船体外板水火成型智能机器人控制器的研究

针对船体外板水火成型在造船生产中表现出技术性强，难度大，工作环境恶劣，且具有很强特色的一种经验性钢板曲面成型的特点，本文基于船体外板水火成型工艺参数预报系统，设计了该类型特种智能机器人控制器，首先介绍了船体外板水火成型机器人的工作原理及其加工工艺流程，接着描述了该机器人的总体结构及其技术要求，最后就所设计的智能机器人控制器，详细地阐述了其硬，软件系统设计过程，调试结果证明，所设计的智能机器人控制器具有良好的性能，大大提高了船体外板建造质量和速度。

Research of Intelligent Robot Controller for Hull Steel Plate Forming by Line Cooling and Heating

To bend a hull steel plate into a definitely curved one by fire and water is a hot-cold forming technology by virtue of special experience,it is very strong in technicality,very hard in difficulty and very bad in environment.Based on parameter prediction systems for a hull steel plate forming by line heating and cooling,an intelligent robot controller for a hull steel plate forming by line heating and cooling is designed.Firstly,the operation principle and its processing flows of the controller are introduced.Secondly,general configuration and technical requirements of the controller are described.Finally,the design process of hardware and software systems of the controller is presented in detail.The debugging result shows the designed intelligent robot controller is very good in function and performance and can be used to improve shipbuilding efficency.