A shape adjustment and assembly method and device for large thin-walled airfoil parts

Abstract

The present invention discloses a shape adjustment and assembly method and device for large thin-walled parts such as wing surfaces. Based on the assembly target position, the final attitude position of each node that meets the allowable stress requirement and the assembly error range is derived, and multiple sets of position solutions of the nodes are solved. Based on the objective function and the constraint conditions, the multiple sets of position solutions of the nodes are optimized to meet the assembly error range and minimize the internal stress of the thin-walled parts. Finally, the optimal position solution of the node is obtained, and the optimal attitude of the thin-walled parts is obtained. By moving each node, the thin-walled part is adjusted to the optimal attitude. Finally, the thin-walled part is moved as a whole to the assembly, and the thin-walled part is fitted with the assembly to complete the final assembly. The present invention ensures that the internal stress at each node is minimized by solving the position of each attitude adjustment node of the thin-walled part, thereby ensuring that the thin-walled part does not undergo plastic deformation during the assembly process, improving product quality, and having good practicality.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft assembly, and in particular relates to a shape-adjusting assembly method and device for large-scale thin-walled wing surface parts. Background Art

[0002] Existing technologies can achieve shape preservation and assembly of large thin-walled parts, but they cannot simultaneously meet the requirements for both shape preservation and assembly. During the assembly process, machining errors and errors in the accuracy of the digital model can prevent the parts from being assembled in their original configuration. Furthermore, excessive shape adjustment can damage the thin-walled parts, resulting in severe economic losses and significant risks. Therefore, the present invention proposes a new solution to ensure flexible assembly of large thin-walled parts within their plastic deformation range. Summary of the Invention

[0003] The purpose of the present invention is to provide a shape adjustment and assembly method and device for large thin-walled airfoil parts, aiming to solve the above-mentioned problems.

[0004] The present invention is mainly achieved through the following technical solutions:

[0005] A method for adjusting and assembling a large thin-walled airfoil component comprises the following steps:

[0006] Step S1: setting a plurality of nodes for posture adjustment at the lower end of the thin-walled part;

[0007] Step S2: measuring the coordinates of any point on the thin-walled part and the mounting surface of the assembly in the global coordinate system, thereby obtaining the coordinates of each node of the current thin-walled part and the coordinates of the assembly target position corresponding to each node on the mounting surface of the assembly;

[0008] Step S3: Based on the target assembly position, move each node of the thin-walled part so that the geometric features of the assembly surface of the thin-walled part and the mounting body are consistent;

[0009] Step S31: Calculate the internal stress change of the thin-walled part after the part is calibrated according to the target assembly position, and analyze whether the internal stress of the thin-walled part meets the allowable stress requirement. If not, derive the final posture position of each node that meets the allowable stress requirement and the assembly error range, and solve for multiple sets of node position solutions;

[0010] Step S32: Optimizing multiple sets of node position solutions based on the objective function and constraints to meet the assembly error range and minimize the internal stress of the thin-walled part, ultimately obtaining the optimal node position solution and the optimal posture of the thin-walled part;

[0011] Step S33: adjusting the thin-walled part to the optimal posture by moving each node;

[0012] Step S4: Move the thin-walled part as a whole to the assembly. When the thin-walled part moves to the set threshold from the assembly, measure the current postures of the mounting surfaces of the thin-walled part and the assembly respectively again to determine whether the current posture of the mounting surface of the thin-walled part meets the requirements. If not, proceed to step S31. If so, fit the thin-walled part to the assembly to complete the final assembly.

[0013] In order to better implement the present invention, further, in step S31, first, a shape correction model is established, then, based on the shape correction model, the internal stress of the thin-walled part after shape adjustment is analyzed, and multiple sets of position solutions of nodes are solved based on the shape correction model; the steps include:

[0014] Stp1: In the global coordinate system, any position on the thin-walled part is represented by coordinates T(a t , b t , c t ,θ xt ,θ yt ,θ zt ) indicates that the forces and torques in all directions in space are L t (F xt , F yt , F zt , M xt , M yt , M zt ); Divide the thin-walled part into n units by differentiating n nodes, and assume that an arbitrary node S(x, y, z, θ xs ,θ ys ,θ zs ) is Ls(F xs , F ys , F zs , M xs , M ys , M zs ), and the relationship is as follows:

[0015]

[0016] Among them: (a t , b t , c t ) represents the position coordinate of any T on the thin-walled part in the global coordinate system;

[0017] θ xt ,θ yt ,θ zt They represent the deflection angles of the plane space where point T is located around the x, y, and z axes in the global coordinate system respectively;

[0018] F xt 、F yt 、F ztThey respectively indicate that in the global coordinate system, point T is subjected to forces along the x, y, and z axes respectively;

[0019] M xt 、M yt 、M zt They represent the torques around the x, y, and z axes at point T in the global coordinate system respectively;

[0020] Stp2: Assume that the stress value of each node S in the local coordinate system is Then the rotation matrix R of global coordinates and local coordinates is s as follows:

[0021]

[0022] Where: Rx represents the rotation matrix around the x-axis;

[0023] Ry represents the rotation matrix around the y-axis;

[0024] Rz represents the rotation matrix around the z axis;

[0025] The relationship between the loads in the local coordinate system and the global coordinate system is as follows:

[0026]

[0027] The coordinate relationship between the local coordinate system and the global coordinate system is as follows:

[0028]

[0029] Among them: (a s ,b s ,c s ) represents the position coordinates of point s after deformation in the global coordinate system; (a0, b0, c0) represents the position coordinates of any known point in the global coordinate system;

[0030] j represents the jth point on the thin-walled part in the global coordinate system;

[0031] S represents the sth point on the thin-walled part in the global coordinate system;

[0032] R s-j Represents the rotation matrix from j to s;

[0033] They represent the minimum deformation of point S in the x, y, and z directions in the local coordinate system respectively;

[0034] Stp3: Put the S i The stress L of a node in the local coordinate system s And deformation [u xs ,u ys ,uzs ] is normalized as follows:

[0035]

[0036] Where: m zs 、m ys 、m xs They represent the torques around the x, y, and z axes after normalization in the local coordinate system;

[0037] n means that the thin-walled part is divided into n points;

[0038] E represents the elastic modulus of the material;

[0039] L represents the length of the material;

[0040] f zs 、f ys 、f xs It means that after normalization in the local coordinate system, the forces along the x, y, and z axes are respectively applied;

[0041] u zs 、u ys 、u xs It represents the minimum deformation in the x, y, and z directions after normalization in the local coordinate system;

[0042] U xs 、U ys 、U zs Indicates the minimum deformation in the x, y, and z directions in the local coordinate system;

[0043] Stp4:Above (F xs , F ys , F zs , M xs , M ys , M zs ) and (u xs ,u ys ,u zs , m xs , m ys , m zs ) satisfies the force-displacement relationship of the spatial beam constraint model:

[0044]

[0045]

[0046] Where: H1-H6 represent dimensionless beam characteristic coefficients;

[0047] T represents the thickness of thin-walled parts;

[0048] G represents the material characteristic coefficient;

[0049] μ represents the Poisson's ratio of the material;

[0050] Substitute formula (1)-formula (5) into formula (7)-formula (9) for derivation. As long as the parameter F at any point of the thin-walled part is known, x , F y , F z , any three of x, y, and z, the other three parameters can be solved.

[0051] In order to better implement the present invention, further, if x, y, z are known, the internal stress F corresponding to the coordinates of any point can be calculated. x , F y , F z , we can find the internal stress distribution when the theoretical posture is reached; according to the assembly error range of ±0.5mm, when x+0.5≥X si ≥x-0.5, y+0.5≥Y si ≥y-0.5、z+0.5≥Z si For the range ≥z-0.5, take X si 、Y si 、Z si , and calculate the corresponding internal stress, and then solve multiple sets of node position solutions.

[0052] In order to better implement the present invention, further, in step S32, the objective function is:

[0053]

[0054] The constraints are:

[0055]

[0056] in:

[0057] The measured position of the node is p i (x i ,y i , z i );

[0058] The node's location is q i (X i , Y i , Z i );

[0059] N is the number of nodes;

[0060] is the force that moves the node to the solved position;

[0061] R and T are respectively the values ​​from the measured position p iMove to the solution position q i The rotation matrix R and translation matrix T;

[0062] λ is the penalty coefficient;

[0063] e i is the movement tolerance of the node;

[0064] f i is the force threshold at the nodes of thin-walled parts.

[0065] In order to better implement the present invention, further, in step S4, the threshold is set to 200 mm.

[0066] The present invention is mainly achieved through the following technical solutions:

[0067] A shape adjustment and assembly device for large thin-walled wing-type parts, used to implement the above-mentioned method, includes a shape adjustment mechanism and a measuring mechanism. The shape adjustment mechanism includes a displacement platform, a flexible clamping unit and a force sensor. The flexible clamping unit is provided on the displacement platform. The displacement platform is used to adjust the planar position of the flexible clamping unit. The flexible clamping unit is connected to the node at the lower end of the thin-walled part through a process joint. A force sensor is provided between the flexible clamping unit and the process joint; the measuring mechanism is used to measure the surface parameters of the thin-walled part and the installation surface of the assembly.

[0068] In order to better implement the present invention, further, the lower end of the thin-walled part is provided with 5 process joints along the length direction.

[0069] The beneficial effects of the present invention are as follows:

[0070] The present invention realizes the automatic assembly of large thin-walled parts based on the shape adjustment device, improves efficiency and reduces labor costs. The present invention reduces the risk of cracking or even breaking of large thin-walled parts during assembly and service based on the shape adjustment method.

[0071] Based on the target assembly posture, the present invention solves the position of each posture adjustment node of the thin-walled part through a chain-type spatial thin-walled part correction model and an optimization model, ensuring that the internal stress at each node is minimized, thereby ensuring that the thin-walled part does not undergo plastic deformation during the assembly process, improving product quality, and having good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 This is a schematic structural diagram of the assembly and shaping device for large thin-walled airfoil parts of the present invention;

[0073] Figure 2 It is a schematic diagram of coordinate conversion to assembly coordinate system;

[0074] Figure 3 is a schematic diagram of the global coordinate system and the local coordinate system of any point S;

[0075] Figure 4 This is a schematic diagram of the shape adjustment in Example 2.

[0076] Among them: 1-shape adjustment mechanism, 2-measuring mechanism, 3-thin-walled part, 4-flexible clamping unit, 5-displacement platform, 6-force sensor. DETAILED DESCRIPTION

[0077] Example 1:

[0078] A method for adjusting and assembling a large thin-walled airfoil component comprises the following steps:

[0079] Step 1, such as Figure 1 As shown, an associated coordinate system is established among each device coordinate system, measurement coordinate system and assembly coordinate system; among them: P1 is the assembly coordinate system, P2-P6 are the device coordinate systems, and P7 and P8 are the measurement coordinate systems.

[0080] Step 2, such as Figure 1 As shown, a plurality of nodes for posture adjustment are distributed at the lower end of the thin-walled part 3, and a process joint is provided at each node. Preferably, five process joints are provided, namely process joints A, B, C, D, and E, through which the thin-walled part 3 is mounted to the posture adjustment mechanism;

[0081] Step 3, such as Figure 1 As shown, the shape parameters of the mounting surface of the thin-walled part 3 and the mounting surface of the assembly are obtained through the measuring mechanism 2 - the coordinates of any point on the thin-walled part 3 and the mounting surface in the global coordinate system;

[0082] Step 4, such as Figure 4 As shown, according to the geometric shape of the mounting surface of the assembly, the process joints A, B, C, D, and E at the lower end of the thin-walled part 3 need to be moved to the corresponding A", B", C", D", and E", so that the geometric features of the assembly surface of the thin-walled part 3 and the assembly surface of the mounting body are consistent, thereby meeting the assembly requirements.

[0083] Specifically, the shape correction model calculates the distribution of internal stress within thin-walled component 3 when it is adjusted to the theoretical position. This model is used to determine the change in internal stress within thin-walled component 3 after correction to the theoretical assembly position, and to determine whether the internal stress within thin-walled component 3 meets the allowable stress requirement.

[0084] Step 5: For the thin-walled part 3 that does not meet the allowable stress requirements, the final posture position that meets the allowable stress and assembly error range is re-derived based on the correction model, and multiple sets of position solutions for process joints A, B, C, D, and E are solved.

[0085] Step 6: Optimize multiple sets of position solutions according to the posture optimization model to obtain the optimal postures A*, B*, C*, D*, and E* of the process joints A, B, C, D, and E.

[0086] Step 7: Use the shape adjustment mechanism 1 to adjust each node of the thin-walled part 3 to the optimal assembly posture, and move the entire thin-walled part 3 to a distance of 200 mm from the assembly. Measure the current position and posture of the thin-walled part 3 and the assembly again to ensure that the assembly posture meets the requirements.

[0087] Step 8: Use the shape adjustment mechanism 1 to fit the thin-walled part 3 to the assembly body to complete the final assembly.

[0088] Preferably, the shape adjustment mechanism 1 mainly includes a flexible clamping unit 4, a displacement platform 5, and a force sensor 6. The displacement platform 5 is used to drive the flexible clamping unit 4 to move, and the clamping end of the flexible clamping unit 4 is provided with a force sensor 6. In step 7, during the adjustment process, since the displacement accuracy error of the transmission mechanism can easily cause the thin-walled part 3 to be subjected to large torque, tension, etc., a force sensor 6 is installed in the flexible clamping unit 4 to obtain the force value in each direction at any time. When the force value in a certain direction approaches 70% of the critical value, the force-displacement relationship is solved through the shape correction model, and the position in that direction is corrected to ensure that the thin-walled part 3 does not undergo plastic deformation.

[0089] The present invention realizes automatic assembly of large thin-walled parts 3 based on the shape adjustment device, improves efficiency and reduces labor costs. The present invention reduces the risk of cracking or even breaking of large thin-walled parts 3 during assembly and service based on the shape adjustment method.

[0090] Based on the final assembly posture, the present invention solves the position of each posture adjustment node of the thin-walled part 3 through the chain-type spatial thin-walled part 3 correction model and optimization model, ensuring that the internal stress at each node is minimized, and then ensuring that the thin-walled part 3 does not undergo plastic deformation during the assembly process, thereby improving product quality and having good practicality.

[0091] Example 2:

[0092] A method for adjusting and assembling a large thin-walled airfoil component comprises the following steps:

[0093] Step 1, such as Figure 1 As shown, establish the associated coordinate systems of each device coordinate system, measurement coordinate system and assembly coordinate system; among them: P1 is the assembly coordinate system, P2-P6 are the device coordinate systems, and P7 and P8 are the measurement coordinate systems;

[0094] Step 2: In this example, a thin-walled wing-like part 3 with a length of 8000 mm is selected, such as Figure 1 As shown, five process joints are distributed at the lower end of the thin-walled part 3, and the thin-walled part 3 is installed to the posture adjustment mechanism through the process joints.

[0095] Step 3: Obtain the shape and surface parameters of the mounting surface of the airfoil-like thin-walled component 3 and the mounting surface of the assembly through the measuring mechanism 2.

[0096] Step 4, such as Figure 4 As shown, the assembly process joints A(1.3, 1.5, 81.1), B(1997.5, 79.4, 81.2), C(3999.9, 79.4, 81.2), D(5999.5, 160.1, 81.5), and E(7998.8, 2.5, 81.4) of the thin-walled part 3 need to be moved to the assembly target positions A"(0.9, 1.4, 81.2), B"(1999.5, 8.5, 81.3), C"(4001.5, 8.1, 81.5), D"(6000.8, 8.5, 81.3), and E"(8000.9, 8.3, 81.3) to achieve the consistency of the geometric features of the assembly surface of the thin-walled part 3 and the assembly surface of the mounting body, thereby meeting the assembly requirements.

[0097] The present invention calculated using the shape correction model that when each key node is moved to the specified position, the contact stress in some areas of the thin-walled component 3 is 5650 MPa, exceeding the allowable stress of 560 MPa, posing a serious quality risk to the product. Based on the assembly error range, the shape correction model was used again to calculate multiple solutions for the A", B", C", D", and E" positions, as shown in Table 1.

[0098] Table 1

[0099]

[0100] In order to further obtain the optimal solution, ensure the error range, and minimize the stress in the thin-walled part 3, the optimal position point is obtained through the optimization model. The optimization method is that the measured positions of A", B", C", D", and E" are P i (x i ,y i , z i ), the target position is Q i (X i , Y i , Z i ), move N points from the measured position to the target position, each point has its own force to move to the target position Obtain the rotation matrix R and translation matrix T from the measured position to the target position when all points move and the force is minimized. The tolerance of each point is E=(e1,e2,…,e N ), the force at each point does not exceed F=(f1,f2,…,f N ), the objective function is as shown in Equation 10 and Equation 11. The final position is obtained by optimization:

[0101] A* (0.85, 5.2, 80.9), B* (2000.5, 5.7, 81.2), C* (4000.5, 5.8, 80.8), D* (6000.1, 5.2, 80.7), E* (8000.8, 5.6, 81.1).

[0102] The objective function of the optimization model is:

[0103]

[0104] Constraints for the optimization model:

[0105]

[0106] Step 6: Use the shape adjustment mechanism 1 to adjust the key nodes of the thin-walled part 3 to the optimal assembly position, and move the entire part 3 to a distance of 200 mm from the assembly. Measure the current position and posture of the thin-walled part 3 and the assembly again to ensure that the assembly posture meets the requirements.

[0107] Step 7: Use the shape adjustment mechanism 1 to fit the thin-walled part 3 to the assembly body to complete the final assembly.

[0108] Preferably, if Figure 2 As shown in the figure, the device coordinate system and the measurement coordinate system can be transformed into the assembly coordinate system through the rotation matrix and the translation matrix.

[0109] The measured value of the current pose feature point is The theoretical value of the target pose feature point is P t n , the feature point value after pose transformation is P t m . use and P t n Calculate the pose transformation parameters (α, β, γ, T x , T y , T z ), use the transformation parameter to transform the component and the measurement system into the assembly coordinate system, and express the posture transformation parameters as a rotation matrix R and a translation matrix T, then we have

[0110] P t m =R·P c m +T

[0111] in:

[0112]

[0113] T=[T x T y Tz ] T

[0114] Preferably, step 4 is described in detail. The geometric shape adjustment of the thin-walled part 3 must ensure that the geometric features of the thin-walled part 3 after adjustment are similar to those of the assembly, and that each assembly feature meets the tolerance range. On this basis, the internal stress of the thin-walled part 3 meets the allowable stress requirements. First, a shape adjustment model based on the forward and inverse solutions of the chain-type spatial thin-walled part 3 is established to analyze the internal stress of the thin-walled part 3 after shape adjustment. The model is established as follows:

[0115] Stp1: In the global coordinate system, any position on the thin-walled part 3 is represented by coordinates T(a t , b t , c t ,θ xt ,θ yt ,θ zt ) indicates that the forces and torques in all directions in space are L t (F xt , F yt , F zt , M xt , M yt , M zt ); Divide the thin-walled part 3 into n units with n nodes, and set an arbitrary node S (x, y, z, θ xs ,θ ys ,θ zs ) is Ls(F xs , F ys , F zs , M xs , M ys , M zs ), the relationship is as follows:

[0116]

[0117] Stp2: If Figure 3 As shown, the stress value of each node S in the local coordinate system is and the stress value Ls(F xs ,F ys ,F zs ,M xs ,M ys ,M zs )The relationship is as follows:

[0118]

[0119] The positions of the nodes after assembly are derived based on the spatial constraint beam model as follows:

[0120]

[0121] Stp3: S i The stress L at each node in the local coordinate system si And deformation [u xsi ,u ysi ,u zsi ] is normalized as follows:

[0122]

[0123] Stp4:Above (F xsi ,F ysi ,F zsi ,M xsi ,M ysi ,M zsi ) and (u xsi ,u ysi ,u zsi ,m xsi ,m ysi ,m zsi ) satisfies the force-displacement relationship of the spatial beam constraint model:

[0124]

[0125]

[0126] in,

[0127] Substitute formula (1)-formula (5) into formula (7)-formula (9) for derivation. As long as the corresponding parameter F of any point of the thin-walled part 3 is known, x ,F y ,F z ,x0,y0,z0 any three, the other three parameters can be solved.

[0128] Based on the coordinates of any point, the stress condition of the point can be known according to the calibration model. When the internal stress exceeds the allowable stress, according to the assembly error range of ±0.8mm, si +0.5≥X si ≥X si -0.5, Y si +0.5≥Y si ≥Y si -0.5, Z si +0.5≥Z si ≥Z si -0.5 range to take X si 、Y si 、Z si , and calculate the corresponding internal stresses to obtain multiple sets of A", B", C", D", and E" position solutions.

[0129] Known X si ,Y si ,Z si Through the correction model, the internal stress corresponding to the coordinates of any point can be calculated, and the internal stress distribution when the theoretical posture is reached can be calculated.

[0130] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for adjusting and assembling a large thin-walled airfoil part, characterized in that: The following steps are involved: Step S1: setting a plurality of nodes for posture adjustment at the lower end of the thin-walled part; Step S2: measuring the coordinates of any point on the thin-walled part and the mounting surface of the assembly in the global coordinate system, thereby obtaining the coordinates of each node of the current thin-walled part and the coordinates of the assembly target position corresponding to each node on the mounting surface of the assembly; Step S3: Based on the target assembly position, move each node of the thin-walled part so that the geometric features of the assembly surface of the thin-walled part and the mounting body are consistent; Step S31: Calculate the internal stress change of the thin-walled part after the part is calibrated according to the target assembly position, and analyze whether the internal stress of the thin-walled part meets the allowable stress requirement. If not, derive the final posture position of each node that meets the allowable stress requirement and the assembly error range, and solve for multiple sets of node position solutions; Step S32: Optimizing multiple sets of node position solutions based on the objective function and constraints to meet the assembly error range and minimize the internal stress of the thin-walled part, ultimately obtaining the optimal node position solution and the optimal posture of the thin-walled part; Step S33: adjusting the thin-walled part to the optimal posture by moving each node; Step S4: Move the thin-walled part as a whole to the assembly. When the thin-walled part moves to a set threshold from the assembly, measure the current postures of the mounting surfaces of the thin-walled part and the assembly again to determine whether the current posture of the mounting surface of the thin-walled part meets the requirements. If not, proceed to step S31. If so, fit the thin-walled part to the assembly to complete the final assembly. In step S31, first, establish a shape correction model, then analyze the internal stress of the thin-walled part after shape adjustment based on the shape correction model, and solve multiple sets of node position solutions based on the shape correction model. The steps include: Stp1: In the global coordinate system, any position on the thin-walled part is represented by coordinates T(a t , b t , c t ,θ xt ,θ yt ,θ zt ) indicates that the forces and torques in all directions in space are L t (F xt , F yt , F zt , M xt , M yt , M zt ); Divide the thin-walled part into n units by differentiating n nodes, and assume that an arbitrary node S(x, y, z, θ xs ,θ ys ,θ zs ) is Ls(F xs , F ys , F zs , M xs , M ys , M zs ), and the relationship is as follows: Among them: (a t , b t , c t ) represents the position coordinate of any T on the thin-walled part in the global coordinate system; θ xt ,θ yt ,θ zt They represent the deflection angles of the plane space where point T is located around the x, y, and z axes in the global coordinate system respectively; F xt 、F yt 、F zt They respectively indicate that in the global coordinate system, point T is subjected to forces along the x, y, and z axes respectively; M xt 、M yt 、M zt They represent the torques around the x, y, and z axes at point T in the global coordinate system respectively; Stp2: Assume that the stress value of each node S in the local coordinate system is Then the rotation matrix R of global coordinates and local coordinates is s as follows: Where: Rx represents the rotation matrix around the x-axis; Ry represents the rotation matrix around the y-axis; Rz represents the rotation matrix around the z axis; The relationship between the loads in the local coordinate system and the global coordinate system is as follows: The coordinate relationship between the local coordinate system and the global coordinate system is as follows: Among them: (a s ,b s ,c s ) represents the position coordinate of point s after deformation in the global coordinate system; (a0, b0, c0) represents the position coordinates of any known point in the global coordinate system; j represents the jth point on the thin-walled part in the global coordinate system; S represents the sth point on the thin-walled part in the global coordinate system; R s-j Represents the rotation matrix from j to s; They represent the minimum deformation of point S in the x, y, and z directions in the local coordinate system respectively; Stp3: Put the S i The stress L of a node in the local coordinate system s And deformation [u xs ,u ys ,u zs ] is normalized as follows: Where: m zs 、m ys 、m xs They represent the torques around the x, y, and z axes after normalization in the local coordinate system; n means that the thin-walled part is divided into n points; E represents the elastic modulus of the material; L represents the length of the material; f zs 、f ys 、f xs It means that after normalization in the local coordinate system, the forces along the x, y, and z axes are respectively applied; u zs 、u ys 、u xs It represents the minimum deformation in the x, y, and z directions after normalization in the local coordinate system; U xs 、U ys 、U zs Indicates the minimum deformation in the x, y, and z directions in the local coordinate system; Stp4:Above (F xs , F ys , F zs , M xs , M ys , M zs ) and (u xs ,u ys ,u zs , m xs , m ys , m zs ) satisfies the force-displacement relationship of the spatial beam constraint model: Where: H1-H6 represent dimensionless beam characteristic coefficients; T represents the thickness of thin-walled parts; G represents the material characteristic coefficient; μ represents the Poisson's ratio of the material; Substitute formula (1)-formula (5) into formula (7)-formula (9) for derivation. As long as the parameter F at any point of the thin-walled part is known, x , F y , F z , any three of x, y, and z, the other three parameters can be solved.

2. The shape adjustment and assembly method of a large thin-walled airfoil component according to claim 1, characterized in that: If x, y, z are known, calculate the internal stress F corresponding to the coordinates of any point x , F y , F z , we can find the internal stress distribution when the theoretical posture is reached; according to the assembly error range of ±0.5mm, when x+0.5≥X si ≥x-0.5, y+0.5≥Y si ≥y-0.5、z+0.5≥Z si For the range ≥z-0.5, take X si 、Y si 、Z si , and calculate the corresponding internal stress, and then solve multiple sets of node position solutions.

3. The shape adjustment and assembly method of a large thin-walled airfoil component according to claim 1, characterized in that: In step S32, the objective function is: The constraints are: in: The measured position of the node is p i (x i ,y i , z i ); The node's location is q i (X i , Y i , Z i ); N is the number of nodes; is the force that moves the node to the solved position; R and T are respectively the values ​​from the measured position p i Move to the solution position q i The rotation matrix R and translation matrix T; λ is the penalty coefficient; e i is the movement tolerance of the node; f i is the force threshold at the nodes of thin-walled parts.

4. A method for adjusting and assembling a large thin-walled airfoil component according to any one of claims 1 to 3, characterized in that: In step S4, the threshold is set to 200 mm.

5. A device for adjusting and assembling a large thin-walled airfoil component, used for implementing a method for adjusting and assembling a large thin-walled airfoil component according to any one of claims 1 to 4, characterized in that: It includes a shape adjustment mechanism and a measuring mechanism. The shape adjustment mechanism includes a displacement platform, a flexible clamping unit and a force sensor. The flexible clamping unit is provided on the displacement platform. The displacement platform is used to adjust the planar position of the flexible clamping unit. The flexible clamping unit is connected to the node at the lower end of the thin-walled part through a process joint. A force sensor is provided between the flexible clamping unit and the process joint. The measuring mechanism is used to measure the shape parameters of the thin-walled part and the installation surface of the assembly.

6. The shape adjustment and assembly device for large thin-walled airfoil parts according to claim 5, characterized in that: The lower end of the thin-walled part is provided with five process joints along the length direction.

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