KR20220058141A - A system and method that forms the curved shell of the hull - Google Patents

Abstract

The present invention relates to a system for shaping the curved outer plate of a hull and a method thereof. According to the present invention, based on a geometric analysis with respect to a curved surface and a heat deformation prediction method for a metal, heat processing information of a plate material can be quantitatively deduced, and a mechanic device to which a high-frequency induction heating device is attached is controlled to realize a precise and even heating motion, thereby supporting to enable a work satisfying a shaping degree regardless of the skillfulness of a worker. Furthermore, according to the present invention, without the interruption of a worker, the process of measuring a workable corner and inside, and the process of heating can be continuously performed, thereby supporting to maximize the operation rate during a non-working time (such as lunchtime, break time, and time after work). In addition, according to the present invention, a function to perform a detailed conversion can be added to consider the contact state between a measured curvature and a designed curvature with respect to each of the curved cross section frames, thereby supporting to guarantee a high-precision shaping quality. Furthermore, according to the present invention, based on the characteristics of an actual heating process and the consideration upon solid mechanics, the apex heating limit location of a triangular heating shape can be selected, thereby supporting to prevent the generation of a convex local deformation mode.

Description

{A system and method that forms the curved shell of the hull}

The present invention relates to a system and method for forming a curved shell plate of a hull, and more particularly, a high-frequency induction heating device, which quantitatively derives thermal processing information of a plate based on a geometric analysis of a curved surface and a method for predicting thermal deformation of metal By controlling the attached mechanical device to implement the heating operation precisely and consistently, it can support work that satisfies the molding degree regardless of the skill of the operator, or also, the edge and internal measurement that can work without operator intervention , by continuously performing heating work, it can support to maximize the operation rate during non-working hours (lunch time, break time, after work, etc.) By adding the function of performing detailed transformation to consider the state, it can support to secure high-precision molding quality, or furthermore, based on the characteristics of the actual heating operation and solid mechanics, the vertex heating limit of the triangular heating shape The present invention relates to a system and method for forming a curved hull shell plate that can support to prevent a convex local deformation mode from occurring by selecting a location.

Recently, as the demand for ship manufacturing has rapidly increased, various technologies that can support the shaping of the curved shell of the hull are being widely developed/distributed.

For example, Republic of Korea Patent No. 10-1650590 (Name: Method for predicting the unfolding shape of a curved abacus) (announced on August 24, 2016), Republic of Korea Patent No. 10-1570296 (Name: Heating device for forming a curved plate) ( Announced on November 19, 2015), Korean Patent Laid-Open No. 10-2008-105522 (Name: Hull shell plate curved surface processing system and method) (published on December 4, 2008), Korean Patent Laid-Open No. 10-2008-100902 ( Title: Triangular heating heating pattern and path generating system and method) (published on Nov. 21, 2008), Republic of Korea Patent Publication No. 10-2012-56567 (Title: Triangular heating heating shape and positioning system and method) (2012.06) .04. published), etc., discloses in more detail an example of conventional hull curved shell plating-related technologies.

On the other hand, under this conventional system, in the conventional hull shell plate forming operation, a worker manually heats the press cold-worked member using a gas torch, and then completes the final design shape.

At this time, the prediction of the amount of thermal deformation to obtain the target shape and the heating information such as the heating position are entirely based on the personal experience of the operator. The operator first places a template having a target shape on the member to be molded, then visually checks the deviation, and performs heating wire marking and heating on the member at the individual discretion.

However, since this method is based on individual proficiency and know-how, it is difficult to define the tendency, and thus, standardization of the technique is impossible. In addition, there is a problem that it takes a lot of time to transfer new worker skills due to the aging of skilled workers, leading to a decrease in productivity.

In particular, in the conventional automatic hull curved shell heating system, the function was limited to heating once after measuring once for one member.

This is because heating information can be calculated from the measurement curved surface that can be grasped only when the measurement operation must be performed in advance, and the measurement operation requires a human intervention to perform the minimum member identification operation (vertex measurement).

On the other hand, under the conventional system, the transverse forming through the curved outer plate forming heating system is to perform heating work in a straight line parallel to the bending line of the member processed primarily by the rolling press.

At this time, the heating information such as the position of the heating wire and the heating rate is determined by comparing the curved section (frame) of the measured curved surface with the design curved surface in a matched state so that the deviation between the measurement curved surface and the designed curved surface after press molding of the target member is minimized. .

Here, the registration between the surfaces performs a linear coordinate transformation that rotates or translates the entire design surface, and since this method performs the same transformation operation on all points constituting the curved surface, local contact with the actual surface state cannot be taken into account.

On the other hand, under the conventional system, the vertical forming of a member is an operation of forming a curved surface in the form of a concave gourd that hangs down by heating in a triangular shape along the edge of the member. This is because the partial deformation due to thermal contraction of each triangular region overlaps.

Usually, depending on the triangular heating shape, the local deformation has a concave or convex deformation mode. However, there is no function to discriminate the local deformation mode in the existing curved shell heating system.

Republic of Korea Patent No. 10-1650590 (Title: Method for predicting the unfolding shape of the abacus of a song) (Announced on August 24, 2016) Republic of Korea Patent No. 10-1570296 (Name: Heating device for forming curved plates) (Notice on November 19, 2015) Korean Patent Laid-Open Patent No. 10-2008-105522 (title: hull shell plate curved surface processing system and method) (published on December 4, 2008) Korean Patent Laid-Open Patent No. 10-2008-100902 (Name: Triangular heating heating pattern and path generating system and method) (published on Nov. 21, 2008) Korean Patent Laid-Open Patent No. 10-2012-56567 (Name: Triangular heating heating shape and positioning system and method) (published on June 4, 2012)

Therefore, it is an object of the present invention to quantitatively derive thermal processing information of a plate based on a geometric analysis of a curved surface and a method for predicting thermal deformation of metal, and control a mechanical device equipped with a high-frequency induction heating device to refine and constant heating operation It is to provide a system or method that can support work that satisfies the molding degree regardless of the skill level of the operator.

In addition, another object of the present invention can be supported to maximize the operation rate during non-working hours (lunch time, break time, after work, etc.) It is to provide a system or method in which there is

In addition, another object of the present invention is to add a function of performing detailed conversion so as to consider the contact state between the measurement song and the design song for each of the curved cross-section frames, thereby supporting to ensure high-precision molding quality. It is to provide a system or method in which there is

Furthermore, another object of the present invention is to provide a system or method that can support the occurrence of a convex local deformation mode by selecting the vertex heating limit position of the triangular heating shape based on the characteristics of the actual heating operation and solid mechanics considerations. is doing

Other objects of the present invention will become more apparent from the following detailed description and accompanying drawings.

In the present invention in order to achieve the above object means for measuring the initial shape of the member; means for establishing surface registration and heating limit conditions; means for generating and heating (transverse curve) on-board heating wire; means for determining whether the lateral tolerance is satisfied; means for performing re-measurement and curved surface registration of member shapes; means for generating and heating a triangular heating wire (vertical curve); Disclosed is a hull curved shell forming system, characterized in that it includes means for determining whether the longitudinal tolerance is satisfied.

In addition, in another aspect of the present invention, the procedure for measuring the initial shape of the member; procedure to establish surface registration and heating limit conditions; The procedure of generating and heating (transverse) wire-line heating wire; The procedure for determining whether the lateral bending tolerance is satisfied; Procedures for performing re-measurement and curved surface registration of member shapes; The procedure for generating and heating (longitudinal) a triangular heating wire; The procedure for determining whether the longitudinal tolerance is satisfied; Disclosed is a method for forming a curved hull shell plate, characterized in that it includes a procedure for completing the forming operation.

In addition, in another aspect of the present invention, means for registering the vertex measurement and measurement list for each member; means for measuring the edge and the inside of each member; means for generating absent work data and registering an absent work list; means for generating heating line information for each member; means for generating heating wire data and registering a heating wire list; means for conveying the entire heating line information to the mechanical device; Disclosed is a hull curved shell forming system comprising means for performing multi-member continuous heating.

In addition, in another aspect of the present invention, the procedure of registering the vertex measurement and measurement list for each member; Procedures for measuring edges and interiors by member; a procedure for generating absent work data and registering an absent work list; a procedure for generating information on heating lines for each member; a procedure for generating heating wire data and registering a heating wire list; The procedure for passing the entire heating line information to the mechanical device; Disclosed is a method for forming a curved hull shell plate, characterized in that it includes a procedure for performing multi-member continuous heating.

In addition, in another aspect of the present invention means for registering a curved surface; means for generating curved cross-section frame data; means for performing fine registration for each frame data; means for calculating and storing a heating point and a heating amount for each frame data; means for generating onboard heating element information; means for transmitting the onboard heating element information to the mechanical device; Disclosed is a hull curved shell forming system comprising means for performing onboard heating.

In addition, in another aspect of the present invention, a procedure for registering a curved surface; a procedure for generating curved cross-section frame data; a procedure for performing fine registration for each frame data; The procedure of calculating and storing the heating point and heating amount for each frame data; a procedure for generating onboard heating element information; The procedure for transmitting the onboard heating element information to the mechanical device; Disclosed is a method for forming a curved shell of a hull, characterized in that it includes a procedure for carrying out onboard heating.

In addition, in another aspect of the present invention, a means for executing a curved surface development in consideration of the member measurement shape; means for calculating a shrinkage distribution area; means for generating triangular heating element information; means for determining whether the triangular heating vertex limit position is satisfied; means for changing the vertex position of the triangular heating or correcting the triangular heating wire information according to the satisfaction; means for transmitting the triangular heating element information to the mechanical device; Disclosed is a hull curved shell forming system comprising means for performing triangular heating.

Furthermore, in another aspect of the present invention, a procedure for executing curved surface development in consideration of a member measurement shape; The procedure for calculating the shrinkage distribution area; a procedure for generating triangular heating wire information; A procedure for determining whether the triangular heating vertex limit position is satisfied; According to the satisfaction, the procedure of changing the vertex position of the triangular heating or correcting the triangular heating wire information; The procedure for transmitting the triangular heating element information to the mechanical device; Disclosed is a method for forming a curved shell of a hull, characterized in that it includes a procedure for performing triangular heating.

In the present invention, the thermal processing information of the plate is quantitatively derived based on the geometrical analysis of the curved surface and the thermal deformation prediction technique of the metal, and the heating operation is precisely and consistently implemented by controlling the mechanical device with the high frequency induction heating device attached, Regardless of the skill level of the operator, it can support the operation that satisfies the molding degree.

In addition, in the present invention, it is possible to support to maximize the operation rate during non-work hours (lunch time, break time, after work, etc.) by continuously performing workable corner and internal measurement and heating work without operator intervention.

In addition, in the present invention, by adding a function of performing detailed conversion so as to consider the contact state between the instrumentation song and the design song for each of the curved cross-section frames, it can be supported to ensure high-precision molding quality.

Furthermore, in the present invention, by selecting the heating limit position of the vertex of the triangular heating shape based on the characteristics of the actual heating operation and solid mechanics consideration, it is possible to support the occurrence of a convex local deformation mode.

1, 43, 62 and 86 are flow charts sequentially showing a method for forming a curved hull shell plate according to each embodiment of the present invention.
2 to 42 are exemplary views conceptually showing the functional performance procedure of the hull curved shell plate forming system according to the first embodiment of the present invention.
44 to 61 are exemplary views conceptually showing the functional performance procedure of the hull curved shell plate forming system according to the second embodiment of the present invention.
63 to 85 are exemplary views conceptually illustrating the functional performance procedure of the hull curved shell plate forming system according to the third embodiment of the present invention.
87 to 101 are exemplary views conceptually showing the functional performance procedure of the hull curved shell plate forming system according to the fourth embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, a more detailed description of the hull curved shell plate forming system and method according to the present invention as follows.

The curved hull shell plate forming system according to an embodiment of the present invention, for example, the hull curved shell plate forming system considering the initial shape of the member is each means for performing each procedure (S10 to S17) shown in FIG. 1, that is, the member Means for measuring the initial shape of A means for carrying out, means for generating and heating a triangular heating wire (vertical curve), means for determining whether the vertical curve tolerance is satisfied, etc. will take a systematically combined configuration.

Each of these means includes each procedure (S10 to S17) as shown in FIG. 1, that is, the procedure for measuring the initial shape of the member, the procedure for setting the curved surface matching and heating limit conditions, and the generation and heating (transverse) of the linear heating wire. Procedure, procedure to determine whether or not the tolerance of transversal tolerance is satisfied process to complete, etc.

First, a member initial shape measurement procedure S1 shown in FIG. 1 will be described.

The measurement of the member is performed through ten laser displacement sensors 13 attached to the lower bracket 12 of the gantry 11 as shown in FIG. 2 . The bracket 12 to which the laser displacement sensor 13 is attached is connected to the robot arm 10 on the upper part of the gantry 11, and only a Y-direction relative motion is possible with respect to the gantry 11 under the constraint conditions.

Therefore, measurement through the laser displacement sensor 13 is performed by combining the motion (X direction) of the gantry 11 and the motion (Y direction) of the robot arm 10, as shown in FIGS. 2 and 3 , At the (X,Y) position, the distance (Z) between the laser sensor and the laser pointer reflected on the member surface from the laser sensor is measured to generate the (X,Y,Z) position coordinate combination of the laser pointer .

The work of measuring the shape of a molded member is divided into three types: vertex / edge / internal measurement. At this time, as shown in FIG. 4, the measurement proceeds in the order of vertex -> edge -> inside, and vertex measurement and edge measurement are performed by the central reference sensor 14 (eg, sensor 3) 1 among 10 displacement sensors. Only use dogs.

At this time, as shown in FIGS. 5 to 8, in each measurement step (S21, S22, S23, S24), the (X, Y, Z) coordinates detected by the sensor are stored in the internal memory of the mechanical device at the vertex 32 / The corner (33)/inside (31) are separated and stored (S25), and when the entire measurement is finished, each (X, Y, Z) coordinate data is transmitted to the PC where the heating program is installed, and each coordinate is stored inside the heating program. It is divided into vertices 32/corners 33/inside 31 and stored as data in the form of an array.

At this time, under the vertex measurement step S21 shown in FIG. 5, as shown in FIG. 9, the operator visually checks the laser pointer of the reference sensor reflected on the member surface, and the laser pointer is positioned at the four vertices of the member After manipulating the gantry (X) 11 and the robot arm (Y) 10 (S31, S32, S33, S34, S35, S36), as shown in FIG. 10, (X) of each of the four vertices ,Y,Z) get the coordinates. The gantry 11 and the robot arm 10 are driven by transmitting a signal to the mechanical device by pressing the operation button installed on the mechanical device control panel. In this case, the vertex measurements are performed in any order (eg, 1-2-3-4, 3-2-4-1, ...).

Next, under the edge measurement step S22 shown in FIG. 5, as shown in FIG. 11, the reference sensor 14 along the virtual straight path L1, L2, L3, L4 connecting each vertex (FIG. 4) automatically moves in the form of a wave with width d and speed v, and when this reference sensor 14 passes the edge of the member, it measures the position coordinates of the laser pointer on the edge. do. In this case, d and v are values set inside the system. At this time, the order of measurement is L1, L2, L3, L4.

Next, under the inner surface measurement step (S23) shown in FIG. 5, when the edge measurement is completed through the above procedure, as shown in FIG. 12, the coordinates of each laser pointer are measured using all 10 laser displacement sensors. record

At this time, the gantry and the robot arm automatically move so that the 10 laser pointers are located inside the contour composed of the vertex point and the corner point, so that the measurement proceeds, and all the laser pointers pass through the contour as much as possible.

Here, the measurement coordinates for each step (S21, S22, S23) are stored in real-time in the internal memory of the mechanical device (step S25).

When the above internal measurement is completed, as shown in FIG. 6 above, after transmitting the vertex/edge/internal coordinates stored in the mechanical device to the control PC, as shown in FIG. 7 , the array ( Array) in the form (step S26).

Next, the procedure ( S11 ) of setting the condition for matching the curved surface and heating limit, shown in FIG. 1 .

First, when measurement is completed, as shown in FIG. 13 , B-Spline interpolation is applied to the stored measurement coordinate array data to generate a measurement curved surface 40 (steps S41 and S45 ).

Then, when the user inputs the design surface file, the surface registration is executed (steps S42 and S43).

The curved surface registration is a program internal operation that translates and rigidly rotates the design surface to prepare a heating line by minimizing the distance deviation between the measurement surface and the design surface.

In addition, after inputting the design surface, the heating limit condition is set from the member thickness t information of the design surface (steps S44 and S46). The heating limit condition is the value that sets the limit of the heating rate through physical property tests and finite element analysis to ensure the quality of the member surface, and the minimum speed (vmin) and maximum speed (vmax) of heating are determined.

On the other hand, the curved surface registration is composed of each step as shown in FIG. 14 .

That is, as shown in FIG. 15 , the curved surface registration is performed by calculating the reference plane normal vector of the design surface and the measurement surface ( S51 ), calculating the base line of the design surface and the measurement surface, and the center point (C, C') of the base line Step S52, as shown in FIGS. 17 and 18, translating the design surface so that the design surface base line center point C' coincides with the metrology surface base line center point C (S53), the design surface Rotating the design surface around the center point (c) so that the base line coincides with the direction of the measurement surface base line (S54), and rotating the design surface to match the normal vector of the design surface and the measurement surface using the base line as the rotation axis ( S55, S56) and the like.

Here, the reference plane has a minimum standard deviation (s) of distances d1, d2, d3, and d4 away from the four vertices (v1, v2, v3, v4) of the measurement surface or the design surface as shown in FIG. 16 . The base line means a straight line connecting the midpoints (A, B) on the curved edges (v1~v4, v2~v3) at both ends of the curved surface.

Next, look at the linear heating wire generation and heating (transverse) procedure (step S12) shown in FIG.

The linear heating wire generation and heating operation for forming a horizontal curve proceeds in each step (S61 to S65) as shown in FIG.

The details of each step are as follows.

First, as shown in FIG. 19, the curved section frame data generation step (S61) is a step of generating section frame data for the design curved surface and the measurement curved surface for which registration has been completed. etc. is composed

Under the above curved section curve geometry creation procedure, as shown in Fig. 20, both ends of the Y-direction edge (v1 ~ v2, v3 ~ v4) of the matching design surface are divided at regular intervals (a) and at the same time Z When the plane (T) containing the axis intersects the design surface and the measurement surface, the intersection of each surface is created with the cross-section curve geometry of the design surface and the measurement surface (No. 2~N-1 in the figure).

In addition, under the curved cross-section curve geometry creation procedure, as shown in Fig. 20, the two transverse edges (v1 to v4, v2 to v3) at both ends of the design surface create themselves as the design curved cross-section geometry, and each Two curves projected from the design surface geometry to the measurement surface in the Z direction are created as measurement curved geometry geometry (No. 1 and N in the figure).

Next, as shown in FIG. 21, under the curved section frame data generation procedure, M number of point coordinates on the curve are extracted at regular intervals (b) from the design curved section curve geometry (including both end points), and then the design curved section It is stored in the frame data structure.

Then, as shown in FIG. 22, the M intersection point coordinates obtained after projecting each design curved cross-section point in the Z-direction with respect to the measured curved cross-section curve geometry are stored in the measured curved cross-section frame data structure.

At this time, the structure of the design curved cross-section frame data and the measured curved cross-section frame data is as shown in FIG. 22, and the measured curved cross-section frame data structure includes the heating point coordinates and the heating amount column in addition to the curve point coordinates. These values are frame data to be described later. It is generated and stored in the calculation step (S62) of each heating point and heating amount.

Next, under the heating point and heating amount calculation step (S62) for each frame data shown in FIG. 19, as shown in FIG. 23, if there is a heating point in the member, the member is rotated and transformed around the heating point. angular deformation occurs.

At this time, as shown in FIG. 24, when there are several heating points on the curved cross-section curve measured (K pieces), the point coordinates on the measured curved cross-section frame data are rotated (Pm,i) by angular transformation of each heating point. It moves and approaches the Point coordinates (Pd,i) on the frame data of the curved section of the design song. That is, the Z-direction (height direction) deviation (dZi) of the point coordinates of each of the M design curved sections and the measured curved section frame data is close to 0 due to the K angular deformations.

Here, as shown in FIG. 25 , while changing the number and location of the heating points, the height deviation (dZi) for each case is repeatedly calculated, and for all dZi (i=1,2,…,M) If the tolerance standard (tol) is satisfied, the heating point coordinates (Ph,j) and the amount of angular deformation at each heating point are stored in the measurement curved section Frame data structure.

At this time, the amount of angular deformation is stored in the heating amount column. This is done for all design curved sections and measured curved sections, and the heating point position coordinates and angular deformation amount for each curved section are stored in each measured curved section frame data structure.

Next, as shown in FIG. 19, when the heating point and heating amount are stored in all the measured curved frame data under the linear heating wire information generation step (S63), the linear heating wire information is generated.

In this case, the rules for generating the onboard heating wire information are as follows (see FIGS. 26 and 27).

1. Set the heating points (total F) of <1 measurement curved section frame data to P11, P12,… Save as P1F. At this time, the Y coordinate of the heating point is stored in the order of the largest. Save P11 as Ph_1 again>

2. Assume an imaginary straight line parallel to the bending line passing through <Ph_1. Add the (X,Y,Z) coordinates of Ph_1 and the amount of heating to any {Ph_line}. {Ph_line} is a temporary Array that stores the heating point coordinates and the heating amount of each heating point>

3. <For the heating points of the curved cross-section frame data measured from No. 2 to No. N, it is investigated whether there are heating points within the distance w from the virtual straight line sequentially from the frame data of the curved cross-section measured from No. 2, and if so, Array {Ph_line }, add the coordinates of the heating point and the amount of heating>

4. When <{Ph_line} is added to the frame data heating point coordinates and heating amount of the last N-measured curved section, {Ph_line} is added to the heating line information data structure. Save P12 as Ph_1 again, initialize {Ph_line} (delete all array contents), and add the coordinates of Ph_1 and heating amount to {Ph_line}. Then repeat the previous procedure. P13~P1F perform the same procedure as above>

5. <When there is a heating point within a distance w to the frame data of the curved section measured in No. I-1, but there is no heating point in the frame data of the curved section measured in No. I, that is, the minimum value among the distances of the heating points away from the virtual straight line When this is w', if w'>w, Array {Ph_line} addition work is finished and {Ph_line} is added to the heating wire information data structure>

6. < Among the heating points of the I curved section frame data, the heating point with a distance w' away from the virtual straight line is newly saved as Ph_1. After initializing Array {Ph_line} (deleting all array contents), add Ph_1>.

7. <Repeat steps 2 to 6 above. Here, we investigate the frame data heating point of the I-1~N measurement curved section>

Next, as shown in FIG. 19, under the step (S64) of transferring the onboard heating wire information (PC->mechanical device), one item of the heating wire information data structure generated through the previous onboard heating wire information generating process (S63) The heating point coordinates and heating amounts become elements constituting one heating line.

At this time, as shown in FIG. 28 , the heating start coordinate of the heating wire is the coordinate (HL_S) of the first heating point, and the heating end coordinate of the heating wire is the coordinate (HL_F) of the last heating point.

Here, in order to obtain the heating rate, the average value of the heating amounts (angular strain) is first calculated. The heating rate (v_HL) is calculated from the average value of the heating amount through the function F for calculating the heating rate from the angular strain (see FIG. 28 ).

The function F is a function that exists inside the heating program. At this time, if the calculated speed is out of the range of vmin~vmax set in [Heating limit condition], set vmin or vmax as it is. If the heating rate is less than vmin, vmin is designated as the heating rate, and if it is greater than vmax, vmax is designated as the heating rate.

Here, when HL_S, HL_F, v_HL is specified for each item of the heating wire information data structure, these values are stored in a separate data file so that the mechanical device can read them.

At this time, if the total number of heating wires stored in the heating wire information data is n, n dat files are created and classified by numbers.

Here, as shown in FIG. 29, file names are designated as [HEATLINE-01.DAT] to [HEATLINE-n.DAT]. When a total of n dat files are converted, they are transmitted to the machine device through the PC and machine data connection network at once.

Next, under the linear heating step S65, shown in FIG. 19, as shown in FIG. 30, the mechanical device heats a total of n [HEATLINE-01.DAT] to [HEATLINE-n.DAT] from the PC. When the work file is received, the heating work is performed sequentially from No. 01 to No. n.

At this time, the heating operation is performed at the heating rate (v_HL) recorded from the start coordinate (HL_S) recorded in each file to the end coordinate (HL_F).

Next, look at the triangular heating wire generation and heating (long-gok) step (S15) shown in Figure 1,

For the triangular heating operation to shape the curve, the [Measurement of members] and [Correct surface matching] processes must be preceded as in the linear heating operation.

After that, detailed steps, i.e., the curved surface development step considering the member measurement image, the shrinkage distribution area calculation step, the triangular heating wire information generation step, the triangular heating wire information transfer step, the triangular heating step, etc. are carried out, and their details are as follows same.

First, under the step of developing the curved surface considering the member measurement shape, as shown in FIG. 31 , the design curved surface is divided into a total of N grid regions. Nx pieces are divided in the X direction and Ny pieces are divided in the Y direction, and the number (Np) of the grid points corresponding to the vertices of the grid points is equal to (Nx+1)(Ny+1).

At this time, it is assumed that certain Np positional coordinates on the measurement surface are displaced by ui, vi, wi (i=1,2,..,Np) in the X, Y, and Z directions, respectively, to become lattice points on the current design surface.

Here, as shown in FIG. 32, the grid point coordinates on the valley surface are P_Tri_d,i(i=1,2,...,Np), and the corresponding grid point coordinates on the measurement surface are P_Tri_m,i(i) =1,2,…,Np).

This curved surface development is to figure out the development pattern of each grid region by calculating each of Np unknown displacement fields ui, vi, and wi in the X, Y, and Z directions.

At this time, the sum (J) of the strain energies (Ji) of each lattice region must be minimized, and the main strain (emax) of each lattice region must be in a compressed state, that is, it is possible to calculate ui, vi, wi from the condition that (the strain in each grid region is a function of ui, vi, wi).

In this case, when the displacements ui, vi, wi at each grid point are grasped, the grid point coordinates P_Tri_m,i (i=1,2,...,Np) on the measurement surface can be grasped from the design surface.

Next, under the step of calculating the amount of shrinkage distribution, the amount of shrinkage in the X-direction for each measured curved grid is calculated through the following steps and stored in an Array form.

First, as shown in FIG. 33 , the grid arrangement is divided into groups in the Y direction. As shown in the figure, grid numbers are 1,2,… When numbered with .,N, column 1-{1,2,… ,Ny}, column 2 - {Ny+1,Ny+2,… ,Ny+Ny},… Nx column-{(Nx-1)Ny+1,… ,NxNy}.

Next, assuming that Ny+1 line segments constituting the grid in the i-th grid arrangement are Li,k (k=1,2,..,Ny+1), the amount of contraction in the X direction of each grid line segment is as shown in the figure. It is calculated by multiplying the X-direction strain (exx) at the midpoint of the line segment by the length of each segment (Li,k).

Next, the shrinkage amount of the line segment is stored in Array {dxi} (i=1,2,...,Nx) in order from the smallest Y coordinate of the center point of each grid line segment. Nx total shrinkage amount Array {dx1},{dx2},… ,{dx(Nx)} is created.

On the other hand, under the triangular heating wire information generation step, as shown in FIGS. 34 to 36, the vertex Pmin of the triangular heating region from the shrinkage Array {dxi} (i=1,2,3,…,Nx), the center point of the base Pend , determines the heating width Wh.

Here, when the array storing Pmin, Pend, and Wh is {Pmin}, {Pend}, {Wh}, the steps for calculating them are as follows.

In the previous step, dxi(y) is defined as a function obtained by interpolating the amount of shrinkage {dxi} of each grid line segment in the y direction in the y-direction in the i-th grid arrangement of the shrinkage distribution calculation.

Next, assuming that the minimum shrinkage amount set by the system is dmin, a point where dmin and dxi(y) match is found, and the coordinates of this point are stored in the vertex array {Pmin} of the triangular heating area.

Next, when Pmin exists, the center point of the end line segment of the i-th grid array closest to Pmin is stored in {Pend}. Assuming that the shrinkage amount at the Pend point is dend, the heating region width Wh corresponding to dend is calculated from the heating region width determining function G(dend) inside the program, and it is stored in the array {Wh}.

The previous step is performed for the entire grid array, and the final {Pmin}, {Pend}, and {Wh} are stored in each column (Pmin coordinate, Pend coordinate, Wh) of the triangular heating wire information data structure.

Next, under the triangular heating wire information transfer (PC->mechanical device) step, Pmin, Pend coordinates and Wh for each item of the triangular heating wire information data structure created through the preceding triangular heating wire information generation process constitute one heating wire. become a factor

Here, as shown in FIG. 37, the triangular heating rate (v_HT) is calculated from the triangular heating rate determining function H(Pmin, Pend, Wh) inside the program.

At this time, if the calculated speed is out of the range of vmin~vmax set in [Heating Limitation Conditions], vmin or vmax is specified as it is. If the heating rate is less than vmin, vmin is designated as the heating rate, and if it is greater than vmax, vmax is designated as the heating rate.

Here, when Pmin, Pend, Wh, and v_HT are designated for each item of the triangular heating wire information data structure, these values are stored in a separate data file so that the mechanical device can read them.

At this time, if the total number of heating wires stored in the triangular heating wire information data is n, n dat files are created, and they are divided by numbers. File names are designated as [HEATTRI-01.DAT]~[HEATTRI-n.DAT]. When a total of n dat files are converted, they are transmitted to the machine device through the PC and machine data connection network at once.

Next, under the triangular heating step, as shown in FIGS. 38 and 39, when the mechanical device receives a total of n heating job files of [HEATTRI-01.DAT] to [HEATTRI-n.DAT] from the PC, 01 The heating operation is performed sequentially from number n to number n.

At this time, from the vertex coordinates (Pmin) recorded in each file to the base center point coordinates (Pend), the recorded heating rate (v_HT) makes the final heating width Wh. heating works.

On the other hand, a detailed look at the transversal/vertical curve tolerance determination steps (S13, S16) shown in FIG. 1 ,

As shown in FIG. 40 , the error of the transverse curve or the vertical curve is calculated as the error average of the point coordinates on the curved frame data. This is compared with the dT (transverse tolerance) and dL (longitudinal tolerance) set by the system to determine whether the work is complete and reheating.

First, the lateral bending tolerance determination step (S13) will be described.

The point coordinates on the frame data in the above-mentioned curved surface matching and heating limit condition setting step (S11) are used as they are.

First, as shown in FIG. 41, after investigating the distance from the j-th design curved section frame data to the M number of design curved section frame data coordinates on a straight line connecting both end point coordinates (No. 1, M), the largest Save the value as Dmax,j.

Next, when the deviation of the Z components of the point coordinates on the design curved section and the measured curved section frame data is dZi (i=1,2,…,M), as shown in Equation 1-2 included in FIG. Calculate the formula for the Nth design curved section and the measured curved section frame data.

Then, after repeating the above process for the frame data of the curved sections 1 to N and the measured curved section frame data, the average value is calculated as in Equation 1-3.

Then, the average value is compared with dT (transverse tolerance) (see Equation 1-4 included in FIG. 41 ).

Next, look at the vertical curve tolerance determination step (S16).

First, as shown in FIG. 42, the intersection line where the plane including the Z-axis, the design surface, and the measurement surface through the midpoints A and B of both ends of the transverse curve meet, respectively, is stored as the design and measurement vertical section curve geometry, and the above-described transversal is allowed Point coordinates are extracted in the same way as in the case of error determination and stored in the form of frame data.

Then, the design longitudinal section frame data is created by additionally storing the design longitudinal section curve geometry as the design longitudinal section and extracting the point coordinates. The coordinates obtained by projecting these Point coordinates on the measurement surface in the Z direction are stored in the measurement vertical cross-section frame data. Through the above process, each of the three design/measurement frame data of the vertical curved section is generated.

Next, the error average of the vertical cross-section frame data is calculated by applying the above process of judging the transverse cross-section error similarly.

Then, the average value is compared with dL (longitudinal tolerance).

On the other hand, the hull curved shell plate forming system according to another embodiment of the present invention, for example, the hull curved shell plate heating system capable of multi-member heating is each means for performing each procedure (S101 to S107) shown in FIG. 43, that is, , means for registering vertex measurement and measurement list for each member, means for measuring edges and interiors for each member, means for generating member work data and registering a member work list, means for generating heating wire information for each member, heating wire data A means for generating and registering a list of heating wires, a means for transmitting the entire heating wire information to a mechanical device, a means for performing multi-member continuous heating, and the like are systematically combined.

Each of these means includes each procedure (S101 to S107) as shown in Fig. 43, that is, the procedure of registering the vertex measurement and measurement list for each member, the procedure of measuring the edges and the inside of each member, and the generation and absence of member operation data Procedure to register work list, process to create heating wire information for each member, process to create heating wire data and register heating wire list, process to transfer the entire heating wire information to mechanical device, process to implement multi-member continuous heating etc will proceed.

First, a procedure (step S101) of measuring vertices for each member and registering a measurement list, shown in FIG. 43 .

As shown in Figure 44, the method of measuring the vertices of two or more members is similar to the existing device, when a person manually manipulates the gantry (X direction) and the robot arm carriage (Y direction) to set the vertex of the reference laser displacement sensor. After positioning the pointer, the coordinates are recorded in the internal memory of the mechanical device, and when the vertex measurement of one member is completed, the coordinates of the four vertices are transmitted to the computer internal heating program (steps S110 to S120).

Vertex measurement is performed in units of 4 vertices of one member, and multiple vertices cannot be arbitrarily measured regardless of the member.

45 and 46, when the heating program receives all four vertex coordinates of one member unit, it stores the four vertex coordinates in [Measurement Data], and returns [Measurement Data] to [Measurement List] register in If there are N total members, repeat this operation N times.

Next, look at the procedure (step S102) for measuring the corner and the inside of each member, shown in FIG. 43 .

As shown in FIG. 47, when [measurement Data] in which the coordinates of vertices for each member are recorded are all registered in the [Measurement List], edge measurement and internal measurement for each member are sequentially performed (steps S130 to S138).

As shown in FIG. 48 , when the internal measurement is completed after the edge measurement in one member, the edge and internal measurement of the member corresponding to the next order on the [Measurement List] is carried out.

As with the existing device, for edge measurement, the gantry and the robot arm carriage automatically move in the form of a wave along an imaginary straight line where one reference sensor connects four vertices (see Fig. 49). At this time, the wave width d and speed v are It is a value set inside the system. When the laser pointer of the sensor passes the edge as the wave moves, the corresponding coordinates on the edge line are recorded in the internal memory of the mechanical device.

When all four corner point coordinates are measured, the internal point measurement proceeds automatically. As with conventional devices, internal point measurement uses all ten laser displacement sensors. The gantry and robot arm carriage automatically move so that all 10 laser displacement sensors pass through the inner area surrounded by vertex and corner points as much as possible, and the 10 laser sensors record the internal point measurement coordinates of each sensor in the internal memory of the machine.

When measuring from the edge to the inside point for one member measurement is completed, the edge point and internal point coordinates stored in the internal memory of the machine are saved to the corresponding member measurement data in the [Measurement List] in the heating program of the PC.

Repeat this operation in order from the 1st member to the Nth member on the [Measurement List].

Next, the absent job data generation and absent job list registration procedure (step S103) shown in FIG. 43 will be described.

As in each step (S140 ~ S148) shown in Fig. 50, when all vertex, corner, and internal point coordinates are transmitted from the mechanical device and stored in [Measurement List], [Measurement Data] The coordinates of are automatically copied and saved in [Part Job Data] in the heating program.

When the internal point measurement for one member is completed, the mechanical device transmits the completion signal to the PC, and the heating program in the PC copies the [Measurement Data] of the member to the [Part Work Data].

As shown in Fig. 51, [absent work Data] is registered in the [absent work list] simultaneously with copying.

When registered, the B-Spline surface interpolation function for the measurement point coordinates of [Part Work Data] acts to create the measurement surface geometry and is saved in [Part Work Data] of the [Part Work List].

Repeat this operation sequentially from member 1 to member N.

Next, look at the heating wire information generation procedure (step S104) for each member, shown in FIG. 43 .

As in each step (S150 ~ S156) shown in Fig. 52, if the user inputs and saves the design surface geometry file in [Part Work Data] of each [Part Work List], the surface registration function is performed in the same way as in the existing device. And after matching is completed, onboard heating wire information data is created.

As shown in FIGS. 53 to 55 , when the linear heating wire information data is generated, the heating wire starting point coordinates and ending point coordinates, and the heating rate are stored in [member work data] of the member.

In this work, design curved surface registration, curved surface matching, and on-board heating wire information data generation are sequentially performed in units of one member.

Repeat this operation from member 1 to member N.

Next, look at the heating wire data generation and heating wire list registration procedure (step S105) shown in FIG.

As in each step (S161 to S166) shown in Fig. 56, after the user selects a part of the member to be heated in the [Member Work List], and then executes the [Register Heating Wire List] function, the In [Part work Data], the coordinates of the starting point and end point for each heating wire, and the heating speed are saved in [Heating wire Data] and registered in [Heating wire List].

As shown in FIGS. 57 and 58, several heating wire information data exist in one member, and these are the starting point and ending point coordinates of the heating wire in units of one heating wire regardless of the member, and the heating rate [heating wire] Data] and register it in [Heating Wire List].

N' members are selected from a total of N members, and the heating wire of each member is H1, H2, ... ,HN', repeat this operation as many times as (H1+H2+....+HN').

Next, look at the entire heating wire information transfer (PC->mechanical device) procedure (step S106) shown in FIG. 43 .

As with the existing device, the heating wire information data is separately saved as a dat file that can be read by the mechanical device and transmitted to the mechanical device through the PC and the mechanical device data connection network.

59, if the total number of [heating wire Data] registered in [heating wire List] is n, the heating wire information file is [HEATLINE_LIST-01.DAT] to [HEATLINE_LIST-n.DAT] and stored together

Next, look at the multi-member continuous heating procedure (step S107) shown in FIG.

As shown in FIGS. 60 and 61 , when the mechanical device receives a total of n heating job files from [HEATLINE_LIST-01.DAT] to [HEATLINE_LIST-n.DAT] from the PC, it is sequentially heated from 01 to n. do the work From the starting point coordinates recorded for each file to the ending point coordinates, heating is performed at the recorded heating rate.

The heating wire information data of each file is converted into an electric signal, and then the gantry and robot arm are controlled.

On the other hand, the hull curved shell plate forming system according to another embodiment of the present invention, for example, the linear heating wire generation system considering the contact state between curved surfaces, each means for performing each procedure (S201 to S207) shown in FIG. 62, That is, means for matching the curved surface, means for generating curved cross-section frame data, means for executing fine matching for each frame data, means for calculating and storing the heating point and amount of heating for each frame data, means for generating information on the linear heating wire, The means for transmitting the onboard heating wire information to the mechanical device and the means for executing the onboard heating are systematically combined.

Each of these means includes each procedure (S201 to S207) as shown in FIG. 62, that is, a procedure for matching a curved surface, a procedure for generating curved cross-section frame data, a procedure for executing fine registration for each frame data, and heating for each frame data. The procedure for calculating and storing the point and amount of heating, the procedure for generating information on the heating element on board, the procedure for transmitting the information on the heating element on board to the mechanical device, the procedure for executing the heating on the boat, etc. will be carried out.

First, a procedure ( S201 ) of matching a curved surface, shown in FIG. 62 , will be described.

[Curved surface registration] of the present invention, as shown in FIGS. 63, 66, and 67, the reference plane normal vector calculation procedure (S211) of the design surface and the measurement surface, the base line of the design surface and the measurement surface and a procedure for calculating the center point (C, C') of the base line (S212), a procedure for translating the design surface so that the design surface base line center point (C') coincides with the measurement surface base line center point (C) (S213), design The procedure of rotating the design surface around the center point (c) so that the curved base line coincides with the direction of the measurement surface base line (S214), and rotates the design surface and the measurement surface to match the normal vector of the measurement surface using the base line as the rotation axis ( S215), a procedure for terminating matching (S216), etc. are performed (refer to FIGS. 64 and 65).

Here, the reference plane has a standard deviation (s) of distances d1, d2, d3, and d4 away from the four vertices (v1, v2, v3, v4) of the metrology surface or the design surface, as shown in FIGS. 64 and 65 . It means the minimum plane, and the base line is a straight line connecting the midpoints (A, B) on the curved edges (v1~v4, v2~v3) at both ends of the curved surface.

Next, a curved cross-section frame data generation procedure ( S202 ) shown in FIG. 62 will be described.

The cross-section frame data creation work for the design surface and the measurement surface that has been matched is composed as follows.

1. Create the cross-section curve geometry: As shown in Figure 68, When the two Y-direction edges of the registered design surface (v1~v2, v3~v4) are divided at regular intervals (a) and the plane (T) including the Z axis intersects the design surface and the measurement surface , create the intersection of each surface with the curved geometry of the design surface and the measurement surface (No. 2~N-1 in the figure)

At this time, the two transverse edges at both ends of the design surface (v1~v4, v2~v3) create themselves as design curve geometry, and each design curve geometry is projected on the measurement surface in the Z direction. , respectively, as the measurement curve geometry (No. 1 and No. N in the figure).

2. Generation of curved frame data: As shown in FIGS. 69 and 70, after extracting the coordinates of M points on the curve at regular intervals (b) from the design curved geometry, (including both ends), it is used as the design curved frame stored in the data structure.

Again, the M intersection point coordinates obtained after projecting each design curved cross-section point in the Z-direction on the measured curved cross-section curve geometry are stored in the measured curved cross-section frame data structure.

At this time, the structure of the design cross-section frame data and the measured cross-section frame data is as follows, and the measured curved cross-section frame data structure includes the heating point coordinates and heating amount column in addition to the curve point coordinates. These values are [heating point by frame data] and heating amount].

Next, the procedure ( S203 ) of fine matching (considering contact points between curved surfaces) for each frame data, shown in FIG. 62 .

As shown in FIG. 71, when the intersection of the designed curved cross-section and the intersection of the measured curved surface are compared in the state where the curved surface registration is completed, in general, the curvature radius of the design curved intersection is larger than the curvature radius of the measured curved intersection as a whole. The center point (the point with the smallest Z coordinate value) of the two curves coincides to calculate the deviation of the curve to the left and right of the center point (the difference between the Z components of the point coordinates in the frame data, Zd-Zm, d: design, m: measurement) Based on this, the heating point and heating amount are calculated.

However, if there is some error in the forming operation of press cold working, which is the preceding process of member heat forming, there is a section with a larger radius of curvature than the designed curved section curve locally at the intersection of the measured curved section, so the heating point cannot be created to the left and right of the deepest point. this exists This reduces the area where hot spots can exist, thus reducing the overall degree of shaping.

In order to minimize the non-heatable area, two points that can be in contact between the intersection of the designed curved surface and the intersection of the measured curved surface are selected so that the intersection of the designed curved surface and the measured curved surface coincides with the intersection of the measured curved surface at the two points. Repeat translation and rotation transformation for the data point coordinates.

At this time, the point coordinates of the frame data of the design curved section and the measured curved section are coordinated so that the deepest point of the intersection of the measured curved section becomes the origin (O), and then the translational movement and rotational transformation are performed.

After each trial, if the size of grain deviation (|Zd - Zm|) in the non-heatable region (Zm > Zd) satisfies the tolerance set by the system, the trial is terminated, and the point coordinates of the frame data of the finished design curve are updated. do.

Its step-by-step details are as follows.

72 to 77, coordinate transformation is performed on the point coordinates in the frame data of the measured curved section and the designed curved section so that the deepest point in the measured curved section frame data becomes the origin (O) (S221).

Then, it is divided into a +Y region and a -Y region based on the deepest point (the origin on the transformation coordinates) (S222). Here, the +Y area means the section where the Y coordinate of the point in the measured curved section and the designed curved section frame data is greater than 0, and the -Y area means the Y coordinate of the point in the measured curved section and the designed curved section frame data is greater than 0. means a small section.

Then, in each +Y, -Y region, the magnitude of the deviation of the point coordinates (dZ=|Zm-Zd|) is calculated, and the largest value in each region is set to dZmax(+) and dZmax(-), respectively. Save (S222).

Then, if the deviation |dZmax(+)- dZmax(-)| between dZmax(+) and dZmax(-) is less than the tolerance, step S227 to be described later is performed. Otherwise, another subsequent step (S223) is performed. Tolerance is a value set by the system and is a size comparison margin between grain deviations.

Next, the sizes of dZmax(+) and dZmax(-) are compared (S223).

At this time, if dZmax(+) > dZmax(-), the design curved section point coordinates are rotationally transformed by Ang in the counterclockwise direction (+) around the center point (origin) (S225).

In addition, when dZmax(+) < dZmax(-), rotational transformation is performed by Ang in the clockwise direction (-) with respect to the center point (origin) for the design curved cross-section Point coordinates (S226). Here, Ang is the value set by the system and is the rotation angle.

Then, S221 and S222 are performed with respect to the transformed point coordinates of the curved design section.

Next, the larger value of dZmax(+) and dZmax(-), that is, max(dZmax(+), dZmax(-)), is added to the Z coordinate of the design curved section point (S227).

Then, the coordinates of the point coordinates of the design curved section and the measured curved section are converted with respect to the original origin (S228) (Origin change: deepest point -> original origin).

Thereafter, the point coordinates of the design curved section are updated on Frame Data (S229).

Next, the heating point and heating amount calculation procedure ( S204 ) for each frame data, shown in FIG. 62 .

As shown in FIGS. 78 to 80 , when a heating point exists in the member, angular deformation occurs by bending the member around the heating point to rotationally deform the member.

At this time, if there are multiple heating points on the curved cross-section curve measured (K), the point coordinates on the measured curved cross-section frame data (Pm,i) are rotated and moved due to the angular deformation of each heating point on the curved cross-section frame data of the design song. It gets closer to the Point coordinates (Pd,i). That is, the Z-direction (height direction) deviation (dZi) of the point coordinates of each of the M design curved sections and the measured curved section frame data is close to 0 due to the K angular deformations (refer to FIG. 78).

Here, the height deviation (dZi) for each case is repeatedly calculated while changing the number and location of the heating points, and if the tolerance criterion (tol) is satisfied for all dZi (i=1,2,…,M), the corresponding case The heating point coordinates (Ph,j) of , and the amount of angular deformation at each heating point are stored in the measured curved section Frame data structure. At this time, the amount of angular deformation is stored in the heating amount column. This is done for all design curved sections and measured curved sections, and the heating point position coordinates and angular deformation amount for each curved section are stored in each measured curved section frame data structure.

Next, look at the on-board heating wire information generation procedure (S205) shown in FIG.

81 and 82, when the heating point and heating amount are stored in all the measured curved section frame data, linear heating wire information is generated.

At this time, the rules for generating the onboard heating wire information are as follows.

1. Set the heating points (total F) of the 1st measurement curved section frame data to P11, P12,… Save as P1F. At this time, the Y coordinate of the heating point is stored in the order of the largest. Save P11 as Ph_1 again.

2. Assume an imaginary straight line parallel to the bending line passing through Ph_1. Add the (X,Y,Z) coordinates of Ph_1 and the amount of heating to any {Ph_line}. {Ph_line} is a temporary Array and stores the heating point coordinates and the amount of heating of each heating point.

3. For the heating points of the curved section frame data measured from No. 2 to No. N, sequentially from the frame data for the curved section measured from No. 2, it is investigated whether there is a heating point within the distance w from the virtual straight line, and if so, Array {Ph_line} Add the coordinates of the heating point and the amount of heating to .

4. When {Ph_line} is added to the last N measured curved section frame data heating point coordinates and heating amount, {Ph_line} is added to the heating line information data structure. Save P12 in 3-1) as Ph_1 again, initialize {Ph_line} (delete all array contents), and add the coordinates of Ph_1 and heating amount to {Ph_line}. After that, repeat 3-2) to 3-3). 3-2) to 3-3) are performed in P13~P1F as well.

5. If there is a heating point within a distance w to the I-1 measured curved section frame data, but there is no heating point in the I measured curved section frame data, that is, the minimum value among the distances of the heating points away from the virtual straight line is For w', if w'>w, Array {Ph_line} addition work is finished and {Ph_line} is added to the heating line information data structure.

6. Among the heating points of the I curved section frame data, the heating point with a distance w' from the virtual straight line is newly stored as Ph_1. After initializing Array {Ph_line} (deleting all array contents), add Ph_1.

7. Repeat the previous step. Here, the frame data heating point of the I-1~N measurement curved section is investigated.

Next, look at the on-board heating wire information transfer (PC->mechanical device) procedure (S206) shown in FIG. 62 .

83 and 84, the heating point coordinates and heating amounts for each item of the heating wire information data structure generated through the linear heating wire information generation process become elements constituting one heating wire.

Here, the heating start coordinate of the heating wire is the coordinate (HL_S) of the first heating point, and the heating end coordinate of the heating wire is the coordinate (HL_F) of the last heating point.

At this time, the heating rate is calculated by first calculating the average value of the heating amounts (angular deformation). Calculate the heating rate (v_HL) from the average value of the heating amount through the function F that calculates the heating rate from the angular strain. The function F is a function that exists inside the heating program.

Here, if the calculated speed is out of the range of vmin~vmax set in [Heating Limitation Condition], vmin or vmax is designated as it is. If the heating rate is less than vmin, vmin is designated as the heating rate, and if it is greater than vmax, vmax is designated as the heating rate.

At this time, if HL_S, HL_F, v_HL is specified for each item of the heating wire information data structure, these values are saved in a separate data file so that the mechanical device can read them.

Here, if the total number of heating wires stored in the heating wire information data is n, n dat files are created and classified by numbers. File names are designated as [HEATLINE-01.DAT]~[HEATLINE-n.DAT]. When a total of n dat files are converted, they are transmitted to the machine device through the PC and machine data connection network at once.

Next, look at the procedure (S207) for executing the linear heating, shown in FIG.

85, when the mechanical device receives a total of n heating operation files from [HEATLINE-01.DAT] to [HEATLINE-n.DAT] from the PC, the heating operation is sequentially performed from number 01 to number n. do. From the starting coordinate (HL_S) recorded in each file to the ending coordinate (HL_F), the heating operation is performed at the recorded heating rate (v_HL).

On the other hand, the hull curved shell plate forming system according to another embodiment of the present invention, for example, the triangular heating wire generating system in consideration of the curved surface shrinkage transition behavior is each means for performing each procedure (S301 to S308) shown in FIG. 86, That is, means for executing curved surface development considering the member measurement shape, means for calculating the shrinkage distribution area, means for generating triangular heating wire information, means for determining whether or not the triangular heating vertex limit position is satisfied, depending on the satisfaction, the triangle A means for changing the position of the heating vertex or correcting the triangular heating wire information, a means for transmitting the triangular heating wire information to the mechanical device, a means for executing triangular heating, and the like are systematically combined.

At this time, as shown in FIGS. 87 and 88, during triangular heating, the deformation of the heating unit has two deformation modes: convex (+Z) or concave (-Z) depending on the vertex position of the triangular heating region, and based on a specific position will cause the cloth to behave. Triangular heating should form a downward concave strain (-Z) along the length of the member, so a convex (+Z) strain mode should not occur.

Accordingly, in another embodiment of the present invention, it is determined whether the position of the vertex of the triangular heating wire corresponds to the limit position for transition behavior, and when the position corresponds to the limit position, it includes the step of changing to a position to prevent it.

Each of the above means includes each procedure (S301 to S308) as shown in FIG. 86, that is, a procedure for executing curved surface development in consideration of the member measurement shape, a procedure for calculating a shrinkage distribution area, a procedure for generating triangular heating wire information, The procedure for determining whether the triangular heating vertex limit position is satisfied, the procedure for changing the position of the triangular heating vertex or modifying the triangular heating wire information, the procedure for transmitting the triangular heating wire information to the mechanical device, and triangular heating depending on the satisfaction procedures, etc.

First, a procedure ( S301 ) of executing the curved surface development in consideration of the member measurement shape shown in FIG. 86 will be described.

89 to 92, the design curved surface is divided into a total of N grid regions. Nx pieces are divided in the X direction and Ny pieces are divided in the Y direction, and the number (Np) of the grid points corresponding to the vertices of the grid points is equal to (Nx+1)(Ny+1).

At this time, it is assumed that certain Np positional coordinates on the measurement surface are displaced by ui, vi, wi (i=1,2,..,Np) in the X, Y, and Z directions, respectively, to become lattice points on the current design surface.

Here, the grid point coordinates on the design surface are P_Tri_d,i(i=1,2,...,Np), and the corresponding grid point coordinates on the measurement surface are P_Tri_m,i(i=1,2,...,Np) ) is saved as

This curved surface development is to figure out the development pattern of each grid region by calculating each of Np unknown displacement fields ui, vi, and wi in the X, Y, and Z directions.

At this time, the sum (J) of the strain energies (Ji) of each lattice region must be minimized, and the main strain (emax) of each lattice region must be in a compressed state, that is, it is possible to calculate ui, vi, wi from the condition that (the strain in each grid region is a function of ui, vi, wi).

Here, when the displacements ui, vi, and wi at each grid point are grasped, the grid point coordinates P_Tri_m,i (i=1,2,...,Np) on the measurement surface can be grasped from the design surface.

Next, the shrinkage distribution area calculation procedure S302 shown in FIG. 86 will be described.

As shown in FIG. 93, the amount of shrinkage in the X-direction for each measured curved grid is calculated through the following steps and stored in an array form.

Next, the grid arrangement is divided one by one in the Y direction. As shown in the figure, grid numbers are 1,2,… When numbered with .,N, column 1-{1,2,… ,Ny}, column 2 - {Ny+1,Ny+2,… ,Ny+Ny},… Nx column-{(Nx-1)Ny+1,… ,NxNy}.

Next, assuming that Ny+1 line segments constituting the grid in the i-th grid arrangement are Li,k (k=1,2,..,Ny+1), the amount of contraction in the X direction of each grid line segment is as shown in the figure. It is calculated by multiplying the X-direction strain (exx) at the midpoint of the line segment by the length of each segment (Li,k).

Next, the shrinkage amounts of the line segments are stored in Array {dxi} (i=1,2,...,Nx) in order from the smallest Y coordinate of the center point of each grid line segment. Nx total shrinkage amount Array {dx1},{dx2},… ,{dx(Nx)} is created.

Next, look at the triangular heating wire information generation procedure (S303) shown in FIG.

As shown in FIG. 94, the vertex Pmin of the triangular heating region, the central point Pend of the base, and the heating width Wh are determined from the shrinkage amount Array {dxi} (i=1,2,3,...,Nx).

At this time, when the array storing Pmin, Pend, and Wh is {Pmin}, {Pend}, {Wh}, the steps for calculating them are as follows.

1. Define dxi(y) as a function obtained by interpolating the amount of shrinkage {dxi} of each grid line segment in the y-direction with respect to the y-direction in the i-th grid arrangement of the shrinkage distribution calculation.

2. Assuming that the minimum shrinkage amount set by the system is dmin, find the point where dmin and dxi(y) match and store the coordinates of this point in the vertex array {Pmin} of the triangular heating area.

3. When Pmin exists, the center point of the end segment of the i-th grid array closest to Pmin is stored in {Pend}. Assuming that the shrinkage amount at the Pend point is dend, the heating region width Wh corresponding to dend is calculated from the heating region width determining function G(dend) inside the program, and it is stored in the array {Wh}.

The previous step is performed for the entire grid array and the final {Pmin}, {Pend}, and {Wh} are stored in each column (Pmin coordinate, Pend coordinate, Wh) of the triangular heating wire information data structure.

Next, look at the triangular heating heating limit position determination and limit heating satisfaction determination / vertex position correction procedure (S304, S305, S308) shown in FIG.

By performing each procedure (steps S311 to S321) shown in FIG. 95, the stored triangular heating wire vertices are arranged {Pmin}={Pmin1, Pmin2, ... }, for each vertex, when the dividing plane (T) that is parallel to the Y axis and includes the Z axis as it passes through the vertex meets the measurement surface, the intersection geometry of the curved section is stored as C do.

Next, as shown in FIGS. 96 to 98 , a heating limit equation HL is constructed for the intersection geometry C using a mathematical operation function inside the program, and a heating limit position P_HL that satisfies this is found. At this time, the heating limit position P_HL and the heating limit condition satisfaction criterion are changed according to the position of the Y coordinate Ymin of the vertex Pmin.

Next, assuming that the Y coordinates of both endpoints of the curved geometry C are Y1, Y2 (Y1 > Y2), if the Y coordinate of the vertex Ymin is closer to Y1, that is, min(|Ymin-Y1|, |Ymin-Y2| )=|Ymin-Y1|, apply the equation HL_1, and apply the equation HL_2 when min(|Ymin-Y1|, |Ymin-Y2|)=|Ymin-Y2|, which is closer to Y2.

At this time, when HL_1 is applied, if Ymin > Y_HL, the heating limit condition is satisfied. If the heating limit condition is exceeded as Ymin < Y_HL, the vertex coordinate Pmin is replaced with P_HL.

In addition, when HL_2 is applied, the heating limit condition is satisfied if Ymin < Y_HL. When the heating limit condition is exceeded as Ymin > Y_HL, the vertex coordinate Pmin is replaced with P_HL.

This discrimination process is repeated for all K vertices.

Next, look at the triangular heating wire information transfer (PC->mechanical device) procedure (S306) shown in FIG.

99, Pmin, Pend coordinates and Wh for each item of the triangular heating wire information data structure generated through the triangular heating wire information generation process become elements constituting one heating wire.

At this time, the triangular heating rate (v_HT) is calculated from the triangular heating rate determining function H(Pmin, Pend, Wh) inside the program. At this time, if the calculated speed is out of the range of vmin~vmax set in [Heating Limitation Condition], set vmin or vmax as it is. If the heating rate is less than vmin, vmin is designated as the heating rate, and if it is greater than vmax, vmax is designated as the heating rate.

Next, when Pmin, Pend, Wh, and v_HT are designated for each item of the triangular heating wire information data structure, these values are stored in a separate data file so that the mechanical device can read them.

At this time, if the total number of heating wires stored in the triangular heating wire information data is n, n dat files are created, and they are divided by numbers. File names are designated as [HEATTRI-01.DAT]~[HEATTRI-n.DAT]. When a total of n dat files are converted, they are transmitted to the machine device through the PC and machine data connection network at once.

Next, look at the triangular heating execution procedure (S307) shown in FIG.

100 and 101, when the mechanical device receives a total of n heating job files from [HEATTRI-01.DAT] to [HEATTRI-n.DAT] from the PC, it is sequentially heated from 01 to n times. do the work Heating operation of a triangular area where the width increases linearly so that the final heating width becomes Wh with the heating rate (v_HT) recorded from the vertex coordinates (Pmin) recorded in each file to the base center point coordinates (Pend) will do

As described above, in the present invention, the thermal processing information of the plate is quantitatively derived based on the geometrical analysis of the curved surface and the thermal deformation prediction technique of the metal, and the heating operation is precisely and consistently controlled by controlling the mechanical device to which the high frequency induction heating device is attached. By implementing it, it is possible to support work that satisfies the molding degree regardless of the skill level of the operator.

In addition, in the present invention, it is possible to support to maximize the operation rate during non-work hours (lunch time, break time, after work, etc.) by continuously performing workable corner and internal measurement and heating work without operator intervention.

In addition, in the present invention, by adding a function of performing detailed conversion so as to consider the contact state between the instrumentation song and the design song for each of the curved cross-section frames, it can be supported to ensure high-precision molding quality.

Furthermore, in the present invention, by selecting the heating limit position of the vertex of the triangular heating shape based on the characteristics of the actual heating operation and solid mechanics consideration, it is possible to support the occurrence of a convex local deformation mode.

The present invention exhibits a useful overall effect in various fields requiring efficient operation of shape forming.

And, although specific embodiments of the present invention have been described and illustrated above, it is obvious that the present invention may be practiced with various modifications by those skilled in the art.

Such modified embodiments should not be individually understood from the technical spirit or point of view of the present invention, and such modified embodiments should fall within the scope of the appended claims of the present invention.

10: robot arm
11: Gantry
12: bracket
13: laser displacement sensor
14: reference sensor
15: reference sensor laser pointer
16: measurement displacement sensor laser pointer
17: measurement target member
20: Song shaping robot
21: Control PC
31: inner point
32: vertex
33: corner point

Claims (2)

means for executing curved surface development in consideration of the member measurement shape;
means for calculating a shrinkage distribution area;
means for generating triangular heating element information;
means for determining whether the triangular heating vertex limit position is satisfied;
means for changing the vertex position of the triangular heating or correcting the triangular heating wire information according to the corresponding satisfaction;
means for transmitting the triangular heating element information to the mechanical device;
A hull curved skin forming system comprising means for performing triangular heating. A procedure for executing the surface development taking into account the member measurement shape;
The procedure for calculating the shrinkage distribution area;
a procedure for generating triangular heating wire information;
A procedure for determining whether the triangular heating vertex limit position is satisfied;
Depending on the satisfaction, the procedure of changing the position of the vertex of the triangular heating or correcting the triangular heating wire information;
The procedure for transmitting the triangular heating element information to the mechanical device;
A method for forming a curved shell of a hull, comprising the procedure of performing triangular heating.

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