阅读说明：本技术 一种船舶构件自由边处理的装置及其实现方法 (Device for processing free edge of ship component and implementation method thereof ) 是由 王旭 储云泽 于航 饶靖 于 2019-10-31 设计创作，主要内容包括：一种船舶构件自由边处理的装置,包括三自由度可移动门架、构件处理平台、升降机构、铣削机构、控制器；三自由度可移动门架包括X轴移动机构、Y轴移动机构、Z轴移动机构、定位传感器；构件处理平台上安装升降机构,升降机构包括支撑柱、油缸或气缸；铣削机构安装于Z轴移动机构上,铣削机构包括电机、变速箱、铣刀、多维力矩传感器。还提出基于装置的实现方法。本发明采用专用软件输出可执行程序,提高工作效率,降低对使用者的能力要求；铣刀实现一刀多用,节约成本；多维力矩传感器配合力/位混合控制算法实时调整铣刀位置,保证加工质量；可根据不同的处理要求选用不同的铣刀,调整主轴转速、铣削速度,提高了加工效率,提升了产品质量。(A device for processing free edges of ship components comprises a three-degree-of-freedom movable portal frame, a component processing platform, a lifting mechanism, a milling mechanism and a controller; the three-degree-of-freedom movable portal comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a positioning sensor; a lifting mechanism is arranged on the component processing platform and comprises a support column and an oil cylinder or an air cylinder; the milling mechanism is arranged on the Z-axis moving mechanism and comprises a motor, a gearbox, a milling cutter and a multi-dimensional torque sensor. An apparatus-based implementation method is also presented. The invention adopts special software to output the executable program, thereby improving the working efficiency and reducing the capability requirement on the user; the milling cutter realizes one cutter with multiple purposes, and saves cost; the position of the milling cutter is adjusted in real time by a multidimensional torque sensor matching force/position hybrid control algorithm, so that the processing quality is ensured; different milling cutters can be selected according to different processing requirements, the rotating speed and the milling speed of the main shaft are adjusted, the processing efficiency is improved, and the product quality is improved.)

1. A device for processing the free edge of a ship component is characterized by comprising a three-degree-of-freedom movable portal frame, a component processing platform, a lifting mechanism, a milling mechanism and a controller;

the three-degree-of-freedom movable portal comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a positioning sensor, wherein the X-axis moving mechanism is arranged on the side surface of the component processing platform, the Y-axis moving mechanism is arranged above the component processing platform and is vertical to the X-axis moving mechanism in the horizontal direction, the Y-axis moving mechanism is arranged on the X-axis moving mechanism and moves under the driving of the X-axis moving mechanism, and the Z-axis moving mechanism is arranged on the Y-axis moving mechanism and moves under the driving of the Y-axis moving mechanism;

the component processing platform is provided with a lifting mechanism, the lifting mechanism comprises supporting columns, oil cylinders or air cylinders, a plurality of supporting columns are embedded on the component processing platform, and the bottom of each supporting column is connected with an independent oil cylinder or air cylinder;

the milling mechanism is arranged on a Z-axis moving mechanism of the three-degree-of-freedom movable gantry and moves under the driving of the Z-axis moving mechanism, the milling mechanism comprises a motor, a gearbox, a milling cutter and a multi-dimensional torque sensor, and the multi-dimensional torque sensor is coaxially arranged on the milling cutter;

the controller is connected with the three-degree-of-freedom movable portal frame, the lifting mechanism and the milling mechanism.

2. The apparatus for processing the free edge of the ship component according to claim 1, wherein the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism each comprise a base body, a linear guide rail, a sliding seat, a rack, a servo speed reduction motor and a gear; the linear guide rail and the rack are both arranged on the base body, the rack is arranged along the linear guide rail, the servo speed reduction motor is arranged on the sliding seat, an output shaft of the servo speed reduction motor is connected with a gear, and the gear is meshed with the rack to realize transmission.

3. The apparatus for processing the free edge of a ship component according to claim 2, wherein the X-axis moving mechanism is a double-linear guide rail structure and is respectively installed at two sides of the component processing platform; two ends of a base body of the Y-axis moving mechanism are respectively installed on sliding seats of double linear guide rails of the X-axis moving mechanism through base body supports, and a positioning sensor is installed on the base body of the Y-axis moving mechanism; and the base body of the Z-axis moving mechanism is arranged on the sliding seat of the Z-axis moving mechanism.

4. The apparatus for processing the free edge of the ship component according to claim 3, wherein the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism each further comprise a drag chain groove, a drag chain bracket and a drag chain, the drag chain groove is mounted on the base body and is parallel to the linear guide rail, the drag chain bracket is mounted at one end of the sliding seat, the drag chain is arranged in the drag chain groove, and one end of the drag chain is connected with the drag chain bracket; the three-degree-of-freedom movable portal frame further comprises a safety grating, and the safety grating is mounted on a base support of the Y-axis moving mechanism.

5. The apparatus of claim 1, wherein the plurality of support columns of the lifting mechanism are arranged in an array on the component handling platform.

6. The apparatus for processing the free edge of a marine component as claimed in claim 1, wherein the milling mechanism further comprises a mounting seat mounted on the Z-axis moving mechanism, and a lubricating oil nozzle mounted on the mounting seat; the milling cutter comprises a milling cutter handle and milling cutter blades, the milling cutter handle is vertically arranged, the upper end of the milling cutter handle is connected with an output shaft of the gearbox, and 3-8 milling cutter blades are circumferentially arranged at the lower end of the milling cutter handle.

7. The apparatus according to claim 6, wherein each milling cutter blade is provided with two vertically symmetrical cutting edges, and each cutting edge is shaped like 1/4 arc with an inner concave shape and R is more than or equal to 2 mm.

8. Method for realising a device for the treatment of a free edge of a ship component according to any of claims 1-7, characterised in that it comprises the following steps:

s1, obtaining model data of each type of ship component from ship design software, generating an executable program corresponding to each type of ship component through special software of the device, and storing the executable program into the device;

s2, placing the ship component needing free edge processing in the working area on the component processing platform, and then starting the device;

s3, lifting a supporting column of a lifting mechanism on the component processing platform to jack up the ship component, and fixing the ship component by using self weight and friction force of the supporting column;

s4, selecting the type of the ship component in the current operation area by an operation panel of the operation controller, and calling a corresponding executable program by the device;

s5, executing the executable program:

s501, calibrating the actual position of the ship component in the operation area by using a positioning sensor;

s502, correcting a milling cutter path theoretically planned in the executable program according to the position calibration result to generate an actual milling track;

s503, selecting a proper milling cutter, and starting to process the free edge on the upper surface of the ship component after self-checking of the cutter;

s504, carrying out cutter self-inspection again, and then carrying out treatment on the free edge of the lower surface of the ship member;

and S6, after the executable program is executed, the ship component is assembled and disassembled to the tray.

9. A method for realizing the device for processing the free edge of the ship component according to claim 8,

in step S501, a positioning sensor measures actual positions of two points set on a ship member, and calculates a unit vector of a two-point connection line;

in step S502, the milling cutter path in the executable program is corrected based on the absolute positional deviation between the actual positions of the two points on the ship member and the two points set in the executable program and the angular deviation between the unit vector between the two points on the ship member and the unit vector between the two points set in the executable program.

10. A method for realizing the device for processing the free edge of the ship component according to claim 8 or 9, wherein in steps S503 and S504, the multi-dimensional torque sensor and the force/position hybrid control algorithm of the milling mechanism are both used for ensuring that the milling track tracks the free edge of the ship component in real time, so that the milling normal torque is always kept within a set value range, and meanwhile, during the moving process of the milling cutter, the coordinate of each supporting column of the lifting mechanism and the coordinate of the milling cutter fed back in real time are judged, and the supporting columns in the coverage area below the milling cutter are controlled to automatically descend so as to avoid collision with the milling cutter.

Technical Field

The invention belongs to the technical field of machine tool milling, particularly relates to a device for processing a free edge of a ship component and an implementation method thereof, and particularly relates to a device for rounding the free edge of a large ship component such as a ship rib plate, a longitudinal girder and the like.

Background

In order to ensure the corrosion resistance of the ship and prolong the service life, ship components of the ship body need to be coated in the ship building process. Since 2012, ballast tank coatings have been required to meet PSPC requirements. After the hull structure is cut and fed, the edge of the hull structure is a sharp right angle, the coating operation is directly carried out, the anticorrosive paint is not easy to adhere, or the paint film surface is very easy to crack, and the long-term anticorrosive requirement cannot be met. In order to ensure the coating operation effect and prevent the paint film from falling off, the edges of the cut ship components need to be subjected to fillet treatment, and the fillet radius is larger than 2 mm.

In the traditional processing of the free edge of the ship component, a worker holds a grinding wheel to grind, and after the grinding wheel is repeated for three times on the same track, a round angle with the radius of more than R2 is formed. At present, in part of domestic shipyards, pneumatic milling cutters are used for replacing grinding wheels to carry out fillet chamfering work on free edges of ship components, the ship components can be formed only by once milling, the speed is increased by three times, and dust pollution is reduced compared with the mode that the grinding wheels are used. However, after the upper surface of the free edge is processed, the ship member needs to be turned, and the turning of the large-sized ship member needs to be carried out by means of equipment such as a gantry crane, so that the time and the labor are consumed, the operation efficiency is influenced, the labor cost is increased, and the influence on the physical health of workers and the environment is large.

Disclosure of Invention

The invention aims at the problems and provides a device for processing the free edge of a ship component and an implementation method thereof.

The purpose of the invention can be realized by the following technical scheme: a device for processing free edges of ship components comprises a three-degree-of-freedom movable portal frame, a component processing platform, a lifting mechanism, a milling mechanism and a controller; the three-degree-of-freedom movable portal comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a positioning sensor, wherein the X-axis moving mechanism is arranged on the side surface of the component processing platform, the Y-axis moving mechanism is arranged above the component processing platform and is vertical to the X-axis moving mechanism in the horizontal direction, the Y-axis moving mechanism is arranged on the X-axis moving mechanism and moves under the driving of the X-axis moving mechanism, and the Z-axis moving mechanism is arranged on the Y-axis moving mechanism and moves under the driving of the Y-axis moving mechanism; the component processing platform is provided with a lifting mechanism, the lifting mechanism comprises supporting columns, oil cylinders or air cylinders, a plurality of supporting columns are embedded on the component processing platform, and the bottom of each supporting column is connected with an independent oil cylinder or air cylinder; the milling mechanism is arranged on a Z-axis moving mechanism of the three-degree-of-freedom movable gantry and moves under the driving of the Z-axis moving mechanism, the milling mechanism comprises a motor, a gearbox, a milling cutter and a multi-dimensional torque sensor, and the multi-dimensional torque sensor is coaxially arranged on the milling cutter; the controller is connected with the three-degree-of-freedom movable portal frame, the lifting mechanism and the milling mechanism.

Furthermore, the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism respectively comprise a base body, a linear guide rail, a sliding seat, a rack, a servo speed reduction motor and a gear; the linear guide rail and the rack are both arranged on the base body, the rack is arranged along the linear guide rail, the servo speed reduction motor is arranged on the sliding seat, an output shaft of the servo speed reduction motor is connected with a gear, and the gear is meshed with the rack to realize transmission.

Furthermore, the X-axis moving mechanism is of a double-linear guide rail structure and is respectively arranged at two sides of the component processing platform; two ends of a base body of the Y-axis moving mechanism are respectively installed on sliding seats of double linear guide rails of the X-axis moving mechanism through base body supports, and a positioning sensor is installed on the base body of the Y-axis moving mechanism; and the base body of the Z-axis moving mechanism is arranged on the sliding seat of the Z-axis moving mechanism.

Furthermore, the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism respectively comprise a drag chain groove, a drag chain bracket and a drag chain, the drag chain groove is arranged on the base body and is parallel to the linear guide rail, the drag chain bracket is arranged at one end of the sliding seat, the drag chain is arranged in the drag chain groove, and one end of the drag chain is connected with the drag chain bracket; the three-degree-of-freedom movable portal frame further comprises a safety grating, and the safety grating is mounted on a base support of the Y-axis moving mechanism.

Furthermore, a plurality of supporting columns of the lifting mechanism are arranged on the component processing platform in an array manner.

Furthermore, the milling mechanism also comprises a mounting seat and a lubricating oil nozzle, wherein the mounting seat is mounted on the Z-axis moving mechanism, and the lubricating oil nozzle is mounted on the mounting seat; the milling cutter comprises a milling cutter handle and milling cutter blades, the milling cutter handle is vertically arranged, the upper end of the milling cutter handle is connected with an output shaft of the gearbox, and 3-8 milling cutter blades are circumferentially arranged at the lower end of the milling cutter handle.

Furthermore, each milling cutter blade is provided with two sections of vertically symmetrical cutting edges, and each section of cutting edge is in an inwards concave 1/4 arc shape with R being more than or equal to 2 mm.

A method for realizing a device for processing the free edge of a ship component comprises the following steps:

s1, obtaining model data of each type of ship component from ship design software, generating an executable program corresponding to each type of ship component through special software of the device, and storing the executable program into the device;

s2, placing the ship component needing free edge processing in the working area on the component processing platform, and then starting the device;

s3, lifting a supporting column of a lifting mechanism on the component processing platform to jack up the ship component, and fixing the ship component by using self weight and friction force of the supporting column;

s4, selecting the type of the ship component in the current operation area by an operation panel of the operation controller, and calling a corresponding executable program by the device;

s5, executing the executable program: s501, calibrating the actual position of the ship component in the operation area by using a positioning sensor; s502, correcting a milling cutter path theoretically planned in the executable program according to the position calibration result to generate an actual milling track; s503, selecting a proper milling cutter, and starting to process the free edge on the upper surface of the ship component after self-checking of the cutter; s504, carrying out cutter self-inspection again, and then carrying out treatment on the free edge of the lower surface of the ship member;

and S6, after the executable program is executed, the ship component is assembled and disassembled to the tray.

Further, in step S501, the positioning sensor measures actual positions of two points set on the ship member, and calculates a unit vector of a two-point connection line; in step S502, the milling cutter path in the executable program is corrected based on the absolute positional deviation between the actual positions of the two points on the ship member and the two points set in the executable program and the angular deviation between the unit vector between the two points on the ship member and the unit vector between the two points set in the executable program.

Further, in steps S503 and S504, it is ensured that the milling trajectory tracks the free edge of the ship component in real time by means of a multi-dimensional torque sensor and a force/position hybrid control algorithm of the milling mechanism, so that the milling normal torque is always kept within a set value range, and meanwhile, in the moving process of the milling cutter, the coordinate of each support column of the lifting mechanism and the coordinate of the milling cutter fed back in real time are judged, and the support columns in the coverage area below the milling cutter are controlled to automatically descend so as to avoid collision with the milling cutter.

At present, no automatic equipment for ship member free edge processing operation exists in China, the technical scheme of the invention also comprises optimization in many details besides the whole technical scheme, and the invention has the following beneficial effects:

1. the special software of the device is adopted, the model data of the ship design software is input, the executable program of the driving equipment is output, the operation process does not need a user to have overhigh programming capability, the operation process is basically completed by the special software, only a small amount of manual intervention of the user is needed, the trouble and the labor are saved, the working efficiency is improved, and the capability requirement on the user is reduced;

2. the blade of the milling cutter can be applied to the treatment of the free edge on the upper surface of the ship member and the treatment of the free edge on the lower surface of the ship member, so that the blade is multipurpose, the tool changing frequency is reduced, the cost is saved, and the waste of the blade is reduced;

3. the multi-dimensional torque sensor is used, the magnitude of torque of the milling cutter in contact with the edge of the ship member can be captured in the process of processing the free edge of the ship member, the position of the milling cutter can be adjusted in real time according to the magnitude of the torque by matching a force/position hybrid control algorithm, when the actual edge position of the ship member is inconsistent with a model, the milling cutter can finish position fine adjustment and track the actual edge of the member, so that the milling torque of the cutter in the process of processing the free edge is stable, the processing quality is consistent, and the cutter can be effectively protected;

4. the operation is simple and efficient, the treatment effect of the free edge of the ship component is good, different milling cutters can be selected according to different treatment requirements, the rotating speed and the milling speed of the main shaft are adjusted, the processing efficiency is improved, the labor cost is reduced, and the product quality is improved.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.

Fig. 2 is a front view of an embodiment of the present invention.

Fig. 3 is a side view of an embodiment of the present invention.

Fig. 4 is a schematic diagram of a security barrier and an operation panel according to an embodiment of the invention.

Fig. 5 is a partial schematic view of a milling mechanism in an embodiment of the invention.

FIG. 6 is a partial schematic view of an embodiment of the present invention in an operating state.

Fig. 7 is a schematic view of a milling mechanism processing the upper surface of a marine component in an embodiment of the present invention.

The parts in the figures are numbered as follows:

1X-axis moving mechanism

2Y-axis moving mechanism

3Z-axis moving mechanism

4 component processing platform

5 support column

6 milling mechanism

7 positioning sensor

8 safety grating

9 operating panel

10 mounting base

11 milling cutter handle

12 milling cutter insert

13 lubricating oil nozzle

14 multidimensional torque sensor

15 marine components.

Detailed Description

The following detailed description of the embodiments of the present invention will be given in conjunction with the accompanying drawings to make it clear to those skilled in the art how to practice the present invention. While the invention has been described in connection with preferred embodiments thereof, these embodiments are merely illustrative, and not restrictive, of the scope of the invention.

Referring to fig. 1 to 3, the device for processing the free edge of the ship component comprises a three-degree-of-freedom movable gantry, a component processing platform 4, a lifting mechanism, a milling mechanism 6 and a controller.

The three-degree-of-freedom movable portal comprises an X-axis moving mechanism 1, a Y-axis moving mechanism 2 and a Z-axis moving mechanism 3. X axle moving mechanism 1, Y axle moving mechanism 2, Z axle moving mechanism 3 all mainly include base member, linear guide, slide, rack, servo gear motor, gear, tow chain groove, tow chain support, tow chain, linear guide and rack are all installed on the base member, the rack sets up along linear guide, servo gear motor installs on the slide and its output shaft has the gear, the transmission is realized to gear and rack meshing, the tow chain groove is installed on the base member and is on a parallel with linear guide, the tow chain support mounting is in the one end of slide, the tow chain sets up in the tow chain inslot and its one end and tow chain leg joint. Furthermore, one end of the linear guide rail is provided with an anti-impact baffle, a cushion block used for supporting the sliding seat is arranged below the sliding seat, and a mounting plate used for mounting the servo speed reduction motor is mounted on the sliding seat.

The X-axis moving mechanism 1 is of a double-linear guide rail structure and is respectively arranged at two sides of the component processing platform 4. The Y-axis moving mechanism 2 is arranged above the X-axis moving mechanism 1 and the component processing platform 4 and is vertical to the X-axis moving mechanism 1 in the horizontal direction, two ends of a base body of the Y-axis moving mechanism 2 are respectively installed on sliding seats of double linear guide rails of the X-axis moving mechanism 1 through base body supports, a positioning sensor 7 for positioning a ship component 15 is installed on the base body, and the positioning sensor 7 is specifically a point laser ranging sensor; referring to fig. 4, the substrate holder is provided with a safety light grating 8 and a controller including an operation panel 9. And the base body of the Z-axis moving mechanism 3 is arranged on the sliding seat of the Z-axis moving mechanism 3. The drag chain is used for placing a controller signal cable, a sensor signal cable and a lubricating oil pipeline, the controller signal cable is connected with a controller and a control center for controlling the device, the sensor signal cable is connected with a positioning sensor 7 and the control center, and the lubricating oil pipeline is connected with an external oil tank and a lubricating oil nozzle 13 of a milling mechanism 6.

The three-degree-of-freedom movable portal realizes XYZ three-axis linkage without mutual interference and can effectively cover the whole operation area. Since the ship member 15 is basically of a sheet structure, when the ship member 15 is placed, the plane where the X, Y axis is located is parallel, the milling cutter handle 11 of the milling mechanism 6 is parallel to the Z axis, and the edge of the ship member 15 can be rounded.

The lifting mechanism is installed on the component processing platform 4 and comprises supporting columns 5, oil cylinders or air cylinders, the supporting columns 5 are arrayed on the component processing platform 4, each supporting column 5 is installed on the component processing platform 4 in an embedded mode in the vertical direction, and the bottom of each supporting column 5 is connected with an independent oil cylinder or air cylinder. Each supporting column 5 is driven in a hydraulic or pneumatic mode, and the lifting controlled by an independent signal is realized. The distance between the plurality of support columns 5 is designed according to the size of the smallest ship component 15, and if the distance is too large, the number of contact points between the ship component 15 and the support columns 5 is too small to fix the ship component 15, and if the distance is too small, the possibility that a milling cutter of the milling mechanism 6 interferes with the support columns 5 is increased.

When the ship component 15 is arranged on the component processing platform 4, all the supporting columns 5 are lifted, the ship component 15 is jacked up, the ship component 15 is separated from the surface of the component processing platform 4, the free edge of the ship component is exposed and easy to round, the lower surface of the ship component 15 is changed into multi-point contact from plane contact, if the supporting columns 5 are made of hard materials with large friction force, the situation that when the milling cutter of the milling mechanism 6 rounds the free edge of the ship component 15, the friction force generated by the dead weight of the ship component 15 is larger than the milling force can be guaranteed, and the fixing effect is achieved.

During milling, the milling tools of the milling means 6 move along the free edge of the ship component 15, and if they now just pass the raised support columns 5, they can cause malfunctions or damage. In order to avoid the situation, the coordinate of each supporting column 5 and the coordinate of the milling cutter fed back in real time are judged, when the distance between two straight lines is smaller than the set safe distance, the corresponding supporting column 5 descends, and when the milling cutter passes through the upper space of the supporting column and the distance is larger than the safe distance, the supporting columns 5 ascend, and the state of positioning the ship component 15 is recovered.

Referring to fig. 3 and 5, the milling mechanism 6 is installed on a sliding seat of the Z-axis moving mechanism 3, the milling mechanism 6 includes an installation seat 10, a motor, a gearbox, a milling cutter handle 11, a milling cutter blade 12, a lubricating oil nozzle 13 and a multidimensional torque sensor 14, the installation seat 10 is installed on the sliding seat of the Z-axis moving mechanism 3, the motor and the gearbox are installed on the installation seat 10, the milling cutter handle 11 and the milling cutter blade 12 form a milling cutter, the upper end of the milling cutter handle 11 is coaxially connected with an output shaft of the gearbox, 3-8 milling cutter blades 12 are installed at the lower end of the milling cutter handle 11 along the circumferential direction, the lubricating oil nozzle 13 is installed on the installation seat 10 and is downwards arranged at the side of the milling cutter handle 11, and the multidimensional torque sensor 14 is coaxially installed on the milling. The middle of each milling cutter blade 12 is provided with a hole and can be fixed on the milling cutter handle 11 by screws, two sections of cutting edges which are symmetrical up and down are arranged on the milling cutter blade 12, each section of cutting edge is concave and is in the shape of 1/4 arcs with the R being more than or equal to 2mm, the cutting edge on the upper part of the milling cutter blade 12 is used for rounding the lower surface of the ship component 15, and the cutting edge on the lower part of the milling cutter blade 12 is used for rounding the upper surface of the ship component 15, so that the purposes of one blade for multiple purposes, tool changing frequency reduction and use cost.

The controller is installed on a base support of the Y-axis moving mechanism 2 and comprises a control panel.

In this embodiment, the marine component 15 is made of AH36 steel, and the corresponding free edge normal milling force is 500N. When the rounding treatment is carried out, the milling force of the milling cutter contacting with the edge of the ship component 15 is captured in real time by the multi-dimensional torque sensor 14. The milling force under the normal operation condition is 500N, if the actual edge of the ship member 15 protrudes out of the model outline, the milling cutter moves according to the original path, the milling force is larger than 500N, the position of the milling cutter is optimized and adjusted again by using a force/position hybrid control algorithm embedded in a control system, the milling cutter deviates towards the outer side of a theoretical track and is just consistent with the position of an actual free edge, and the damage to a prop is avoided. On the contrary, in the same way, if the actual edge of the ship member 15 is recessed in the model contour, the milling cutter moves along the original path, the milling force is less than 500N, the position of the milling cutter is optimized and adjusted by using a force/position hybrid control algorithm, and the milling cutter deviates towards the inner side of the theoretical track, so that the edge milling effect is ensured.

The implementation method based on the device comprises the following steps:

s1, obtaining model data of each type of ship component from ship design software (Tribon), wherein the model data of each type of ship component comprises a three-dimensional model, a material, a processing requirement and a free edge position, generating a corresponding executable program taking a G code as a basic language through special software of the device, and storing the executable program into the device, wherein the executable program comprises a ship component positioning code, a milling cutter path code, a milling cutter setting code, a milling force and a milling speed;

s2, placing the ship component 15 needing free edge processing in the working area on the component processing platform 4 by using a gantry crane, and then starting the device;

s3, lifting the support column 5 of the lifting mechanism on the component processing platform 4 to jack up the ship component 15, and fixing the ship component 15 by using the self weight and the friction force of the support column 5;

s4, operating the operation panel 9 of the controller, selecting the type of the ship component in the current operation area, and calling the executable program of the type of the ship component by the device;

s5, after confirming that the executable program matches the ship component 15 in the device, executing the executable program:

s501, executing a ship component positioning code of the executable program, measuring actual positions of two points set on the ship component 15 by using the positioning sensor 7, calculating a unit vector of a connecting line of the two points, and completing actual position calibration of the ship component 15 in an operation area;

s502, according to the actual positions of two points on the ship member 15 and the absolute position deviation of the two corresponding points in the milling cutter path code, correcting parameters in the milling cutter path code, representing the generated milling track as translation transformation, according to the angle deviation of a unit vector between the two points on the ship member 15 and a unit vector between the two corresponding points in the milling cutter path code, correcting the parameters in the milling cutter path code, representing the generated milling track as rotation translation, and thus completing the deviation of the theoretically planned milling cutter path according to a position calibration result and generating the actual milling track;

s503, after the safety grating 8 is used for confirming that the personnel exits the dangerous area, the device selects a proper milling cutter according to the milling cutter setting code of the executable program, and after the self-inspection of the cutter, the processing of the free edge of the upper surface of the ship component 15 is started, as shown in fig. 6 and 7;

s504, after the upper surface of the ship member 15 is processed, the device carries out cutter self-inspection again, and then the free edge of the lower surface of the ship member 15 is processed;

s6, after the executable program is executed, the ship component 15 is loaded and unloaded to and from the pallet by the gantry crane.

In the process of processing the free edge of the upper surface of the ship member 15 in the step S504 and the process of processing the free edge of the lower surface of the ship member 15 in the step S505, the multi-dimensional torque sensor 14 and a force/position hybrid control algorithm are both relied on to ensure that the milling track tracks the free edge of the ship member 15 in real time, so that the milling normal torque is always kept around a set value, the processing quality is ensured, meanwhile, in the moving process of the milling cutter, the coordinate of each supporting column 5 of the lifting mechanism and the coordinate of the milling cutter fed back in real time are judged, and the supporting columns 5 of the lifting mechanism in the coverage area below the milling cutter automatically descend to avoid collision with the milling cutter.

It should be noted that many variations and modifications of the embodiments of the present invention fully described are possible and are not to be considered as limited to the specific examples of the above embodiments. The above examples are given by way of illustration of the invention and are not intended to limit the invention. In conclusion, the scope of the present invention should include those changes or substitutions and modifications which are obvious to those of ordinary skill in the art.