JPH09155459A - Method for automatic heating bend-working of hull shell - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically and easily bend a hull shell to a target shape without moving the hull shell. SOLUTION: The shape of a hull shell 2 to be heated subject to rough bend- working is measured, and this measured shape data and target shape data are compared with each other. Thus, the plural heating areas of the hull shell 2 by a heating torch 10 are determined on two-dimensional coordinates to be determined by the longitudinal direction and the width direction of the hull shell 2, and a heating pattern is determined for each heating area. Then, while controlling the posture of the heating torch 10 in each heating area, the heating torch 10 is moved according to the heating pattern. The heating torch 10 is always maintained at a specific height regardless of the bend of the surface of the hull shell 2 by the action of a sensor block 25 installed near the heating torch 10, and it faces toward the normal direction of the surface of the hull shell 2. Further, by mounting the heating torch 10 on a waving device 58, weaving heating can be performed to the hull shell 2 without moving the whole device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically heating and bending an outer hull of a hull, and more particularly, to a heated outer hull of a hull without requiring skill or special skill, and without moving the outer hull of a heated hull. The present invention relates to a method for automatically heating and bending an outer plate of a hull capable of automatically and easily curving a target shape.

[0002]

2. Description of the Related Art Conventionally, when bending a hull skin, particularly a hull skin such as a bow portion which is curved in a three-dimensionally complicated manner, a marking is made in advance on the heating position of the steel plate, and the heating position where this marking is applied is made. Was performed by a skilled worker in a linear manner by using a gas burner, and by this heating, a residual plastic deformation was applied to the outer skin of the hull.

However, the bending work of the hull outer plate by such a skilled worker is not only time-consuming, but has problems in terms of human resources and processing accuracy. Therefore, it has been strongly desired to propose a method for automatically heating and bending a hull skin so that a hull skin that is complicatedly curved can be automatically bent without requiring skill or special skill.

Japanese Patent Laid-Open No. 6-541 discloses an automatic heating and bending apparatus for a hull outer plate, which is designed to meet such a demand. Hereinafter, this processing device will be referred to as a conventional technique. A conventional technique will be described with reference to the drawings. FIG.
[Fig. 4] is a front view showing a conventional technique.

As shown in FIG. 13, according to the conventional technique, at least four positions of a traveling carriage 50 having an upper surface as a surface plate are used to grip an end edge portion of a heated hull outer plate 51 mounted on the traveling carriage 50. A clamp 52 for performing the operation is arranged so as to be vertically displaceable via a jack 53, and a guide beam 54 is arranged so as to be orthogonal to the traveling direction of the traveling carriage 50.
A vertically movable carrier 55 is attached to the carrier 55, and a heating source 56 for heating the heated hull outer plate 51 and a distance sensor 57 for measuring the distance to the heated hull outer plate 51 are attached to the carrier 55. The traveling drive device for the traveling carriage 50, the jack 53, and the transverse movement of the carrier 55 are mounted based on the bending shape of the heated hull outer plate 51 and the correction data of the heated hull outer plate 51 detected by the distance sensor 57. It is provided with a controller for driving and controlling the device and the lifting drive device.

According to the above-mentioned conventional technique, the original shape of the heated hull outer plate 51 to be bent is measured by the distance sensor 57, and based on this distance data and the bent shape value of the heated hull outer plate 51. Heated outer shell 51 of the ship to be heated
The respective driving devices, jacks and the like are driven by the correction data of 1. Thus, the heated hull outer plate 51 is linearly heated and bent while being controlled to a predetermined posture.

[0007]

However, the above-mentioned prior art has the following problems. That is, the length of the heated outer shell 51 of the ship is as short as 3 m, and as long as 20 m. Such a heated hull skin 5
When the end portion of No. 1 is heated and bent, the heated hull outer plate 51 is placed on the traveling carriage 50 and clamped so that the heated end portion thereof is always horizontal. Therefore, in the case of the heated hull outer plate 51 having a long length, the height difference between the heating end and the end on the opposite side becomes large, and sometimes reaches several meters. As a result, the entire heating and bending apparatus becomes large. Moreover, the jack 53 is required to bend to the target shape.
Must be operated many times to change the posture of the heated hull outer plate 51, which requires time and effort.

Therefore, an object of the present invention is to automatically and easily bend a heated hull skin to a target shape without requiring skill or special skill and without moving the heated hull skin. An object of the present invention is to provide a method for automatically heating and bending an outer hull of a ship, which is capable of being performed and does not increase the size of the entire apparatus even when the degree of bending of the heated outer hull of the ship is increased.

[0009]

According to a first aspect of the present invention, the shape of a roughly bent heated hull skin is measured, and the shape of the heated hull skin thus measured is measured. The data and the target shape data are compared with each other, and based on the comparison result, a plurality of heating regions of the heated hull skin by the heating torch are eliminated so that there is no difference between the measured shape data and the target shape data. Is determined on the two-dimensional coordinates determined by the longitudinal direction and the width direction of the heated hull skin and the heating pattern is determined for each heating region, and the heating torch is attitude-controlled in each heating region. While moving in accordance with the heating pattern, the heating torch has an X axis corresponding to a longitudinal direction of the heated hull skin and an X axis corresponding to a width direction of the heated hull skin. A biaxial moving mechanism for moving the heating torch in the biaxial directions of the intersecting Y axes, and the biaxial moving mechanism, wherein the heating torch corresponds to the thickness direction of the heated hull skin, A Z-axis moving mechanism for moving up and down in a Z-axis direction orthogonal to the X-axis and the Y-axis, a weaving mechanism for weaving the heating torch in a direction orthogonal to the traveling direction of the heating torch, and an α plane And an α-face tilt angle adjusting mechanism for adjusting the tilt angle of the heating torch, and a β-face tilt angle adjusting mechanism orthogonal to the α-face.
In-plane, by the β-plane tilt angle adjusting mechanism for adjusting the tilt angle of the heating torch, maintaining a constant distance between the tip of the heating torch and the heated hull skin,
Further, the attitude of the heating torch is controlled so that the axis of the heating torch is oriented in the normal direction of the outer shell of the heated vessel, and if necessary, weaving with a predetermined width is integrated with the heating torch in the vicinity of the heating torch. And in parallel, first, second and third rangefinders for detecting the surface displacement of the heated hull skin as a distance in the Z-axis direction are attached at intervals respectively, and the first and the second rangefinders are attached. The two rangefinders are respectively arranged in a plane parallel to the β plane, the third rangefinders are arranged in a plane including the bisectors of the first and second rangefinders, and the first and second planes are arranged. The heating torch is moved in the Z-axis direction by the Z-axis moving mechanism on the basis of the arithmetic mean value of the detection values of the second and third rangefinders so as to move between the tip of the heating torch and the heated hull skin. Of the first rangefinder by keeping the distance of Based on the difference between the detection value of the second rangefinder and the detection value of the second rangefinder, the β-plane tilt angle adjusting mechanism maintains a constant tilt angle in the β-plane of the heating torch, and Based on the difference between the average value of the second rangefinder and the detected value of the third rangefinder, the α-plane inclination angle adjusting mechanism keeps the inclination angle of the heating torch constant in the α-plane. It has a special feature.

According to a second aspect of the present invention, the α-plane tilt angle adjusting mechanism and the β-plane tilt angle adjusting mechanism are the Z-direction.
It is characterized in that it can be integrally rotated about a straight line parallel to the axis.

The invention according to claim 3 is characterized in that a nozzle for cooling the outer shell of the heated vessel is attached near the heating torch.

The invention according to claim 4 is characterized in that the heating pattern is a linear type, a spiral type, a parallel weaving type, or a divergent weaving type.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of an automatic heating and bending method for a hull outer plate of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view showing measurement points when measuring the shape of a shell plate of a heated ship by the processing method of the present invention, and FIG. 2 is a plan view of a shell plate of a heated ship by the processing method of the present invention. Plan views showing heating points and various heating patterns, FIG. 3 is a view showing a comparison between measured shape data and target shape data, FIG. 4 is a plan view showing heating patterns of a heated hull outer plate, and FIG. FIG. 6 is a perspective view showing a heated hull skin plate curved in a pan shape, FIG. 6 is a plan view showing another heating pattern of the heated hull skin plate, and FIG. 7 is a cone-shaped heated hull skin plate. FIG. 8 is a perspective view, FIG. 8 is a front view showing a heating torch device for carrying out the processing method of the present invention, FIG. 9 is a side view showing the heating torch device, and FIG. 10 is a β plane inclination in the heating torch device. FIG. 11 is a cross-sectional view showing the drive unit of the angle adjusting mechanism.
FIG. 12 is an explanatory view showing an arrangement of a stylus provided on a sensor block in the heating torch device, and FIG. 12 is a control block diagram of a posture control method of the heating torch in the heating torch device.

First, a heating torch device for carrying out the processing method of the present invention will be described with reference to FIGS. 8 to 12. In FIGS. 8 to 12, 1 is a surface plate installed on the ground, 2 is a heated hull outer plate placed on the surface plate 1, and 3 is a longitudinal direction of the heated hull outer plate 2. Rails laid along the X-axis direction, 4 is a gantry that travels on the rails 3 by wheels 5, 6 is an X-axis drive motor for driving the wheels 5, and 7 is a gantry 4
It is a Y-axis traveling carriage that travels along the horizontal girder 4A. The horizontal girders 4A are provided along the Y-axis direction corresponding to the width direction of the heated hull outer plate 2, and are orthogonal to the rails 3 laid along the X-axis direction. 8 is a Y-axis drive motor for driving the Y-axis traveling carriage 7, 9 is a heating torch 10,
It is a biaxial moving mechanism for moving in the axial and Y-axis directions. The two-axis moving mechanism 9 includes a rail 3, a gantry 4, wheels 5, an X-axis drive motor 6, a Y-axis traveling carriage 7 and a Y-axis drive motor 8.

Reference numeral 11 denotes a Z-axis moving mechanism for moving the heating torch 10 in a direction corresponding to the thickness direction of the heated hull outer plate 2 (direction perpendicular to the rail 3), that is, the Z-axis direction. . The Z-axis moving mechanism 11 is attached to a lower portion of the Y-axis traveling carriage 7, and includes a Z-axis elevating member 12 that moves up and down in the Z-axis direction and a Z-axis drive motor 13 that drives the Z-axis elevating member 12. Has become. The Z-axis elevating member 12 has a function of integrally rotating an α-plane inclination angle adjusting mechanism and a β-plane inclination angle adjusting mechanism, which will be described later, about a straight line parallel to the Z axis.

Reference numeral 14 denotes an α-plane inclination angle adjusting mechanism for inclining the heating torch 10 in the α-plane, that is, in another predetermined plane which may be a vertical plane orthogonal to the rail 3. The α-plane inclination angle adjusting mechanism 14 includes a mounting plate 15 fixed to a lower portion of the Z-axis elevating member 12, an arc-shaped guide plate 16 fixed to a front surface of the mounting plate 15 and having an arc-shaped gear hole 16A.
An α-plane rotating slider 17 that is engaged with the gear of the arc-shaped gear hole 16A and is movable along the arc-shaped guide plate 16, and an α-plane tilt drive motor 18 for driving the α-plane rotating slider 17.
It consists of

Reference numeral 19 is a β-plane tilt angle adjustment for tilting the heating torch 10 in a β-plane orthogonal to the α-plane, that is, in another predetermined plane which may be a vertical plane parallel to the rail 3. It is a mechanism. The β-plane tilt angle adjusting mechanism 19 includes a mounting plate 20 fixed to a lower portion of the α-plane rotating slider 17, an arc-shaped guide plate 21 having arc-shaped gear holes 21A fixed to a side surface of the mounting plate 20, and an arc-shaped gear. Mesh with the gear of hole 21A,
Β rotation slider 22 movable along the arc-shaped guide plate 21
And a β plane tilt drive motor 23 for driving the β rotation slider 22. The heating torch 10 is β
It is hung from the lower part of the rotary slider 22 via a hanging member 24. Reference numeral 25 is a sensor block fixed to the hanging member 24 in parallel with the heating torch 10.

The arc-shaped guide plate 16 of the α-plane tilt angle adjusting mechanism 14
The arc-shaped guide plate 21 of the β-plane tilt angle adjusting mechanism 19 is configured so that its center coincides with the tip of the flame from the heating torch 10. Therefore, the α-rotation slider 17 moves along the arc-shaped guide plate 16 and the β-rotation slider 22 moves along the arc-shaped guide plate 21, so that the heating torch 10 is α-centered around the tip of the flame. It freely tilts in the plane and β plane.

The heating torch 10 weaves the heating torch 10 with a predetermined width and a predetermined cycle by a uniaxial weaving mechanism 58 attached to the hanging member 24.
Further, if necessary, the α-plane and β-plane are rotated in the Z-axis direction so as to weave in a direction orthogonal to the traveling direction of the heating torch 10. This eliminates the need to move the entire gantry 4 when weaving the heating torch 10. Therefore, the entire device is not overpowered,
The life of the device can be extended. Moreover, since the weaving mechanism 58 is attached to the hanging member 24, copying can be performed only by setting the weaving width and the period.

The sensor block 25 includes the first stylus 2
6, a second stylus 27, a third stylus 28, a first potentiometer 29 for detecting the amount of movement of the first stylus 26, a second potentiometer 30 and a third stylus 28 for detecting the amount of movement of the second stylus 27. And a third potentiometer 31 for detecting the movement amount of the. The third stylus 28 is arranged in parallel with the α plane and in a plane including the dividing lines of the first and second styli 26, 27 and the heating torch 10.

Reference numeral 32 is for setting the X-axis and Y-axis movement amounts of the biaxial movement mechanism 9, the Z-axis direction movement amount of the heating torch 10, and the in-plane tilt angles in the X-axis and Y-axis directions. The heating torch movement attitude setter 33 is a calculating means for calculating the inclination angle of the heating torch 10 based on the detection values of the first, second and third potentiometers 29, 30 and 31, and 34 is an X-axis. An X-axis drive motor controller for driving and controlling the drive motor 6, 35 is a Y-axis drive motor 8
Y-axis drive motor controller for driving and controlling
Is a Z-axis drive motor controller for driving and controlling the Z-axis drive motor 8, 37 is an α-plane tilt drive motor controller for driving and controlling the α-plane tilt drive motor 18, 38
Is a β for driving and controlling the β-plane tilt drive motor 23.
It is a plane tilt drive motor controller.

Reference numeral 39 is a laser displacement meter attached to the Y-axis traveling carriage 7 for measuring the distance from the heated hull skin 2. The shape of the heated hull skin 2 is measured based on the data measured by the laser displacement meter 39 and the position data of the laser displacement meter 39 in the X-axis and Y-axis directions.

Reference numeral 40 denotes a nozzle for cooling the outer shell plate of the heated hull attached near the heating torch 10, and sprays cooling water to the outer shell plate 2 of the heated hull when the heated outer plate 2 of the hull is heated. As a result, the heating bending of the heated hull outer plate 2 can be efficiently performed. The nozzle for cooling the outer shell of the heated hull is controlled so as to always come to the downstream side in the traveling direction of the heating torch 10 so as not to reduce the heating efficiency of the outer shell 2 of the heated hull by the heating torch 10.

According to the method for automatically heating and bending the outer hull of the hull of the present invention, which is configured as described above, the heating and bending of the outer hull 2 of the heated hull is performed as follows. That is, as shown in FIG. 1, the heated hull outer plate 2 is placed at a predetermined position on the surface plate 1. The to-be-heated hull skin 2 is roughly bent in advance by rollers. The reason why the heated hull outer plate 2 is roughly bent is that the bending efficiency is better than that in the flat plate state. Then
The laser displacement meter 39 is moved at a predetermined pitch in the X-axis and Y-axis directions along a frame line to be described later by the biaxial movement mechanism 9 to obtain distance data at a plurality of points on the frame line of the heated hull skin 2. Measure. Then, the shape of the heated hull skin 2 is measured based on these distance data and the position data of the laser displacement meter 39 in the X-axis and Y-axis directions (XY coordinates at each measurement point on the frame line).

Next, the shape data of the heated hull skin 2 thus measured and the target shape data are compared. The target shape data is, for example, as shown in FIG. 2, shape data along frame lines (L ₁ ), (L ₂ ), and (L ₃ ). The frame line is a line of intersection between a plane orthogonal to the center axis of the hull and the hull skin, and is drawn on the front diagram. From this front view, the shape data of the hull skin can be grasped three-dimensionally. As a result of the comparison, for example, regarding the frame line (L ₁ ), when there is a difference between the measured shape data of the heated hull skin 2 and the target shape data as shown in FIG. In order to eliminate the difference between the target shape data and the target shape data, the plurality of heating regions of the heated hull skin 2 by the heating torch 10 are changed according to the longitudinal direction and the width direction of the heated hull skin 2 as shown in FIG. The heating pattern is determined on the determined two-dimensional coordinates, and the heating pattern to be described later is determined for each heating region, and the heating torch 10 is moved in each heating region in accordance with the heating pattern while controlling the attitude as described later.

The heating pattern may be a linear shape, a spiral shape, a parallel weaving shape, a divergent weaving shape, or the like, and the curved shape of the heated hull skin 2 is different depending on each pattern. For example, as shown in FIG. 4, when the heating torch 10 is diagonally linearly moved or parallel weaving is used to heat the heated hull skin 2, as shown in FIG. 2 is curved in a pan shape, and as shown in FIG. 6, when the heating torch 10 is moved linearly in a radial direction, or when the heated hull skin 2 is heated by diverging weaving, as shown in FIG. In addition, the heated hull skin 2 is curved in a conical shape.

Next, the operation of the heating torch 10 will be described. First, the heating start point (for example,
The heating torch movement attitude setting device 32 is operated so that the heating torch 10 is located at point A in FIG. The point A is shown in FIG.
The coordinates (Xa, Ya) in the X and Y coordinates shown in FIG.
That is, the X-axis and Y-axis drive motor controllers 34 and 35 drive the X-axis and Y-axis drive motors 6 and 8 based on the X-axis and Y-axis command signals of the heating torch movement attitude setting unit 32, The gantry 4 and the Y-axis traveling carriage 7 are caused to travel. Then, when the heating torch 10 reaches the heating start point A (Xa, Ya) of the heated hull outer plate 2, the driving of the X-axis and Y-axis drive motors 6 and 8 is stopped, and the gantry 4 and the Y-axis traveling carriage. Stop the running of 7.

In this way, when the heating torch 10 reaches the heating start point of the heated hull skin 2, the heating torch 10 is ignited, and then the X-axis and Y-axis command signals of the heating torch movement attitude setting device 32 are set. Based on Gantry 4 and Y
The axis traveling carriage 7 is caused to travel so that the heating torch 10 moves in accordance with a predetermined heating pattern. In addition,
As in this case, when heating the heated hull skin 2 from the point A by diverging weaving in FIG. 2, assuming that the center line of the heating pattern and the Y axis are parallel, the X axis direction In this case, the gantry 4 is not moved but only in the Y-axis direction, and at the same time, the weaving mechanism 58 causes the heating torch 10 to weave forward in a predetermined cycle.

When the heating torch 10 reaches the curved surface of the heated hull skin 2, the stylus 26, 27, 28 whose tip is in contact with the heated hull skin 2 moves in the Z-axis direction,
Voltages corresponding to the positions of the first, second and third styli 26, 27, 28 are input to the computing means 33 from the first, second and third potentiometers 29, 30, 31 respectively. The calculation means 33 calculates an arithmetic mean value of the detection values of the first, second and third potentiometers 29, 30, 31 and further calculates the difference between the detection value of the first potentiometer 29 and the detection value of the second potentiometer 30. Then, the arithmetic mean of the detection values of the first and second potentiometers 29 and 30 is calculated, and the difference between the arithmetic mean and the detection value of the third potentiometer 31 is calculated.

Then, the arithmetic mean value of the detection values of the first, second and third potentiometers 29, 30, 31 is inputted to the Z-axis drive motor controller 35. The Z-axis drive motor controller 35 first and second, and third potentiometers 29, 30, when the heating torch 10 is initially set to be vertical with respect to the added average value and the heated hull skin 2. 31
The Z-axis drive motor 13 is driven so that the difference between the detection value of and the addition average value becomes zero. As a result, the position of the heating torch 10 in the Z-axis direction is maintained at the initially set height position.

Further, the difference between the detection value of the first potentiometer 29 and the detection value of the second potentiometer 30 is β
It is input to the plane tilt drive motor controller 38. The β plane tilt drive motor controller 38 adjusts β so that the difference becomes zero.
The plane tilt drive motor 23 is driven. Furthermore, the difference between the arithmetic mean value of the detection values of the first and second potentiometers 29 and 30 and the detection value of the third potentiometer 31 is α
It is input to the plane tilt drive motor controller 37. The α plane tilt drive motor controller 37 sets α so that the difference becomes zero.
The plane tilt drive motor 18 is driven.

Therefore, even when the outer hull 2 of the ship to be heated is three-dimensionally inclined, the heating torch 10 is always
The initially set height position is maintained, and the posture of the heated hull outer plate 2 is controlled so as to face the normal direction to the heated hull outer plate 2 in accordance with a predetermined heating pattern.

The outer shell 2 of the hull to be heated by the heating torch 10.
While heating the shell, if cooling water is jetted from the cooling nozzle toward the heated hull skin 2 to cool the heated hull skin 2, the heating curve of the heated hull skin 2 due to heating It is possible to improve efficiency. In this way, the heated hull skin 2
When the cooling water is injected into the nozzle, the cooling nozzle is always controlled so as to come to the downstream side in the traveling direction of the heating torch 10 so that the cooling efficiency is not deteriorated. This is performed by integrally rotating the α-plane tilt angle adjusting mechanism 14 and the β-plane tilt angle adjusting mechanism 19 by the Z-axis elevating member 12 about a straight line parallel to the Z-axis.

The sensor block 25 is always controlled so as to be located on the upstream side in the traveling direction of the heating torch 10. However, when the end portion of the heated hull outer plate 2 is heated, the sensor block 25 is covered. It may come off from the heating hull skin 2. Also in this case, the Z-axis lifting member 12 causes α
Surface inclination angle adjusting mechanism 14 and β surface inclination angle adjusting mechanism 19
Are integrally rotated around a straight line parallel to the Z axis, and the positions of the heating torch 10 and the sensor block 25 are exchanged. The same applies when the heating torch 10 is moved diagonally.

[0036]

As described above, according to the present invention, the shape of the heated hull outer plate subjected to rough bending is measured,
The measured shape data of the heated hull skin thus measured and the target shape data are compared, and based on the comparison result, there is no difference between the measured shape data and the target shape data, A plurality of heating regions of the shell plate to be heated by the heating torch are determined on two-dimensional coordinates determined by the longitudinal direction and the width direction of the shell plate to be heated and a heating pattern is determined for each heating region, The heating torch is moved in accordance with the heating pattern while controlling the attitude of the heating torch in the heating region, and the heating torch is always operated by the action of the sensor block provided in the vicinity thereof regardless of the curve of the outer plate surface of the heated hull. By maintaining a certain height and pointing in the direction normal to the heated hull skin surface, the hull skin can be moved without requiring special skill or special skill. It without a hull which can automatically and easily bent into a target shape, further, by mounting the heating torch weaving mechanism,
Since it is not necessary to move the entire apparatus when weaving the heated hull outer plate, there is an industrially useful effect that the life of the apparatus can be extended.

[Brief description of the drawings]

FIG. 1 is a plan view showing measurement points when measuring the shape of a heated hull skin by the processing method of the present invention.

FIG. 2 is a plan view showing heating points and various heating patterns on a shell to be heated according to the processing method of the present invention.

FIG. 3 is a diagram showing a comparison between measured shape data and target shape data.

FIG. 4 is a plan view showing a heating pattern of an outer plate of a hull to be heated.

FIG. 5 is a perspective view showing a heated hull outer plate curved in a pan shape.

FIG. 6 is a plan view showing another heating pattern of the heated hull outer plate.

FIG. 7 is a perspective view showing a heated hull skin which is curved in a conical shape.

FIG. 8 is a front view showing a heating torch device for carrying out the processing method of the present invention.

FIG. 9 is a side view showing the heating torch device.

FIG. 10 is a cross-sectional view showing a drive unit of a β-plane tilt angle adjusting mechanism in the heating torch device.

FIG. 11 is an explanatory diagram showing an arrangement of a stylus provided on a sensor block in the heating torch device.

FIG. 12 is a control block diagram of a posture control method of the heating torch in the heating torch device.

FIG. 13 is a front view showing a conventional technique.

[Explanation of symbols]

 1: Surface plate 2: Heated hull outer plate 3: Rail 4: Gantry 4A: Horizontal girder 5: Wheel 6: X-axis drive motor 7: Y-axis traveling carriage 8: Y-axis drive motor 9: 2-axis moving mechanism 10: Heating torch 11: Z-axis moving mechanism 12: Z-axis lifting member 13: Z-axis drive motor 14: α-face tilt angle adjusting mechanism 15: Mounting plate 16: Arc-shaped guide plate 16A: Arc-shaped gear hole 17: α-face rotating slider 18 : Α surface tilt drive motor 19: β surface tilt angle adjusting mechanism 20: Mounting plate 21: Arc guide plate 21A: Arc gear hole 22: β surface rotation slider 23: β surface tilt drive motor 24: Hanging member 25: Sensor Block 26: 1st stylus 27: 2nd stylus 28: 3rd stylus 29: 1st potentiometer 30: 2nd potentiometer 31: 3rd potentiometer 32: Heated March movement attitude setter 33: Computing means 34: X-axis drive motor controller 35: Y-axis drive motor controller 36: Z-axis drive motor controller 37: α plane tilt drive motor controller 38: β plane tilt drive motor Controller 39: Laser displacement meter 40: Nozzle for cooling 50: Traveling carriage 51: Heated hull outer plate 52: Clamp 53: Jack 54: Guide beam 55: Carrier 56: Heating source 57: Distance sensor 58: Weaving mechanism

 ──────────────────────────────────────────────────の Continuation of the front page (72) Inventor Hiroshi Murayama 1-2-1 Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd.

Claims (4)

[Claims] 1. The shape of a heated hull skin that has been subjected to rough bending is measured, and the measured shape data of the heated hull skin thus measured is compared with the target shape data. On the basis of the heating shape, a plurality of heating regions of the heated hull skin by the heating torch are arranged so that there is no difference between the measured shape data and the target shape data. Is determined on the two-dimensional coordinates determined by and the heating pattern is determined for each of the heating regions, and while controlling the attitude of the heating torch in each of the heating regions, the heating torch is moved according to the heating pattern, and the heating torch is , Moving the heating torch in two axial directions of an X axis corresponding to the longitudinal direction of the heated hull skin and a Y axis corresponding to the width direction of the heated hull skin and orthogonal to the X axis. A two-axis moving mechanism for moving the heating torch in the Z-axis direction orthogonal to the X-axis and the Y-axis, which corresponds to the thickness direction of the heated hull outer plate. A Z-axis moving mechanism for moving up and down, a weaving mechanism for weaving the heating torch in a direction orthogonal to the traveling direction of the heating torch, and a tilt angle of the heating torch within the α plane. By the α-plane tilt angle adjusting mechanism and the β-plane tilt angle adjusting mechanism for adjusting the tilt angle of the heating torch in the β surface orthogonal to the α surface, the tip of the heating torch and the outside of the heated vessel The distance between the plate and the plate is kept constant, and the attitude of the heating torch is controlled so that the axis of the heating torch is oriented in the normal direction of the outer plate of the heated hull, and if necessary, weaving with a predetermined width. , The addition A first distance measuring device, a second distance measuring device, and a third distance measuring device for detecting the surface displacement of the heated hull outer plate in the Z-axis direction as a distance are provided in parallel with the heating torch in the vicinity of the torch. Attached separately, the first and second rangefinders are respectively arranged in planes parallel to the β plane, and the third rangefinder is the bisector of the first and second rangefinders and the heating torch. The heating torch is arranged in a plane including and based on the arithmetic mean value of the detection values of the first, second and third rangefinders by the Z-axis moving mechanism.
It is moved in the axial direction to maintain a constant distance between the tip of the heating torch and the outer shell of the heated vessel, and between the detection value of the first rangefinder and the detection value of the second rangefinder. Based on the difference between the β-plane tilt angle adjusting mechanism, the tilt angle of the heating torch in the β-plane is kept constant, and the arithmetic mean value of the first and second distance meters and the third
Based on the difference between the detected value of the rangefinder and the α-plane inclination angle adjusting mechanism, the inclination angle in the α-plane of the heating torch is maintained constant, and the automatic heating of the hull outer plate is performed. Bending method. 2. The α-plane tilt angle adjusting mechanism and the β-plane tilt angle adjusting mechanism are integrally rotatable around a straight line parallel to the Z axis. , Automatic heating and bending method for hull skin. 3. A nozzle for cooling an outer shell of a heated vessel is attached in the vicinity of the heating torch.
The method for automatically heating and bending an outer plate of a hull according to claim 1 or 2. 4. The heating pattern has a linear shape, a spiral shape,
The method for automatically heating and bending a hull skin according to any one of claims 1 to 3, wherein the method is a parallel weaving type or a diverging weaving type.