Thin-wall structural part clamping and positioning method and device

Abstract

The invention discloses a thin-wall structural part clamping and positioning method and device, and relates to the technical field of precision machining, and the method comprises the steps: creating a simulated thin-wall structural part corresponding to a thin-wall structural part in a clamping space corresponding to a simulation clamp of a digital twinning scene; a model is designed according to the clamped thin-wall structural part, and the position of the simulated thin-wall structural part relative to the simulation clamp is adjusted; according to the clamp clamping constraint condition, the initial positions of the multiple positioning points on the simulation clamp and the adjusted first space pose of the simulation thin-wall structural part, the simulation clamp is controlled to clamp the simulation thin-wall structural part; and based on the positioning point adjustment constraint condition, simulating a second spatial pose of the clamped thin-wall structural member and the initial positions of the plurality of positioning points, and iteratively adjusting the positions of the plurality of positioning points on the simulation fixture until a clamping optimization target is met. According to the invention, the pose suitable for clamping of the thin-wall structural member and the adjustment amount suitable for adjustment of a positioning point on a clamp for clamping the thin-wall structural member can be simulated.

Description

Technical Field

[0001] The present application relates to the technical field of precision machining, and in particular to a method and device for clamping and positioning thin-walled structural parts. Background Art

[0002] In the fields of aerospace, thin-walled structural parts are increasingly used. Thin-walled structural parts are workpieces composed of thin plates or thin shells. For example, the turbine blades in aircraft engines are a kind of thin-walled structural parts.

[0003] After the production of thin-walled structural parts, it is often necessary to grind, drill or polish the thin-walled structural parts. In order to ensure the processing accuracy, the thin-walled structural parts need to be clamped before processing. However, due to the complex manufacturing process of thin-walled structural parts themselves, the produced thin-walled structural parts often have dimensional errors, and the dimensional deviation of thin-walled structural parts will affect the clamping accuracy, which further affects the subsequent processing accuracy. Based on this, before clamping the thin-walled structure, determining the suitable clamping characteristics of the thin-walled structural parts is a prerequisite for improving the processing accuracy of the thin-walled structure. Summary of the invention

[0004] In view of the above problems, the present application provides a method and device for clamping and positioning thin-walled structural parts, so as to simulate the suitable clamping posture of the thin-walled structural parts and the suitable adjustment amount of the positioning points on the clamp clamping the thin-walled structural parts before clamping the thin-walled structural parts.

[0005] Based on this, on the one hand, the present application provides a method for clamping and positioning a thin-walled structural member, comprising:

[0006] Based on the three-dimensional point cloud data of the thin-walled structural part, a simulated thin-walled structural part corresponding to the thin-walled structural part is created in a clamping space corresponding to a simulated fixture in the digital twin scene;

[0007] According to the clamped design model corresponding to the thin-walled structural part, the relative position of the simulated thin-walled structural part with respect to the simulated fixture is adjusted to obtain a first spatial posture of the simulated thin-walled structural part;

[0008] According to the set clamping constraint conditions of the fixture, the initial positions of the plurality of positioning points on the simulated fixture and the first spatial posture, the simulated fixture is controlled to tighten the simulated thin-walled structural component to obtain a second spatial posture of the clamped simulated thin-walled structural component;

[0009] Based on the set positioning point adjustment constraints, the second spatial posture and the initial positions of the multiple positioning points, the positions of the multiple positioning points on the simulated fixture are iteratively adjusted in the digital twin scene until the set clamping optimization goal is met, thereby obtaining the suitable position adjustment amount of each positioning point on the simulated fixture and the target spatial posture suitable for clamping of the simulated thin-walled structural part.

[0010] In a possible implementation, before creating a simulated thin-walled structural member corresponding to the thin-walled structural member in the clamping space corresponding to the simulated fixture in the digital twin scene, the method further includes:

[0011] Registering the three-dimensional point cloud data of the thin-walled structural part with the design model of the thin-walled structural part to obtain a registration result;

[0012] The method of creating a simulated thin-walled structural part corresponding to the thin-walled structural part in a clamping space corresponding to a simulated fixture in a digital twin scene based on the three-dimensional point cloud data of the thin-walled structural part includes:

[0013] If it is determined based on the alignment result that the size deviation between the thin-walled structural part and the design model exceeds a set threshold, based on the three-dimensional point cloud data of the thin-walled structural part, a simulated thin-walled structural part corresponding to the thin-walled structural part is created in the clamping space corresponding to the simulated fixture in the digital twin scene.

[0014] In another possible implementation, adjusting the relative position of the simulated thin-walled structural component with respect to the simulated fixture according to the post-clamping design model corresponding to the thin-walled structural component includes:

[0015] Based on the three-dimensional point cloud data, the simulated thin-walled structural part and the post-clamping design model corresponding to the thin-walled structural part are aligned according to the set alignment optimization target to adjust the relative position of the simulated thin-walled structural part relative to the simulated fixture. The alignment optimization target is that the posture of the simulated thin-walled structural part and the post-clamping design model corresponding to the thin-walled structural part are most similar.

[0016] In another possible implementation, before creating the simulated thin-walled structural component corresponding to the thin-walled structural component in the clamping space corresponding to the simulated fixture in the digital twin scene, the method further includes:

[0017] Obtain three-dimensional point cloud data of thin-walled structural parts;

[0018] Denoising the three-dimensional point cloud data, and removing data points in the three-dimensional point cloud data that do not belong to the thin-walled structural member.

[0019] In yet another possible implementation, the clamping constraint condition includes:

[0020] Ln =C n M n C n-1 M n-1 ...C1M1L0;

[0021] S ′ w =L n S w ;

[0022]

[0023] Wherein, L0 is the position of the simulated thin-walled structural component when it is in the first spatial posture, L n M is the position of the simulated thin-walled structural member after the simulated thin-walled structural member is tightened by n tightening components of the simulated fixture; j and C j are respectively motion variables and motion constraints applied to the simulated thin-walled structural member when the j-th clamping component of the simulated fixture clamps the simulated thin-walled structural member, and j is a natural number from 1 to n;

[0024] S w is the surface point set of the simulated thin-walled structural component when it is in the first spatial posture, S ′ w is a surface point set of the simulated thin-walled structure after being clamped;

[0025] o i is the center of the constrained hemispherical space or the axis of the positioning column corresponding to the i-th positioning point, i∈1,2,…,m, m is the total number of positioning points on the simulation fixture; r is the radius of the constrained hemispherical space or the axial radius of the positioning column corresponding to any positioning point on the simulation fixture.

[0026] In another possible implementation, the adjusting constraints of the positioning points, the second spatial pose, and the initial positions of the multiple positioning points based on the set positioning points, iteratively adjusting the positions of the multiple positioning points on the simulated fixture in the digital twin scene until the set clamping optimization goal is met, includes:

[0027] Determining the second spatial pose as the current spatial pose of the simulated thin-walled structural component;

[0028] Determine the current position adjustment amount of each positioning point based on the adjustable range of the positioning point in the set positioning point adjustment constraint condition, wherein the positioning point adjustment constraint condition further includes: the position constraint condition after the simulated thin-walled structural part is clamped;

[0029] Based on the position adjustment amount of each positioning point, the initial position of the positioning point, the current spatial posture of the simulated thin-walled structural part, and the position constraint condition of the simulated thin-walled structural part after clamping, the position of each positioning point on the simulated fixture is adjusted in the digital twin scene, and the spatial posture of the simulated thin-walled structural part is changed to obtain a third spatial posture of the simulated thin-walled structural part;

[0030] If it is determined based on the third spatial posture and the design model of the thin-walled structural component that the set clamping optimization target has not been met, the third spatial posture of the simulated thin-walled structural component is used as the current spatial posture of the simulated thin-walled structural component, and the operation of determining the current position adjustment amount of each positioning point is returned to be executed, and the clamping optimization target is that the posture difference between the third spatial posture of the simulated thin-walled structural component and the design model of the thin-walled structural component is minimized;

[0031] If it is determined based on the third spatial posture and the design model of the thin-walled structural part that the clamping optimization goal is met, the third spatial posture of the simulated thin-walled structural part is determined as the target spatial posture suitable for clamping the thin-walled structural part, and the current position adjustment amount of each positioning point is determined as the suitable position adjustment amount of each positioning point on the simulated fixture.

[0032] In another possible implementation, the position constraint condition of the simulated thin-walled structural component after clamping includes:

[0033]

[0034] Among them, S 1t is the coordinate of the tth point in the surface point set S1 when the simulated thin-walled structural part is in the current spatial posture, S2 is the surface point set when the simulated thin-walled structural part is in the third spatial posture; R1 is the set first transformation matrix; Q t is the coordinate of the t-th point in the surface point set Q corresponding to the design model of the thin-walled structural part, G is the set rotation matrix, and T is the total number of points in the surface point set corresponding to the design model of the thin-walled structural part;

[0035] Among them, i ′ is the center of the constrained hemispherical space or the axis of the positioning column corresponding to the i-th positioning point after position adjustment, i∈1,2,…,m, m is the total number of positioning points on the simulation fixture; r is the radius of the constrained hemispherical space or the axial radius of the positioning column corresponding to any positioning point on the simulation fixture.

[0036] In another possible implementation, the clamping optimization goal is to minimize the posture difference f:

[0037] in,

[0038] Among them, Q t is the coordinate of the t-th point in the surface point set Q corresponding to the design model of the thin-walled structural part, R1 is the set first transformation matrix, V1 is the set second transformation matrix, S 2t is the coordinate of the tth point in the surface point set when the simulated thin-walled structural component is in the third spatial posture.

[0039] On the other hand, the present application also provides a thin-walled structural member clamping and positioning device, comprising:

[0040] A twin creation unit, for creating a simulated thin-walled structural part corresponding to the thin-walled structural part in a clamping space corresponding to a simulated fixture in a digital twin scene based on three-dimensional point cloud data of the thin-walled structural part;

[0041] An adjustment simulation unit is used to adjust the relative position of the simulated thin-walled structural part with respect to the simulated fixture according to the clamped design model corresponding to the thin-walled structural part, so as to obtain a first spatial posture of the simulated thin-walled structural part;

[0042] a tightening simulation unit, configured to control the simulated fixture to tighten the simulated thin-walled structural component according to the set fixture clamping constraint conditions, the initial positions of the plurality of positioning points on the simulated fixture, and the first spatial posture, so as to obtain a second spatial posture of the clamped simulated thin-walled structural component;

[0043] A positioning simulation unit is used to iteratively adjust the positions of the multiple positioning points on the simulated fixture in the digital twin scene based on the set positioning point adjustment constraints, the second spatial posture and the initial positions of the multiple positioning points until the set clamping optimization goal is met, thereby obtaining the suitable position adjustment amount of each positioning point on the simulated fixture and the target spatial posture suitable for clamping of the simulated thin-walled structural part.

[0044] In another possible implementation, the device further includes

[0045] A preliminary registration unit is used to register the three-dimensional point cloud data of the thin-walled structural part with the design model of the thin-walled structural part before the twin creation unit creates the simulated thin-walled structural part corresponding to the thin-walled structural part in the clamping space corresponding to the simulated fixture in the digital twin scene, so as to obtain a registration result;

[0046] Specifically, the twin creation unit is used to create a simulated thin-walled structural part corresponding to the thin-walled structural part in the clamping space corresponding to the simulated fixture in the digital twin scene based on the three-dimensional point cloud data of the thin-walled structural part if it is determined based on the alignment result that the size deviation between the thin-walled structural part and the design model exceeds a set threshold.

[0047] It can be seen that the present application can use digital twin technology to map the thin-walled structural parts to be clamped into simulated thin-walled structural parts in the digital twin scene, and simulate the clamping of the thin-walled structural parts by controlling the tightening of the simulated fixture on the simulated thin-walled structural parts in the digital twin scene. The spatial posture of the thin-walled structural parts suitable for clamping and the position adjustment amount of the positioning points on the fixture that clamps the thin-walled structural parts are simulated by adjusting the positions of the positioning points on the simulated fixture, thereby providing a reliable data basis for the clamping of thin-walled structural parts, which is beneficial to reducing the impact of the dimensional deviation of the thin-walled structural parts on the clamping accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0049] Figure 1 A schematic diagram of a process flow of a method for clamping and positioning thin-walled structural parts provided in this application;

[0050] Figure 2 A schematic diagram of another process flow of the method for clamping and positioning thin-walled structural parts provided in this application;

[0051] Figure 3 A schematic diagram showing a comparison between a real object of the cast turbine blade and a design model of the turbine blade;

[0052] Figure 4 An example diagram showing a simulated turbine blade being clamped by an adaptive fixture with adjustable positioning points;

[0053] Figure 5 An example diagram showing cross-sectional lines of turbine blades at different heights;

[0054] Figure 6 A schematic diagram showing the comparison of the cross-sectional lines before and after adjusting the posture of the clamped turbine blade;

[0055] Figure 7 A schematic diagram of the structure of a thin-walled structural member clamping and positioning device provided by the present application is shown;

[0056] Figure 8 A schematic diagram of the composition architecture of an electronic device provided by the present application is shown. DETAILED DESCRIPTION

[0057] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation mode of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. It is known to those skilled in the art that with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0058] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0059] like Figure 1 , shows a schematic flow chart of a method for clamping and positioning a thin-walled structural member provided in an embodiment of the present application. The method of this embodiment can be applied to any computer device. The method of this embodiment may include:

[0060] S101, based on the three-dimensional point cloud data of the thin-walled structural part, create a simulated thin-walled structural part corresponding to the thin-walled structural part in a clamping space corresponding to the simulated fixture in the digital twin scene.

[0061] The thin-walled structural part is a thin-walled structural part to be clamped. The three-dimensional point cloud data of the thin-walled structural part can be obtained by three-dimensional scanning of the thin-walled structural part using three-dimensional scanning technology. This application does not limit the specific implementation process of obtaining the three-dimensional point cloud data of the thin-walled structural part.

[0062] In this application, a digital twin scene including a simulated fixture is built based on digital twin technology. The simulated fixture is a virtual fixture model built based on digital twin technology for clamping the thin-walled structural part. Depending on the type of processing operation required for the thin-walled structural part, the simulated fixture can be different and can be created according to actual needs without restriction.

[0063] The simulated thin-walled structural component is a digital twin model of the thin-walled structural component constructed based on the digital twin technology.

[0064] S102: According to the clamped design model corresponding to the thin-walled structural component, the relative position of the simulated thin-walled structural component with respect to the simulated fixture is adjusted to obtain a first spatial posture of the simulated thin-walled structural component.

[0065] The post-clamping design model corresponding to the thin-walled structural part is a model of the thin-walled structural part after clamping, which is designed in advance by computer. The post-clamping design model corresponding to the thin-walled structural part reflects the structural morphology information that the designer expects the thin-walled structural part to have after clamping. For example, the post-clamping design model corresponding to the thin-walled structural part is a CAD model of the thin-walled structural part after clamping, which is designed in advance.

[0066] It is understandable that, since the post-clamping design model corresponding to the thin-walled structural part reflects the baseline morphological characteristics of the thin-walled structural part after clamping, in order to accurately simulate the clamping of the thin-walled structural part in the future, it is necessary to adjust the relative position of the simulated thin-walled structural part relative to the simulated fixture in the digital twin scene to meet the conditions for clamping the simulated thin-walled structural part with the simulated fixture. Based on this, the present application can adjust the relative position of the simulated thin-walled structural part relative to the simulated fixture in the digital twin scene based on the post-clamping design model corresponding to the thin-walled structural part, so that the adjusted simulated thin-walled structural part is as consistent as possible with the post-clamping design model.

[0067] In a possible implementation, the simulated thin-walled structural part and the clamped design model corresponding to the thin-walled structural part can be registered based on the three-dimensional point cloud data according to the set registration optimization target, so as to adjust the relative position of the simulated thin-walled structural part relative to the simulated fixture in the digital twin scene. The registration optimization target is that the pose of the simulated thin-walled structural part and the clamped design model corresponding to the thin-walled structural part are most similar.

[0068] For example, a registration algorithm such as the Iterative Closest Point (ICP) algorithm can be used to register the simulated thin-walled structural part in the digital twin scene with the clamped design model of the thin-walled structural part using Formula 1 as the registration optimization target E(R,V):

[0069]

[0070] Among them, p t and q t are the t-th point pairs that match each other in the thin-walled structural part and the corresponding clamped design model. t is a natural number from 1 to T, and T is the total number of points in the three-dimensional point cloud data of the thin-walled structural part or the clamped design model (i.e. the total number of points). R and V are a set rotation matrix and translation transformation matrix respectively.

[0071] S103, according to the set clamping constraint conditions of the clamp, the initial positions of multiple positioning points on the simulated clamp and the first spatial posture, the simulated clamp is controlled to tighten the simulated thin-walled structural component to obtain a second spatial posture of the clamped simulated thin-walled structural component.

[0072] Among them, the clamping constraint condition of the fixture is a predefined constraint condition used to constrain the spatial position change of the simulated thin-walled structural part during the clamping process, as well as the constraint condition of the support relationship between the simulated thin-walled structural part and the simulated fixture after clamping. Accordingly, in the process of controlling the simulated fixture to tighten the simulated thin-walled structural part in the digital twin space, it is necessary to adjust the relative relationship between the simulated fixture and the simulated thin-walled structural part according to the clamping constraint condition of the fixture, so as to finally simulate the spatial posture of the simulated thin-walled structural part when it is clamped.

[0073] For the sake of distinction, when the simulated fixture completes clamping of the simulated thin-walled structural component, the spatial posture of the simulated thin-walled structural component is referred to as the second spatial posture.

[0074] In the present application, the clamp constraint condition can be set as needed without limitation.

[0075] S104, based on the set positioning point adjustment constraints, the second spatial posture and the initial positions of multiple positioning points, iteratively adjust the positions of multiple positioning points on the simulated fixture in the digital twin scene until the set clamping optimization goal is met, and obtain the suitable position adjustment amount of each positioning point on the simulated fixture and the target spatial posture suitable for clamping of the simulated thin-walled structural part.

[0076] Among them, the positioning point is also called the support point, which is the position point on the fixture used to limit the free point of the clamped workpiece. There can be multiple positioning points on the fixture. In the workpiece clamping scenario, the more commonly used workpiece positioning is six-point positioning. On this basis, there need to be six corresponding positioning points on the fixture. Correspondingly, in this application, the positioning point on the simulation fixture is the point (support point) on the simulation fixture used to limit the free point of the simulated thin-walled structural part.

[0077] In the present application, the positions of the positioning points on the simulated fixture in the digital twin scene are adjustable so as to simulate the positions required for the positioning points on the fixture suitable for clamping the thin-walled structural component.

[0078] The positioning point adjustment constraint condition is at least used to limit the adjustable range of the positioning point and to limit the relationship between the position of the simulated thin-walled structural part and the position of the positioning point on the simulated fixture.

[0079] The positioning point adjustment constraint can be set in combination with the type of thin-walled structural parts, the type of processing operations required to be performed after the thin-walled structural parts are clamped, and the characteristics of the fixture, without any restrictions. For example, if it is necessary to perform machining operations such as milling or polishing on thin-walled structural parts, considering that the processing force is small, a floating multi-point positioning clamping design can be adopted. In this case, the adjustable range of the simulated thin-walled structural parts can be set in the positioning point adjustment constraint conditions to be larger, and the adjustment of all degrees of freedom of the simulated thin-walled structural parts can be achieved; if the machining method is grinding or drilling, and the processing force is large, then a cradle-type or box-type fixture is required to clamp the thin-walled structural parts to ensure that they do not slide. In this case, the adjustable range of the simulated thin-walled structural parts set in the positioning point adjustment constraint conditions is relatively small, and it can be set to achieve partial degree of freedom adjustment.

[0080] Among them, the clamping optimization goal is to find the most suitable spatial posture of the simulated thin-walled structural parts after clamping.

[0081] Since the simulated thin-walled structural parts are digital twin models of real thin-walled structural parts mapped in the digital twin scene, the purpose of simulating the clamping of thin-walled structural parts is to find the spatial posture that is most suitable for the clamping of the simulated thin-walled structural parts, that is, to find the spatial posture that can minimize the impact of thin-walled structural parts errors on clamping accuracy.

[0082] Based on this, in a possible implementation, the clamping optimization goal is to minimize the difference between the spatial posture of the simulated thin-walled structural component and the design model of the thin-walled structural component after the positioning point is adjusted.

[0083] The design model of the thin-walled structural part is a standard model of the thin-walled structural part designed in advance by a computer. The design model of the thin-walled structural part reflects the structural form that the designer expects the thin-walled structural part to have. For example, the design model of the thin-walled structural part is a CAD model of the thin-walled structural part designed in advance.

[0084] It is understandable that when the positions of multiple positioning points on the simulated fixture are iteratively adjusted in the digital twin scenario, the position adjustment amount of each positioning point can be different each time. Accordingly, when the clamping optimization goal is met, the current position adjustment amount of each positioning point is used as the appropriate position adjustment amount for each positioning point. The appropriate position adjustment amount for each positioning point on the simulated fixture is the position adjustment amount that each positioning point on the real fixture needs to be adjusted, so that before the thin-walled structural part is actually clamped, the positioning points on the fixture can be reasonably adjusted to construct a fixture suitable for clamping the simulated thin-walled structural part.

[0085] Among them, when the optimization goal is met, simulating the spatial posture of the thin-walled structural part is to simulate the target spatial posture of the thin-walled structural part suitable for clamping, and the target spatial posture is the target spatial posture of the real thin-walled structural part suitable for clamping.

[0086] From the above content, it can be seen that the present application can use digital twin technology to map the thin-walled structural parts to be clamped into simulated thin-walled structural parts in the digital twin scene, and simulate the clamping of thin-walled structural parts by controlling the tightening of the simulated fixture on the simulated thin-walled structural parts in the digital twin scene. And by adjusting the position of the positioning points on the simulated fixture, the spatial posture suitable for clamping of the thin-walled structural parts and the position adjustment amount suitable for adjusting the positioning points on the fixture that clamps the thin-walled structural parts are simulated, thereby providing a reliable data basis for the clamping of thin-walled structural parts, which is beneficial to reducing the impact of dimensional deviations of thin-walled structural parts on clamping accuracy.

[0087] like Figure 2 , shows another implementation flow diagram of the thin-walled structural member clamping and positioning method provided in an embodiment of the present application. The method of this embodiment may include:

[0088] S201, obtaining three-dimensional point cloud data of thin-walled structural parts.

[0089] For example, the 3D point cloud data of thin-walled structural parts can be scanned by 3D scanning technology and uploaded to a computer device.

[0090] S202, denoising the three-dimensional point cloud data, and removing data points in the three-dimensional point cloud data that do not belong to the thin-walled structural parts.

[0091] For example, a filtering algorithm can be used to remove noise data points in the three-dimensional point cloud data to achieve noise reduction, and a filtering algorithm can be used to remove data points that do not belong to thin-walled structural parts, for example, to remove data points of scanned support frames or background plates.

[0092] S203, registering the three-dimensional point cloud data of the thin-walled structural component with the design model of the thin-walled structural component to obtain a registration result.

[0093] There is no restriction on the specific implementation process of registering the three-dimensional point cloud data of the thin-walled structural component with the design model of the thin-walled structural component.

[0094] S204: If it is determined based on the registration result that the size deviation between the thin-walled structural component and the design model exceeds a set threshold, a simulated thin-walled structural component corresponding to the thin-walled structural component is created in the clamping space corresponding to the simulated fixture in the digital twin scene based on the three-dimensional point cloud data of the thin-walled structural component.

[0095] Among them, the registration results obtained through the registration may include the three-dimensional point cloud data of the thin-walled structural parts and the point pairs that can be matched in the design model of the thin-walled structural parts, so that the points that cannot be matched between the three-dimensional point cloud data and the design model can be determined, which serves as a basis for determining the size deviation between the simulated thin-walled structural parts and the design model.

[0096] For example, if the registration result indicates that the ratio of points that cannot be matched between the three-dimensional point cloud data and the design model exceeds a set ratio, it means that the size deviation of the thin-walled structural part exceeds a set threshold.

[0097] S205, based on the three-dimensional point cloud data, the simulated thin-walled structural component and the clamped design model corresponding to the thin-walled structural component are aligned according to the set alignment optimization target to adjust the relative position of the simulated thin-walled structural component with respect to the simulated fixture to obtain a first spatial posture of the simulated thin-walled structural component.

[0098] Among them, the registration optimization goal is to simulate that the posture of the thin-walled structural part and the clamped design model corresponding to the thin-walled structural part are most similar. For example, the registration optimization goal can be as shown in the previous formula 1.

[0099] S206, according to the set clamping constraint conditions of the fixture, the initial positions of the plurality of positioning points on the simulation fixture and the first spatial posture, the simulation fixture is controlled to tighten the simulated thin-walled structural component to obtain a second spatial posture of the clamped simulated thin-walled structural component.

[0100] In a possible implementation, the fixture clamping constraint conditions include the following formulas 2 to 4:

[0101] L n =C n M n C n-1 M n-1 …C1M1L0 (Formula 2);

[0102] S ′ w =L n S w (Formula 3);

[0103]

[0104] Among them, L0 is the position of the simulated thin-walled structure in the first spatial posture, L n is the position of the simulated thin-walled structural part after the simulated thin-walled structural part is tightened by the n tightening components of the simulated fixture; M j and C jThey are respectively the motion variables and motion constraints applied to the simulated thin-walled structural part when the j-th clamping component of the simulated fixture clamps the simulated thin-walled structural part, j is a natural number from 1 to n, n is the total number of clamping components on the simulated fixture, wherein the clamping components can be clamping bolts, etc., without limitation.

[0105] S w To simulate the surface point set of the thin-walled structure in the first spatial posture, S ′ w is the surface point set of the simulated thin-walled structure after clamping; Indicates that there is a point p i ′ Belongs to S ′ w .

[0106] i∈1,2,…,m, m is the total number of positioning points on the simulated fixture. When six-point positioning is adopted, the value of m is 6; i is the center of the constrained hemispherical space or the axis of the positioning column corresponding to the i-th positioning point, and r is the radius of the constrained hemispherical space or the axial radius of the positioning column corresponding to any positioning point on the simulation fixture, wherein the radii of the constrained hemispherical space or the axial radius of the positioning column corresponding to different positioning points on the simulation fixture are the same.

[0107] Formula 4 is actually the constraint condition that the simulated fixture should meet when clamping the simulated thin-walled structural part, that is, the simulated thin-walled structural part should be fully in contact with the m positioning points of the simulated fixture after clamping. In this application, bosses (simplified as hemispherical constraint spaces, that is, constrained hemispherical spaces) and columnar positioning are used to limit the degrees of freedom of the simulated thin-walled structural part.

[0108] It can be understood that the position of the simulated thin-walled structural part in the first spatial posture is the initial position of the simulated thin-walled structural part when the simulated fixture is straightened. The homogeneous transformation matrix L0 can be introduced to represent the position of the simulated thin-walled structural part in the first spatial posture:

[0109]

[0110] Where R0 and p0 are the set three-dimensional rotation and translation matrices respectively, and 1 indicates the extended dimension.

[0111] S207, based on the set positioning point adjustment constraints, the second spatial posture and the initial positions of multiple positioning points on the simulated fixture, iteratively adjust the positions of multiple positioning points on the simulated fixture in the digital twin scene until the set clamping optimization goal is met, and obtain the suitable position adjustment amount of each positioning point on the simulated fixture and the target spatial posture suitable for clamping of the simulated thin-walled structural part.

[0112] In a possible implementation, the positioning point adjustment constraint condition may include the following formulas 5 to 7:

[0113] o i +d iu ≤o i ′ ≤o i +d il (Formula 5);

[0114]

[0115] Among them, d iu and d il Adjust the range values ​​for the two positions of the anchor point, d iu Less than d il , o i ′ is the center of the constrained hemisphere space or the axis of the positioning column corresponding to the i-th positioning point on the simulated fixture after position adjustment. Formula 5 actually represents the adjustable range of the positioning point.

[0116] Among them, S 1t is the coordinate of the tth point in the surface point set S1 when the simulated thin-walled structural part is in the current spatial posture, S2 is the surface point set when the simulated thin-walled structural part is in the third spatial posture; R1 is the set first transformation matrix; Q t is the coordinate of the tth point in the surface point set Q corresponding to the design model of the thin-walled structural part, and G is the set rotation matrix. T is the total number of points in the surface point set corresponding to the design model of the thin-walled structural part. Since the three-dimensional point cloud data of the thin-walled structural part is the same as the number of points on the design model of the simulated thin-walled structural part and the design model after clamping, the meaning of T here is the same as the value of T in the previous formula 1.

[0117] Indicates that there is a point p i ″ belongs to S2.r and o i The meaning of is as described above. Formula 7 is the constraint that the simulated thin-walled structural member and the simulated fixture positioning point need to satisfy after the position of the positioning point is adjusted. Based on this, Formula 6 and Formula 7 actually represent the position constraint conditions that the simulated thin-walled structural member needs to satisfy after clamping.

[0118] The clamping optimization goal may be to minimize the difference between the third spatial posture of the simulated thin-walled structural component and the design model of the thin-walled structural component.

[0119] In one possible implementation, the clamping optimization goal is to minimize the posture difference f:

[0120]

[0121] Among them, Q t is the coordinate of the t-th point in the surface point set Q corresponding to the design model of the thin-walled structural part, R1 is the set first transformation matrix, V1 is the set second transformation matrix, S 2t is the coordinate of the tth point in the surface point set S2 when the simulated thin-walled structural component is in the third spatial posture.

[0122] In a possible implementation, step S207 may be implemented as follows:

[0123] First, the second spatial pose is determined as the current spatial pose of the simulated thin-walled structural component.

[0124] Then, the current position adjustment amount of each positioning point is determined based on the adjustable range of the positioning point included in the set positioning point adjustment constraint condition, and the positioning point adjustment constraint condition also includes: a position constraint condition after simulating the clamping of the thin-walled structural part.

[0125] The adjustable range of the positioning point can be referred to in the above formula 5. The position constraint conditions of the simulated thin-walled structural part after clamping can be the above formulas 6 and 7.

[0126] Secondly, based on the position adjustment amount of each positioning point, the initial position of the positioning point, the current spatial posture of the simulated thin-walled structural part and the position constraints of the simulated thin-walled structural part after clamping, the position of each positioning point on the simulated fixture is adjusted in the digital twin scene, and the spatial posture of the simulated thin-walled structural part is changed to obtain the third spatial posture of the simulated thin-walled structural part.

[0127] Finally, if it is determined based on the third spatial posture and the design model of the thin-walled structural part that the set clamping optimization goal has not been met, the third spatial posture of the simulated thin-walled structural part is used as the current spatial posture of the simulated thin-walled structural part, and the operation of determining the current position adjustment amount of each positioning point based on the adjustable range of the positioning points included in the set positioning point adjustment constraint conditions is returned until the clamping optimization goal is met.

[0128] Correspondingly, if it is determined based on the third spatial posture and the design model of the thin-walled structural part that the clamping optimization goal is met, the third spatial posture of the simulated thin-walled structural part is determined as the target spatial posture suitable for clamping the thin-walled structural part, and the current position adjustment amount of each positioning point is determined as the suitable position adjustment amount of each positioning point on the simulated fixture, that is, the suitable position adjustment amount of the positioning point on the fixture used to clamp the thin-walled structural part.

[0129] In an optional manner, the set registration optimization target may also consider the proximity between each point in the simulated thin-walled structural component and the simulated centroid corresponding to the simulated thin-walled structural component.

[0130] Correspondingly, the registration optimization objective of the IPC algorithm can be:

[0131] Among them, p i Before the simulated thin-walled structural part is aligned with the designed model after clamping, the surface points corresponding to the simulated thin-walled structural part are concentrated to the points corresponding to the i-th positioning point on the fixture. i For p i The weight corresponding to the point is determined by the Gaussian function. For example, ω is calculated using the following formula i :

[0132]

[0133] Among them, f(p i ) is p i The eigenvector of i ) is the eigenvector corresponding to the simulated centroid (simulated mass center) in the simulated thin-walled structural part, and σ is the set parameter value.

[0134] In order to facilitate understanding of the implementation of the present application scheme and its benefits, an application example is provided below for explanation.

[0135] Taking the simulation of thin-walled structural parts such as turbine blades in aircraft engines as an example, the suitable clamping position of the turbine blade and the suitable adjustment amount of the positioning point in the fixture can be obtained as follows:

[0136] First, after preprocessing such as denoising the three-dimensional point cloud data of the turbine blade obtained by three-dimensional scanning, a simulated blade of the turbine blade is constructed in the digital twin scene based on the preprocessed three-dimensional point cloud data.

[0137] The digital twin scene also includes a simulated fixture for clamping turbine blades. The simulated fixture can be a pre-designed adjustable fixture with adaptively adjustable positioning points.

[0138] The turbine blade is a rough workpiece that needs to be processed. Its high-temperature alloy blade structure obtained by investment casting has a typical thin-walled structure, and expansion and contraction are inevitable during the casting process. Figure 3 A comparison diagram of the actual image of the cast turbine blade and the design model of the turbine blade is shown.

[0139] Figure 3 In order to show the six positions on the actual turbine blade corresponding to the clamping positioning points, two postures of the actual turbine blade 301 are shown. Figure 3 The design model 302 of the turbine blade is shown. Among them, A1, A2, A3, B1, B2, C1 shown in the turbine blade 301 are designed according to the six-point positioning principle, and are six position points corresponding to the clamping positioning points.

[0140] Secondly, after the simulated blade is aligned with the clamped design model corresponding to the turbine blade to preliminarily adjust the position of the simulated blade relative to the simulated fixture, the simulated fixture is controlled to tighten the simulated blade.

[0141] The cylindrical pins in the turbine blade allow rotational freedom in two axes, so the clamping sequence follows: C1-B2-A2, then A3-A1, and finally B1. The adjustable hemispherical pins at A2, A3, B2 and C1 facilitate precise turbine blade attitude adjustment, where the position points on the turbine blade corresponding to the positioning points move in the range of -5 to +5 mm. Correspondingly, the clamping of the simulated blade by the simulated fixture can also follow this clamping sequence and rule.

[0142] In addition, the simulated fixture clamping of the simulated blade also needs to meet the clamping constraints of the previous fixture.

[0143] Finally, combined with the set positioning point adjustment constraints, the current spatial posture of the simulated blade and the initial positions of multiple positioning points on the simulated fixture, the positions of multiple positioning points on the simulated fixture are iteratively adjusted until the set clamping optimization goal is met.

[0144] like Figure 4 , showing an example diagram of an adjustable fixture with adjustable positioning points clamping a simulated turbine blade.

[0145] exist Figure 4 The simulated turbine blade 402 can be tightened by the tightening bolt 401 on the simulated fixture, so that the simulated turbine blade is in a fixed position, such as Figure 4 As shown in the middle area 403. The simulated fixture has position-adjustable positioning points 404. By iteratively adjusting the positions of the positioning points, the spatial posture suitable for clamping the turbine blade and the suitable position adjustment amount of each positioning point can be finally determined.

[0146] Compare the poses of the simulated blades before and after adjustment, and combine Figure 4 and Figure 5 illustrate, Figure 4 The cross-section lines at different heights are shown in Figure 5 The figure shows the changes in the cross-sectional line at a height of z = 140 mm after adjusting the spatial posture of the turbine blade based on the present solution. Figure 5In the figure, the predicted section is the section line at height z=140mm in the turbine blade after clamping before adjusting the posture, while the designed section is the section line at height z=140mm in the design model, and the adjusted section is the section line at height z=140mm in the turbine blade after adjusting the clamping posture of the turbine blade based on this solution. By comparison, it can be seen that through the clamping adjustment of this solution, the posture of the turbine blade is closer to that of the design model. After comprehensively analyzing the errors of the three section lines, after adjusting the posture through the present application solution, the maximum average error can be reduced by 77%, and the overall clamping accuracy is improved by 55%.

[0147] A method for clamping and positioning a thin-walled structural component provided by an embodiment of the present application is introduced above, and a device for executing the above-mentioned method for clamping and positioning a thin-walled structural component will be introduced below.

[0148] See also Figure 7 , Figure 7 This is a schematic diagram of a thin-walled structural member clamping device provided in an embodiment of the present application. Figure 7 As shown, the thin-walled structural member clamping and positioning device may include:

[0149] A twin creation unit 701 is used to create a simulated thin-walled structural part corresponding to the thin-walled structural part in a clamping space corresponding to a simulated fixture in a digital twin scene based on the three-dimensional point cloud data of the thin-walled structural part;

[0150] An adjustment simulation unit 702 is used to adjust the relative position of the simulated thin-walled structural component with respect to the simulated fixture according to the clamped design model corresponding to the thin-walled structural component, so as to obtain a first spatial posture of the simulated thin-walled structural component;

[0151] A tightening simulation unit 703 is used to control the simulated fixture to tighten the simulated thin-walled structural member according to the set fixture clamping constraint conditions, the initial positions of the plurality of positioning points on the simulated fixture and the first spatial posture, so as to obtain a second spatial posture of the clamped simulated thin-walled structural member;

[0152] The positioning simulation unit 704 is used to iteratively adjust the positions of the multiple positioning points on the simulated fixture in the digital twin scene based on the set positioning point adjustment constraints, the second spatial posture and the initial positions of the multiple positioning points until the set clamping optimization goal is met, thereby obtaining the suitable position adjustment amount of each positioning point on the simulated fixture and the target spatial posture suitable for clamping of the simulated thin-walled structural part.

[0153] In a possible implementation, the thin-walled structural member clamping and positioning device further includes:

[0154] A preliminary registration unit is used to register the three-dimensional point cloud data of the thin-walled structural part with the design model of the thin-walled structural part before the twin creation unit creates the simulated thin-walled structural part corresponding to the thin-walled structural part in the clamping space corresponding to the simulated fixture in the digital twin scene, so as to obtain a registration result;

[0155] Specifically, the twin creation unit is used to create a simulated thin-walled structural part corresponding to the thin-walled structural part in the clamping space corresponding to the simulated fixture in the digital twin scene based on the three-dimensional point cloud data of the thin-walled structural part if it is determined based on the alignment result that the size deviation between the thin-walled structural part and the design model exceeds a set threshold.

[0156] In a possible implementation, the adjustment simulation unit includes:

[0157] The simulation subunit is adjusted to align the simulated thin-walled structural component with the post-clamping design model corresponding to the thin-walled structural component based on the three-dimensional point cloud data according to the set alignment optimization target, so as to adjust the relative position of the simulated thin-walled structural component with respect to the simulated fixture, and the alignment optimization target is that the posture of the simulated thin-walled structural component and the post-clamping design model corresponding to the thin-walled structural component are most similar.

[0158] In yet another possible implementation, the device further includes: a data acquisition unit, configured to obtain three-dimensional point cloud data of the thin-walled structural member before the twin creation unit creates the simulated thin-walled structural member corresponding to the thin-walled structural member;

[0159] The data denoising subunit is used to denoise the three-dimensional point cloud data and remove data points in the three-dimensional point cloud data that do not belong to the thin-walled structural member.

[0160] In yet another possible implementation, the positioning simulation unit includes:

[0161] a current posture determination subunit, configured to determine the second spatial posture as the current spatial posture of the simulated thin-walled structural member;

[0162] The adjustment amount determination subunit is used to determine the current position adjustment amount of each positioning point based on the positioning point adjustable range in the set positioning point adjustment constraint condition, and the positioning point adjustment constraint condition also includes: the position constraint condition of the simulated thin-walled structural part after clamping;

[0163] A positioning point adjustment subunit, configured to adjust the positions of the positioning points on the simulated fixture in the digital twin scene based on the position adjustment amount of each positioning point, the initial position of the positioning point, the current spatial posture of the simulated thin-walled structural part, and the position constraint condition of the simulated thin-walled structural part after clamping, and change the spatial posture of the simulated thin-walled structural part to obtain a third spatial posture of the simulated thin-walled structural part;

[0164] a loop control subunit, for, if it is determined based on the third spatial posture and the design model of the thin-walled structural part that a set clamping optimization target has not been met, using the third spatial posture of the simulated thin-walled structural part as the current spatial posture of the simulated thin-walled structural part, and returning to execute the operation of determining the current position adjustment amount of each positioning point, wherein the clamping optimization target is to minimize the posture difference between the third spatial posture of the simulated thin-walled structural part and the design model of the thin-walled structural part;

[0165] A positioning determination subunit is used to determine the third spatial posture of the simulated thin-walled structural part as the target spatial posture suitable for clamping the thin-walled structural part if it is determined based on the third spatial posture and the design model of the thin-walled structural part that the clamping optimization goal is met, and to determine the current position adjustment amount of each positioning point as the suitable position adjustment amount for each positioning point on the simulated fixture.

[0166] The present application also provides an electronic device. Figure 8 , which shows a schematic diagram of a composition structure of the electronic device, and the electronic device at least includes a processor 801 and a memory 802;

[0167] The processor 801 is used to execute a thin-walled structural component clamping and positioning method as described in any one of the above embodiments;

[0168] The memory 802 is used to store the program required by the processor to perform operations

[0169] It is understandable that the electronic device may further include a display unit 803 and an input unit 804 .

[0170] Of course, the electronic device may also have Figure 8 There may be more or fewer components, without limitation.

[0171] A computer program product is also provided in an embodiment of the present application, including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any of the thin-walled structural component clamping and positioning methods provided in the embodiments of the present application.

[0172] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the thin-walled structural component clamping and positioning methods provided in the embodiment of the present application.

[0173] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0174] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0175] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0176] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A method for clamping and positioning a thin-walled structural part, characterized in that: include: Based on the three-dimensional point cloud data of the thin-walled structural part, a simulated thin-walled structural part corresponding to the thin-walled structural part is created in a clamping space corresponding to a simulated fixture in the digital twin scene; According to the clamped design model corresponding to the thin-walled structural part, the relative position of the simulated thin-walled structural part with respect to the simulated fixture is adjusted to obtain a first spatial posture of the simulated thin-walled structural part; According to the set clamping constraint conditions of the fixture, the initial positions of the plurality of positioning points on the simulated fixture and the first spatial posture, the simulated fixture is controlled to tighten the simulated thin-walled structural component to obtain a second spatial posture of the clamped simulated thin-walled structural component; Based on the set positioning point adjustment constraints, the second spatial posture and the initial positions of the multiple positioning points, the positions of the multiple positioning points on the simulated fixture are iteratively adjusted in the digital twin scene until the set clamping optimization goal is met, thereby obtaining the suitable position adjustment amount of each positioning point on the simulated fixture and the target spatial posture suitable for clamping of the simulated thin-walled structural part.

2. The method for clamping and positioning thin-walled structural parts according to claim 1, characterized in that: Before creating a simulated thin-walled structural component corresponding to the thin-walled structural component in the clamping space corresponding to the simulated fixture in the digital twin scene, the method further includes: Registering the three-dimensional point cloud data of the thin-walled structural part with the design model of the thin-walled structural part to obtain a registration result; The method of creating a simulated thin-walled structural part corresponding to the thin-walled structural part in a clamping space corresponding to a simulated fixture in a digital twin scene based on the three-dimensional point cloud data of the thin-walled structural part includes: If it is determined based on the alignment result that the size deviation between the thin-walled structural part and the design model exceeds a set threshold, based on the three-dimensional point cloud data of the thin-walled structural part, a simulated thin-walled structural part corresponding to the thin-walled structural part is created in the clamping space corresponding to the simulated fixture in the digital twin scene.

3. The method for clamping and positioning thin-walled structural parts according to claim 1, characterized in that: The adjusting the relative position of the simulated thin-walled structural component with respect to the simulated fixture according to the post-clamping design model corresponding to the thin-walled structural component comprises: Based on the three-dimensional point cloud data, the simulated thin-walled structural part and the post-clamping design model corresponding to the thin-walled structural part are aligned according to the set alignment optimization target to adjust the relative position of the simulated thin-walled structural part relative to the simulated fixture. The alignment optimization target is that the posture of the simulated thin-walled structural part and the post-clamping design model corresponding to the thin-walled structural part are most similar.

4. The method for clamping and positioning thin-walled structural parts according to claim 1, before creating a simulated thin-walled structural part corresponding to the thin-walled structural part in the clamping space corresponding to the simulated fixture in the digital twin scene, further comprising: Obtain three-dimensional point cloud data of thin-walled structural parts; Denoising the three-dimensional point cloud data, and removing data points in the three-dimensional point cloud data that do not belong to the thin-walled structural member.

5. The method for clamping and positioning thin-walled structural parts according to claim 1, characterized in that: The fixture clamping constraints include: L n =C n M n C n-1 M n-1 …C1M1L0; S ′ w =L n S w ; Wherein, L0 is the position of the simulated thin-walled structural component when it is in the first spatial posture, L n M is the position of the simulated thin-walled structural member after the simulated thin-walled structural member is tightened by n tightening components of the simulated fixture; j and C j are respectively motion variables and motion constraints applied to the simulated thin-walled structural member when the j-th clamping component of the simulated fixture clamps the simulated thin-walled structural member, and j is a natural number from 1 to n; S w is the surface point set of the simulated thin-walled structural component when it is in the first spatial posture, S ′ w is a surface point set of the simulated thin-walled structure after being clamped; o i is the center of the constrained hemispherical space or the axis of the positioning column corresponding to the i-th positioning point, i∈1,2,…,m, m is the total number of positioning points on the simulation fixture, and r is the radius of the constrained hemispherical space or the axial radius of the positioning column corresponding to any positioning point on the simulation fixture.

6. The method for clamping and positioning thin-walled structural parts according to claim 1, characterized in that: The adjusting constraint condition of the positioning points, the second spatial posture and the initial positions of the multiple positioning points based on the set positioning points, iteratively adjusting the positions of the multiple positioning points on the simulated fixture in the digital twin scene until the set clamping optimization goal is met, including: Determining the second spatial pose as the current spatial pose of the simulated thin-walled structural member; Determine the current position adjustment amount of each positioning point based on the adjustable range of the positioning point in the set positioning point adjustment constraint condition, wherein the positioning point adjustment constraint condition further includes: the position constraint condition after the simulated thin-walled structural part is clamped; Based on the position adjustment amount of each positioning point, the initial position of the positioning point, the current spatial posture of the simulated thin-walled structural part, and the position constraint condition of the simulated thin-walled structural part after clamping, the position of each positioning point on the simulated fixture is adjusted in the digital twin scene, and the spatial posture of the simulated thin-walled structural part is changed to obtain a third spatial posture of the simulated thin-walled structural part; If it is determined based on the third spatial posture and the design model of the thin-walled structural component that the set clamping optimization target has not been met, the third spatial posture of the simulated thin-walled structural component is used as the current spatial posture of the simulated thin-walled structural component, and the operation of determining the current position adjustment amount of each positioning point is returned to be executed, and the clamping optimization target is that the posture difference between the third spatial posture of the simulated thin-walled structural component and the design model of the thin-walled structural component is minimized; If it is determined based on the third spatial posture and the design model of the thin-walled structural part that the clamping optimization goal is met, the third spatial posture of the simulated thin-walled structural part is determined as the target spatial posture suitable for clamping the thin-walled structural part, and the current position adjustment amount of each positioning point is determined as the suitable position adjustment amount of each positioning point on the simulated fixture.

7. The method for clamping and positioning thin-walled structural parts according to claim 6, characterized in that: The position constraint conditions of the simulated thin-walled structural parts after clamping include: Among them, S 1t is the coordinate of the tth point in the surface point set when the simulated thin-walled structural part is in the current spatial posture, S2 is the surface point set when the simulated thin-walled structural part is in the third spatial posture; R1 is the set first transformation matrix; Q t is the coordinate of the tth point in the surface point set corresponding to the design model of the thin-walled structural part, G is the set rotation matrix, and T is the total number of points in the surface point set corresponding to the design model of the thin-walled structural part; Among them, i ′ is the center of the constrained hemispherical space or the axis of the positioning column corresponding to the i-th positioning point after position adjustment, i∈1,2,…,m, m is the total number of positioning points on the simulation fixture; r is the radius of the constrained hemispherical space or the axial radius of the positioning column corresponding to any positioning point on the simulation fixture.

8. The method for clamping and positioning a thin-walled structural member according to claim 1, 6 or 7, characterized in that: The clamping optimization goal is to minimize the posture difference f: in, Among them, Q t is the coordinate of the tth point in the surface point set corresponding to the design model of the thin-walled structural part, R1 is the set first transformation matrix, V1 is the set second transformation matrix, S 2t is the coordinate of the tth point in the surface point set when the simulated thin-walled structural component is in the third spatial posture.

9. A thin-walled structural component clamping and positioning device, characterized in that: include: A twin creation unit, for creating a simulated thin-walled structural part corresponding to the thin-walled structural part in a clamping space corresponding to a simulated fixture in a digital twin scene based on three-dimensional point cloud data of the thin-walled structural part; An adjustment simulation unit is used to adjust the relative position of the simulated thin-walled structural part with respect to the simulated fixture according to the clamped design model corresponding to the thin-walled structural part, so as to obtain a first spatial posture of the simulated thin-walled structural part; a tightening simulation unit, configured to control the simulated fixture to tighten the simulated thin-walled structural component according to the set fixture clamping constraint conditions, the initial positions of the plurality of positioning points on the simulated fixture, and the first spatial posture, so as to obtain a second spatial posture of the clamped simulated thin-walled structural component; A positioning simulation unit is used to iteratively adjust the positions of the multiple positioning points on the simulated fixture in the digital twin scene based on the set positioning point adjustment constraints, the second spatial posture and the initial positions of the multiple positioning points until the set clamping optimization goal is met, thereby obtaining the suitable position adjustment amount of each positioning point on the simulated fixture and the target spatial posture suitable for clamping of the simulated thin-walled structural part.

10. The thin-walled structural component clamping and positioning device according to claim 9, characterized in that: Also includes A preliminary registration unit is used to register the three-dimensional point cloud data of the thin-walled structural part with the design model of the thin-walled structural part before the twin creation unit creates the simulated thin-walled structural part corresponding to the thin-walled structural part in the clamping space corresponding to the simulated fixture in the digital twin scene, so as to obtain a registration result; Specifically, the twin creation unit is used to create a simulated thin-walled structural part corresponding to the thin-walled structural part in the clamping space corresponding to the simulated fixture in the digital twin scene based on the three-dimensional point cloud data of the thin-walled structural part if it is determined based on the alignment result that the size deviation between the thin-walled structural part and the design model exceeds a set threshold.

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