Qi2...Qim, wherein dis (Qi1-Pi)≤dis(Qi2-Pi)≤...dis(Qim-Pi)；
1.3) Q is readi1,Qi2...QikLocation index, then can respectively find Qi1,Qi2...QikCoordinate, so as to
Local surface fitting is carried out using method of least square, wherein k is positive integer and k≤m, to obtain PiThe curvature at place；
1.4) all of characteristic point is traveled through, so as to obtain the curvature at each characteristic point.
Preferably, in step 1) in, the form parameter of the Gaussian curvature or principal curvatures of selected characteristic point as target surface.
Preferably, step 4) in carry out detection process to molding effect as follows：
4.1) sheet material that front one-shot forming is obtained is scanned using spatial digitizer, obtain on sheet forming curved surface from
The three-dimensional coordinate data of scatterplot, by three-dimensional coordinate data input computer processed, obtain in three-dimensional coordinate system by
The point cloud model of sheet forming discretization of half-space surface point composition；
4.2) based on iteration with regard to proximal point algorithm, by step 4.1) point cloud model that obtains carries out registering with target surface, makes
Point cloud model is matched with target surface, and obtains point cloud model in the conversion process of locus around the rotation of each coordinate axess
Angle and the displacement along each coordinate axess；Then according to the rule of locus conversion, in the known anglec of rotation and the condition of displacement
Under, the three-dimensional coordinate data of point cloud model is processed, obtain each discrete point in the point cloud model after the conversion of locus
Three-dimensional coordinate；
4.3) discrete point in the three-dimensional coordinate and target surface with interpolation method to each discrete point in the point cloud model after conversion
Coordinate data carry out data processing, you can obtain the range deviation of molding curved surface and target surface in corresponding position；Will be each
The deviation scope that the distance offsets that corresponding position obtains set with molding is contrasted, if what each corresponding position obtained
Distance offsets illustrate in above-mentioned set point, then it is machined go out satisfactory target bi curved plate, if each correspondence
There are distance offsets in the distance offsets obtained at position beyond above-mentioned set point, then need to be modified sheet material rolling
Processing.
Preferably, in step 4) in, control approximate expansion method the step of it is as follows：
After the deviation of molding curved surface and target surface after once rolling before obtaining, molding curved surface is divided into into some nets
The little curved surface of lattice, corresponding amendment plane is expanded into respectively based on the minimum principle of length of side compatible deformation by the little curved surface of every piece of grid,
Then all distance offsets of the little curved surface of each grid are attached in its corresponding amendment plane, further according to range deviation
Amendment plane deformation is the little curved surface of corresponding amendment grid by value, then the little curved surface of each amendment grid is expanded into respectively into plane,
Accordingly obtain the stress distribution of each expansion plane, then the molding song that stress distribution information MAP to a front roll forming is obtained
On the little curved surface of each grid in face, the close regional planning path of strain numerical value is chosen, that is, obtain amendment path.
In general, by the contemplated above technical scheme of the present invention compared with prior art, can obtain down and show
Beneficial effect：
1) this method can be obtained using the optimum rolling path of rolling depression method molding bidrectional cured plate, using described cold and hot
Be integrally formed system optimum rolling path determined by carries out automatization's processing to sheet material, can increase substantially machine-shaping effect
Rate, reduces operation needed for molding, reduces the technical difficulty of operated by personnel.
2) deformation deviation detecting method of the invention rapidly and accurately automatic detection can go out sheet forming with target plate
Deviation, the drift correction work for next step provides technical support, can mitigate the workload of drift correction, and further raising adds
Work formed precision.
Description of the drawings
Fig. 1 is the flow process chart of the cold-hot integrated forming process for applying the present invention to ship bidrectional cured plate；
Fig. 2 is the model schematic of target bi curved plate；
Fig. 3 is the sheet material schematic diagram to be processed with correspondence target surface shape information；
Fig. 4 is to have determined that path carries out the schematic diagram of rolling and processing using cold-hot integrated shaped device edge；
Fig. 5 is the position view of target surface model and point cloud model in space coordinates；
Fig. 6 be in space coordinates target surface model and point cloud model registration after position view；
In all of the figs, identical reference be used for represent identical element or structure, wherein：
1- target plates 2- sheet material 3- target surfaces information 4- rolling path 5- upsides cold rnning to be formed carries cam 6-
Downside cold rnning carries the target surface in the point cloud model 9- space coordinates in the hot loading element 8- space coordinates of recessed wheel 7-
Model 10- three-dimensional coordinate systems
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each embodiment
Not constituting conflict each other just can be mutually combined.
Fig. 2 and Fig. 3 respectively illustrate the shape of target bi curved plate and plate to be formed.The method of rolling is adopted to make to treat
There is plastic deformation and be finally deformed into the shape of target bi curved plate 1 in dieplate.
First, a number of characteristic point is chosen on target surface 1, the Gaussian curvature at each characteristic point is obtained.
Target surface is divided into into quadrilateral mesh, adopts the homalographic method of development by curved surface approximate expansion for plane, by mesh
The curvature information of each characteristic point is mapped in the plane after launching on mark song face, then surface information 3 is represented in plate to be processed
On material 2, as shown in Figure 3.
Or, target surface is divided into into quadrilateral mesh, adopt the homalographic method of development by curved surface approximate expansion for plane,
According to the change of each quadrilateral mesh length of side after expansion, the strain information after being launched at each characteristic point, then by everywhere
Strain information is represented on sheet material to be processed 2, as shown in Figure 3.
Then, the essential information of the distribution situation of sheet material top-surface camber information to be formed and target plate is input into into cold-hot integrated
Molding expert database system, exports the corresponding rolling path 4 on sheet material to be formed with other such as roller rotating speed, roller turn
The process datas such as square, hot loading element heating-up temperature, in cold-hot integrated molding system process data is input into, and drives the device,
Rolling cam 5 and the recessed wheel 6 of rolling is set to carry out rolling loading by the rolling path 4 of output on sheet material to be formed 2, while driving heat
Loading element 7 is heated to sheet material, makes sheet material produce bending ductility deformation, forms bidrectional cured, as shown in Figure 4.
Finally, after roller 5 is completed once to roll by specified rolling path 4, the molding effect of sheet material is detected, and
Compare and feed back molded shape, the difference between curvature and target shape, curvature.
Specifically, in type sheet material is scanned initially with laser scanner, obtain on dieplate face from
The 3 d space coordinate of scatterplot, these coordinate datas are expressed in three-dimensional coordinate system, as shown in figure 5, obtaining by these
The point cloud model 8 of discrete point composition, point cloud model 8 and target surface model 9 are represented in same coordinate system 10.Then,
In space coordinates 10, based on iteration with regard to proximal point algorithm, by Space Rotating conversion and translation transformation by the point of molding curved surface
Cloud model 8 carry out with target surface 9 it is registering, as shown in Figure 6.
The space of point cloud model 8 of extraction molding curved surface is in whole conversion process around the angle of each coordinate axess rotation and along each
The displacement of coordinate axess, according to the rule of spatial alternation, can obtain the space conversion matrices of this time conversion.Will be by converting front point cloud model
The Matrix Multiplication of each discrete point coordinate data composition is with the space conversion matrices in 8, you can obtain by the molding curved surface after converting from
The matrix of the three-dimensional coordinate data composition of scatterplot, the molding also just obtained in same target surface coincidence degree extreme higher position is bent
The three-dimensional coordinate of each discrete point on face.Comprise the following steps that：
Set up an office before the evolution of cloud model 8, measure and wherein have three point coordinates respectively (x1, y1, z1),(x2, y2, z2),
(x3, y3, z3), they cross origin in three-dimensional coordinate system and are respectively θ around the angle that X-axis Y-axis Z axis rotatex,θy,θz, along three
Coordinate axial displacement is respectively a, b, c, then by below equation：
The coordinate that 3 points after evolution can be obtained is respectively (x1', y'1, z'1), (x'2, y'2, z'2), (x'3, y'3, z'3),
Similarly, you can obtain three-dimensional coordinate of all molding Surface tessellation points after evolution.
Then the coordinate data of molding Surface tessellation point and the coordinate data of target surface discrete point are entered using interpolation method
Row data processing, you can obtain the deviation of the stage molding curved surface and target surface in correspondence position curvature.
In this way, after difference of the molded shape with target shape is obtained, by deviation and the most deviation mark for setting
Standard is compared, judge whether need to molded sheet material be modified rolling it is inclined between sheet forming and target surface plate to reduce
Difference.To be modified rolling, then the path of amendment rolling need to be planned on molded sheet material.Control approximate expansion method is taken to incite somebody to action
Target surface approximate expansion is molding curved surface, the stress distribution information launched on rear curved surface is obtained, by stress distribution information input
The above-mentioned cold-hot integrated molding expert database system for referring to, plans again cold-hot integrated loading parameter and amendment rolling path,
And implement automatically walk loading processing on molded sheet material, until forming the bidrectional cured plate for meeting target shape requirement.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, not to
The present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc. are limited, all should be included
Within protection scope of the present invention.
Claims (5)
1. a kind of rolling forming method of ship bidrectional cured plate cold-hot integrated molding, it is characterised in that：Comprise the following steps：
1) several discrete characteristic points, then the bag for determining target bi curved plate are chosen in the data point of composition target surface
Material, thickness of slab and form parameter are included in interior essential information, the form parameter is by each characteristic point on bidrectional cured plate curved surface
Then the curvature at place be utilized respectively each characteristic point and the data point around it fit corresponding surface equation representing, then
Curvature at each characteristic point；
2) the first rolling path of flat board to be processed is determined：
Target surface is first divided into the grid surface being made up of quadrilateral mesh, then grid surface plane is expanded into into, and
Obtain each corresponding point after each characteristic point is launched and launch the stress distribution situation of plane, then by each feature on target surface
Curvature information at point is illustrated respectively in the corresponding point position for launching plane, is obtaining launching the curvature information of each corresponding point in plane
After distribution, the basic of the distribution situation of curvature information in plane or strain information distribution situation and target bi curved plate will be launched
Information input cold-hot integrated molding expert database system；
Setting curvature deviation μ1, by curvature on Developing Surface in kj±μ1Characteristic point setting identical rolling parameter, so as to plan
Go out first rolling path, wherein kjFor the feature curvature set according to the curvature information distributed areas of characteristic point, j=1,
2...；
Or, setting strain deviation μ2, will strain in ε on Developing Surfacej±μ2Characteristic point setting identical rolling parameter, from
And first rolling path is cooked up, wherein εjFor the characteristic strain set according to the strain information distributed areas of characteristic point, j=
1,2...；
3) first rolling：Order about cold-hot integrated molding system and be treated as the loading of based plate implementation capacity/displacement, by cold rnning carry it is convex,
Recessed wheel and hot loading element are in sheet material plate face along step 2) the rolling path automatic rolling that draws, the entirety for forming sheet material is two-way
Curvature plastic deformation；
4) amendment rolling：The molding effect of sheet material is detected, and compares and feed back molded shape, curvature and target shape
Difference between shape, curvature；Based on the difference, using the curved surface formed after front once rolling as reference surface, using control
Target surface is expanded into reference surface by approximate expansion method, and the stress distribution information of reference surface, then should after being launched
The stress distribution information input cold-hot integrated molding expert database system of reference surface, chooses the close area of strain information numerical value
Domain adds to plan to be modified to roll on the path and machined parameters of correcting rolling, then the sheet forming after front once rolling
Work；
5) step 4 is repeated), until forming the bidrectional cured plate for meeting editing objective.
2. the rolling forming method of a kind of ship bidrectional cured plate cold-hot integrated molding according to claim 1, its feature
It is：Step 1) in, surface equation is fitted using method of least square, comprise the following steps that：
1.1) characteristic point P is obtained respectivelyiTo the point { Q of m data around1,Q2...QmGeometric distanceWherein 1≤i≤N and i are integer, and N is the characteristic point of selection
Total number；
1.2) by above-mentioned these data points to sort relative to the distance of characteristic point, and a point sequence Q is formedi1,
Qi2...Qim, wherein dis (Qi1-Pi)≤dis(Qi2-Pi)≤...dis(Qim-Pi)；
1.3) Q is readi1,Qi2...QikLocation index, then can respectively find Qi1,Qi2...QikCoordinate, so as to utilize
Method of least square carries out local surface fitting, and wherein k is positive integer and k≤m, to obtain PiThe curvature at place；
1.4) all of characteristic point is traveled through, so as to obtain the curvature at each characteristic point.
3. the rolling forming method of a kind of ship bidrectional cured plate cold-hot integrated molding according to claim 1, its feature
It is：In step 1) in, the form parameter of the Gaussian curvature or principal curvatures of selected characteristic point as target surface.
4. the rolling forming method of a kind of ship bidrectional cured plate cold-hot integrated molding according to claim 3, its feature
It is：Step 4) in carry out detection process to molding effect as follows：
4.1) sheet material that front one-shot forming is obtained is scanned using spatial digitizer, obtains discrete point on sheet forming curved surface
Three-dimensional coordinate data, by three-dimensional coordinate data input computer processed, obtain in three-dimensional coordinate system by molding
The point cloud model of plate surface discrete point composition；
4.2) based on iteration with regard to proximal point algorithm, by step 4.1) point cloud model that obtains carries out registering with target surface, makes a cloud
Model is matched with target surface, and obtains point cloud model in the conversion process of locus around the angle of each coordinate axess rotation
With the displacement along each coordinate axess；Then it is right under conditions of the known anglec of rotation and displacement according to the rule of locus conversion
The three-dimensional coordinate data of point cloud model is processed, and obtains the three-dimensional seat of each discrete point in the point cloud model after the conversion of locus
Mark；
4.3) in the three-dimensional coordinate and target surface with interpolation method to each discrete point in the point cloud model after conversion discrete point seat
Mark data carry out data processing, you can obtain the range deviation of molding curved surface and target surface in corresponding position；By each correspondence
The deviation scope that the distance offsets obtained at position set with molding is contrasted, if the distance that each corresponding position obtains
Deviation illustrate in above-mentioned set point, then it is machined go out satisfactory target bi curved plate, if each correspondence position
There are distance offsets in the distance offsets that place obtains beyond above-mentioned set point, then need that sheet material is modified to roll to add
Work.
5. the rolling forming method of a kind of ship bidrectional cured plate cold-hot integrated molding according to claim 1, its feature
It is：In step 4) in, control approximate expansion method the step of it is as follows：
After the deviation of molding curved surface and target surface after once rolling before obtaining, molding curved surface is divided into into some grids little
Curved surface, expands into respectively corresponding amendment plane, then based on the minimum principle of length of side compatible deformation by the little curved surface of every piece of grid
All distance offsets of the little curved surface of each grid are attached in its corresponding amendment plane, will further according to distance offsets
Amendment plane deformation is the little curved surface of corresponding amendment grid, then the little curved surface of each amendment grid is expanded into respectively into plane, accordingly
The each stress distribution for launching plane of acquisition, then the molding curved surface that stress distribution information MAP is obtained to a front roll forming
On the little curved surface of each grid, the close regional planning path of strain numerical value is chosen, that is, obtain amendment path.
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| EE05743B1 (en) * | 2013-08-16 | 2015-04-15 | Bole Oü | A method for producing a floor covering modules comprising elements made from lumber planks having edges following the natural curvature of the wooden material |
| CN107234151B (en) * | 2017-07-01 | 2023-03-31 | 华中科技大学 | Cold and hot integrated complex curvature plate forming system and forming method |
| CN108859170A (en) * | 2018-06-21 | 2018-11-23 | 江苏恒神股份有限公司 | Automatic fiber placement course bearing check method based on curved surface |
| CN111974852A (en) * | 2020-07-09 | 2020-11-24 | 中船第九设计研究院工程有限公司 | Chamfering process in ship T-shaped material production process |
| CN114309261B (en) * | 2021-12-24 | 2023-05-16 | 广东工贸职业技术学院 | Progressive forming bending method for hyperboloid metal plate |
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| KR20100137102A (en) * | 2009-06-22 | 2010-12-30 | 이교선 | Method for forming double curved aluminum panel of atypical building structure's skin panel |
| KR200456550Y1 (en) * | 2009-07-14 | 2011-11-07 | (주)Ok산업 | Steel sheet pile manufactory and accordingly steel sheet pile |
| CN103639251B (en) * | 2013-11-23 | 2016-04-20 | 华中科技大学 | A kind of cold-hot integrated forming method for boats and ships bidrectional cured plate |
| CN104190761B (en) * | 2014-08-26 | 2016-04-13 | 华中科技大学 | A kind of boats and ships bidrectional cured plate integrally acts on automatic forming method |
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