JPH09156579A - Automatic heat bending machining method for outer board of hull - Google Patents

Abstract

PROBLEM TO BE SOLVED: To curve an outer board of a hull automatically and easily to reach a target shape and measure a shape of a heated hull outer board easily. SOLUTION: A shape of a heated hull outer board 2 which is bent roughly is measured and the measured shape data and target shape data are compared. A plurality of heating regions by a heating torch 10 are determined on a two-dimensional coordinate, a heating pattern is determined per heating region, and the heating torch 10 is moved in accordance with heating pattern while controlling the posture of the heating torch 10 to eliminate a difference between two data. The heating torch 10 keeps a certain height due to the action of a sensor block 25 provided in its vicinity and faces a direction of normal line. A plurality of reference points are provided on a reference frame line at the center of the heated hull outer board to transform the measured shape data into a coordinate system of target shape.

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. Can be automatically and easily curved to a target shape, and even if the degree of bending of the heated hull outer plate is increased, the entire device does not increase in size, and further,
The present invention relates to a method for automatically heating and bending an outer hull of a ship that can easily measure the shape of the outer hull of the heated hull even if the degree of bending of the outer hull of the heated hull increases.

[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. 19, 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 hull outer plate 51 is as short as 3 m, and as long as 10 m or more. 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. In addition, even if the degree of curvature of the heated hull skin increases, the entire device does not increase in size, and even if the degree of curvature of the heated hull skin increases, the outside of the heated hull An object of the present invention is to provide a method for automatically heating and bending an outer plate of a hull capable of easily measuring the shape of the plate.

[0009]

According to a first aspect of the present invention, there is provided a range finder for measuring a distance to the heated hull skin above the roughly bent heated hull skin. It is movably installed in the horizontal direction, and the rangefinder is moved in the X-axis direction corresponding to the longitudinal direction of the heated hull skin and in the Y-axis direction corresponding to the width direction of the heated hull skin, The Z-axis direction distance corresponding to the thickness direction of the heated hull skin is measured at a plurality of locations on the heated hull skin, and the Z-axis distance data measured in this manner and the respective measurement points are measured. The shape of the heated hull skin is measured based on the position data in the X-axis direction and the position data in the Y-axis direction, and the measured shape data of the heated hull skin and the outside of the heated hull are measured in this manner. Compare the target shape data of the plate and Based on the above, a plurality of heating regions of the heated hull skin by the heating torch are determined by the X-axis and the Y-axis so that there is no difference between the measured shape data and the target shape data. Determined on the dimensional coordinates and the heating pattern for each of the heating regions, and in each of the heating regions, the heating torch, the distance between the tip of the heating torch and the heated hull skin is constant. While maintaining the posture of the heating torch so that the axis of the heating torch is directed in the normal direction of the heated hull skin, the heating torch moves in accordance with the heating pattern, and thus the heated hull skin has a target shape. An automatic heating and bending method for a hull skin, which comprises heating and bending, wherein when comparing the measured shape data and the target shape data, a reference frame of a central portion of the heated hull skin is used. Murain reference point on the P, Q, provided R, the following equation (1) gives a direction vector e _X,

(Equation 3) Further, on the heated hull skin, the S point is set at a position where the Z value in the coordinate system describing the target shape data coincides with the P point, and the direction vector is calculated by the following equations (2) and (3). give e _z and the direction vector e _y ,

(Equation 4) Then, by performing coordinate conversion with the point P as the origin, the measured shape data is converted into the coordinate system of the target shape of the heated hull skin.

According to a second aspect of the present invention, a slit light source is provided above the outer plate of the hull to be heated, and slit light is emitted from the slit light source toward the reference frame line. It is characterized in that an inclination angle of the slit light source when the frame line overlaps is obtained, and the direction vector e _X is obtained from the inclination angle.

[0011]

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 the shape of a heated hull skin is measured by the processing method of the present invention, and FIG. 2 is a plan view of a heated hull skin 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, and FIG. 8 is an explanatory view of coordinate conversion according to the present invention.
9 is a view on arrow A in FIG. 8, FIG. 10 is a view on arrow B in FIG.
11 is a front view showing a heating torch device for carrying out the processing method of the present invention, FIG. 12 is a side view showing the heating torch device, and FIG. 13 is a β-plane tilt angle adjusting mechanism in the heating torch device. FIG. 14 is a cross-sectional view showing a driving part of the heating torch device, FIG. 14 is an explanatory view showing an arrangement of a stylus provided on a sensor block in the heating torch device, and FIG. 15 is a control block diagram of a posture control method of the heating torch in the heating torch device. Is.

First, referring to FIGS. 11 to 15,
A heating torch device for carrying out the processing method of the present invention will be described. In FIGS. 11 to 15, 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 horizontal girder 4A of the gantry 4. It is a Y-axis traveling carriage that travels along. 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. Reference numeral 8 is a Y-axis drive motor for driving the Y-axis traveling carriage 7, and 9 is a heating torch 1.
It is a biaxial movement mechanism for moving 0 in the X-axis 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 skin 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.
It is composed of an α-plane rotating slider 17 which is meshed 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-rotating slider 17. There is.

Reference numeral 19 denotes 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 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 and measures the distance to 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 is a cooling nozzle mounted near the heating torch 10, and sprays cooling water to the heated hull outer plate 2 when the heated hull outer plate 2 is heated. As a result, the heating bending of the heated hull outer plate 2 can be efficiently performed. The cooling nozzle is always controlled so as to come to the upstream side in the traveling direction of the heating torch 10 so as not to reduce the heating efficiency of the heated hull outer plate 2 by the heating torch 10.

According to the method for automatically heating and bending the outer hull of the hull of the present invention having the above-described structure, the outer hull 2 of the heated hull is heated and bent 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 on the 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, as shown in FIG.
It is determined on the two-dimensional coordinates determined by the longitudinal direction and the width direction of the heated hull skin 2, and the heating pattern described later is determined for each heating region, and the heating torch 10 in each heating region is described later. As described above, the robot is moved according to the heating pattern while controlling the attitude.

When measuring the shape of the heated hull skin 2,
When the coordinate system of the target shape and the measurement coordinate system are made to coincide with each other, the measurement shape data and the target shape data can be easily compared. However, when the heated hull skin 2 is placed on the surface plate 1 so that the coordinate system of the target shape and the measurement coordinate system match, depending on the size of the heated hull skin 2, the heated hull shell The height difference of the curvature of the outer plate 2 is several meters, which is not realistic. Moreover, even if a reference point is provided in such a large-sized heated hull skin 2, it is very difficult to accurately position the reference point.

In order to solve this problem, the measured shape data of the heated hull skin 2 placed freely on the surface plate 1 is converted into the coordinate system of the target shape of the heated hull skin 2, and then this is converted. , The measured shape data and the target shape data may be compared. Hereinafter, a method of converting the coordinate system will be described with reference to FIGS. 8 to 10.

[0026] First, the reference point P on a reference frame line of the central portion of the heated hull 2, Q, the R provided by the following equation (1), given a direction vector e _X, the direction vector e _X Is P, Q, R from the definition of the cross product of vectors
It is the normal of the plane containing the points, that is, the X axis of the coordinates of the target shape.

(Equation 5)

Further, on the heated hull skin 2, the S point is set at a position where the Z value in the coordinate system describing the target shape data coincides with the P point, and the following (2) and (3) are taken.
By the formula, the direction vector e _z and the direction vector e _y
give.

(Equation 6)

If coordinate conversion is performed with the point P as the origin, the measured shape data of the heated hull skin 2 can be converted into the coordinate system of the target shape of the heated hull skin 2.
Therefore, it is possible to easily compare the measured shape data and the target shape data without making the measurement by matching the coordinate system of the target shape with the measurement coordinate system. As a result, the shape of the heated hull skin 2 can be easily measured even if the heated hull skin 2 becomes large and the degree of bending of the heated hull skin 2 increases.

A slit light source is provided in the above-described heating torch device, and slit light is emitted from the slit light source toward the reference frame line (the central frame line in FIG. 8) of the heated hull outer plate 2. If the inclination angle of the slit light source when the slit light and the reference frame line overlap each other is obtained by an angle meter attached to the slit light source, the direction vector e _X can be obtained from the inclination angle at this time. After the direction vector e _X is obtained in this way, the direction vectors e _y and e _z are then obtained in the same manner as in the case described above. Hereinafter, a method of obtaining the direction vector e _X by the slit light will be described.

As shown in FIG. 16, a slit light source 58 such as a laser beam is installed on the gantry 4, and the slit light source 5
From 8 the slit light is irradiated to the heated hull outer plate 2 placed on the surface plate 1. As shown in FIG. 17, the slit light source 58 is mounted on a pedestal 59 rotatable about the Z axis. Further, the slit light source 58 is mounted on the mount 59 so as to rotate about a φ axis orthogonal to the Z axis. Then, as shown in FIG. 18, when the rotation angle of the Z axis and the rotation angle of the φ axis are both 0, that is, θ =
When 0 and φ = 0, the normal vector n of the surface of the slit light is attached so that n (vector) = (1,0,0). As is clear from FIG. 18, the direction vector n when the slit light is rotated about the Z axis and the φ axis by the angles θ and φ is (cos θ, sin θ, tan φ).
Is a vector parallel to. Therefore, the direction vector e
_X is

(Equation 7) Becomes

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 outer plate 2, the heating torch 10 is ignited, and then the X-axis and Y-axis command signals of the heating torch moving attitude setter 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 this case, pre-expanding weaving).

When the heating torch 10 reaches the curved surface of the heated hull skin 2, each stylus 26, 27, 28 whose tip is in contact with the heated hull skin 2 surface 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 heated hull skin 2 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 cooling tongue, the cooling nozzle is controlled so as to always come to the upstream side in the traveling direction of the heating torch 10 so as not to reduce the cooling efficiency. 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 downstream side in the traveling direction of the heating torch 10. However, when the end 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.

[0040]

As described above, according to the present invention, the heated hull skin is automatically made into a target shape without requiring skill or special skill and without moving the heated hull skin. And can be bent easily, and
Even if the degree of curvature of the heated hull skin increases, the size of the entire device does not increase, and even if the degree of curvature of the heated hull skin increases, the shape of the heated hull skin easily changes. Industrially useful effects such as measurement can be obtained.

[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 an explanatory diagram of coordinate conversion according to the present invention.

9 is a view on arrow A in FIG.

10 is a view on arrow B of FIG.

FIG. 11 is a front view showing a heating torch device for carrying out the processing method of the present invention.

FIG. 12 is a side view showing the heating torch device.

FIG. 13 is a cross-sectional view showing a drive unit of a β-plane tilt angle adjusting mechanism in the heating torch device.

FIG. 14 is an explanatory diagram showing an arrangement of a stylus provided on a sensor block in the heating torch device.

FIG. 15 is a control block diagram of a posture control method of the heating torch in the heating torch device.

FIG. 16 is an explanatory view of slit light with which the outer plate of the hull to be heated is irradiated.

FIG. 17 is a schematic perspective view showing a slit light irradiation device.

FIG. 18 is a vector diagram showing how to obtain a direction vector e _X.

FIG. 19 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: Cooling nozzle 50: Traveling carriage 51: Heated hull outer plate 52: Clamp 53: Jack 54: Guide beam 55: Carrier 56: Heating source 57: Distance sensor 58: Slit light source 59: Stand

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

Claims (2)

[Claims] 1. A range finder for measuring a distance to the heated hull outer plate is installed above the roughly bent heated hull outer plate so as to be movable in a horizontal direction. The heated hull at a plurality of locations on the heated hull outer plate by moving the distance meter in an X-axis direction corresponding to the longitudinal direction of the plate and a Y-axis direction corresponding to the width direction of the heated hull outer plate. The distance in the Z-axis direction corresponding to the thickness direction of the outer plate is measured, and the distance data in the Z-axis direction thus measured and the position data in the X-axis direction and the Y-axis direction at each measurement location are obtained. The shape of the heated hull skin is measured based on the above, and the measured shape data of the heated hull skin thus measured is compared with the target shape data of the heated hull skin, and this comparison result is used. Based on the measured shape data and the target shape, A plurality of heating regions of the heated hull skin by the heating torch are determined on the two-dimensional coordinates determined by the X-axis and the Y-axis, and the heating pattern is determined by Determined for each heating region, and in each heating region, the heating torch, the distance between the tip of the heating torch and the outer shell of the heated vessel is kept constant, and the axis of the heating torch is Automatic heating of the hull skin, which moves according to the heating pattern while controlling the attitude so as to face the normal line of the heated hull skin, and thus heat-bends the heated hull skin to a target shape. A bending method, wherein when comparing the measured shape data and the target shape data, reference points P, Q, R are provided on a reference frame line in the center of the heated hull skin, The direction vector e _X is given by the equation (1), and Further, on the heated hull skin, the S point is set at a position where the Z value in the coordinate system describing the target shape data coincides with the P point, and the direction vector is calculated by the following equations (2) and (3). Given e _z and the direction vector e _y , Then, by performing coordinate conversion using the point P as an origin, the measured shape data is converted into a coordinate system of a target shape of the heated hull skin, the method for automatically heating and bending the hull skin. . 2. A slit light source is provided above the outer plate of the ship to be heated, slit light is emitted from the slit light source toward the reference frame line, and the slit light and the reference frame line overlap each other. The inclination angle of the slit light source is obtained, and the direction vector e _X is obtained from the inclination angle.
Automatic heating and bending method for hull skin.