Aircraft skeleton welding flexible intelligent tool system with deformation prediction function and control method of aircraft skeleton welding flexible intelligent tool system

Abstract

The invention provides an aircraft framework welding flexible intelligent tool system with a deformation prediction function and a control method of the aircraft framework welding flexible intelligent tool system. The tool system comprises a ground rail, a connecting tool, a shape follow-up clamping device, a clamping device supporting mechanism, a steel springboard and a workbench. The ground rail is used for supporting the connecting tool; the connecting tool can drive the positioning piece to move along three degrees of freedom of X, Y and Z; the shape follow-up clamping device clamps a workpiece welding area, adapts to different workpiece surfaces through an internal shape follow-up cushion block, and resists welding force and deformation of the welding area; the clamp holder supporting mechanism is installed below the welding seam of the plate and used for supporting the plate shape follow-up clamp holder. Besides, a force monitoring data-post-welding deformation prediction method based on Gaussian process regression is further designed to predict the post-welding deformation condition of the product, flexible positioning, welding area clamping and post-welding deformation prediction of the multi-configuration aircraft skeleton part can be achieved, and the high-quality and rapid trial-manufacturing capacity of the aircraft skeleton can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft manufacturing, and in particular to an aircraft frame welding flexible intelligent tooling system with a deformation prediction function and a control method thereof. Background Art

[0002] The aviation manufacturing industry is a strategic industry. Nowadays, the requirements for aircraft manufacturing in the industry are gradually increasing, especially in the manufacture of military aircraft. The skeleton structure of military aircraft, as the supporting framework of the aircraft, is an important part to ensure the stability and reliability of the aircraft under various flight conditions. With the increase in the development tasks of high-performance new aircraft models, new challenges and requirements have been raised for the rapid and high-quality trial production capabilities of aircraft skeleton structures.

[0003] Traditional aircraft skeleton manufacturing manufactures each component separately and then connects them together through fasteners. This leads to problems such as insufficient effective space inside the skeleton structure, suboptimal aerodynamic layout, increased structural weight, and complex assembly and production. Welding technology can weld multiple large frame beams into an integral structural part, ensuring the integrity and integrity of the aircraft skeleton structure. Therefore, it is increasingly used in aircraft skeleton manufacturing.

[0004] At present, the welding of aircraft frames mainly adopts rigid tooling in a "one-to-one" assembly mode for positioning and support. However, with the increase in the development of various new aircraft models, it is necessary to design and manufacture different rigid tooling to adapt to different types of aircraft frames for strength testing and structural optimization, which leads to high aircraft manufacturing costs and long manufacturing cycles. At the same time, welding forces will be generated during the welding process, causing parts to deform, affecting the subsequent assembly work. Therefore, it is particularly important to design an intelligent tooling system that can realize flexible positioning of aircraft frame parts, reliable clamping of welding areas, and prediction of deformation of frame products after welding. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention proposes a flexible intelligent tooling system for aircraft skeleton welding with deformation prediction function and a control method thereof, aiming to realize flexible positioning of multi-configuration aircraft skeleton parts, welding area clamping, and product post-welding deformation prediction.

[0006] In order to achieve the above technical objectives, the present invention provides the following technical solutions:

[0007] A flexible intelligent tooling system for welding an aircraft frame with a deformation prediction function, which specifically includes:

[0008] Ground rail, connecting tooling, conformable gripper, gripper support structure, steel springboard, workbench and flexible tooling control system;

[0009] The ground rails are provided with two tracks, which are symmetrically fixed at both ends of the pit in the Y direction, supporting the connecting tooling and serving as the base of the X-direction motion axis of the connecting tooling;

[0010] There are four connecting fixtures, each of which is installed on the ground rail to drive the internal angle-adjustable positioning parts to move along the XYZ three-degree-of-freedom;

[0011] The conformal clamp includes a beam clamp and a plate clamp, which are used to clamp the welds between the beam and the frame, and between the plate and the frame, respectively, to resist the deformation force during the welding process;

[0012] The clamp support structure is provided with four, installed below the weld of the plate, including a scissor structure, a waist-shaped groove and a support platform; the lifting and lowering movement of the support platform is adjusted by the scissor structure to support the plate-shaped clamp, and the waist-shaped groove provided on the surface of the base is connected with different positioning holes on the connecting tooling to realize the flexible positioning of the clamp support structure;

[0013] The workbench is placed around the pit, and the steel springboard is placed on the workbench along the Y direction of the system to provide a stepping space for workers;

[0014] The flexible tooling control system is installed on the pit to send out command signals to control the entire tooling system to complete the flexible positioning of the aircraft frame and the prediction of post-welding deformation.

[0015] Furthermore, the ground rail specifically includes:

[0016] The floor rail structure, floor rail guide rail, floor rail rack, leveling foot and floor rail reinforcement rib; the floor rail structure is used as the base of the flexible intelligent tooling system and is welded to the leveling foot; the leveling foot is placed on the surface of the pit, and the X-direction straightness of the floor rail is leveled by adding a gasket, and the floor rail reinforcement rib is arranged thereon to improve the overall rigidity of the floor rail; there are two floor rail guide rails, which are symmetrically located on both sides of the upper surface of the floor rail; the floor rail rack is installed on the floor rail structure by blind bolts; tooling partitions are also fixed at the front and rear ends of the floor rail to seal the front and rear of the floor rail to prevent debris from entering the tooling system.

[0017] Furthermore, each connection tool specifically includes:

[0018] X-axis motor, crossbeam, horizontal motion module, lifting motion module, wiring sheet metal, connecting tooling slider and X-axis limit device;

[0019] The crossbeam is the main load-bearing component of the connecting tooling, including a crossbeam rack, a crossbeam guide rail and a crossbeam structural member, and a connecting tooling slider and an X-direction motor are installed on the bottom surface thereof, and an X-direction motor terminal gear is provided at the end of the rotating shaft of the X-direction motor; the X-direction motor terminal gear cooperates with the ground rail rack, and the connecting tooling slider cooperates with the ground rail guide rail, and the X-direction movement of the connecting tooling is driven by the transmission mode of the gear rack and the guide rail; the X-direction limit device is installed at both ends of the crossbeam in the X direction to prevent the connecting tooling from having an X-direction collision;

[0020] The horizontal motion modules are arranged in a plurality along the Y direction; in each horizontal motion module, two horizontal motion module rear bottom surface sliders are installed on the rear bottom surface of the horizontal motion module, two horizontal motion module back surface sliders are installed on the back of the horizontal motion module, a Y-direction motor is installed on the front of the horizontal motion module, and a Y-direction motor end gear is provided at the end of the rotating shaft of the Y-direction motor; the Y-direction motor end gear cooperates with the crossbeam rack, the horizontal motion module bottom surface slider and the horizontal motion module back surface slider cooperate with the crossbeam guide rail, and the Y-direction motion of the horizontal motion module is driven by the transmission mode of the gear rack and the guide rail; Y-direction limit devices are installed at both ends of the horizontal motion module in the Y direction to avoid Y-direction collision between the horizontal motion modules;

[0021] The lifting motion module includes a lifting module, a lifting connection, a three-dimensional force sensor, and an angle-adjustable positioning member; the lifting module is fixedly connected to the horizontal motion module by bolts to drive the angle-adjustable positioning member to move in the Z direction; the lifting connection member is fixedly connected to the lifting module and the three-dimensional force sensor by bolts; the three-dimensional force sensor is fixedly connected to the angle-adjustable positioning member by blind bolts to monitor the contact force data between the angle-adjustable positioning member and the frame member.

[0022] Furthermore, the conformable clamp specifically comprises:

[0023] The beam clamp and the plate clamp, different clamps all have a common clamp housing, conformal pad, clamp bolt and clamp reinforcement rib; the conformal pad is used to adapt to product surfaces with different curvatures, and it is connected to the clamp housing through the clamp bolt; the beam clamp and the plate clamp are used to clamp beams and plates respectively, and their upper and lower surfaces are clamped by clamp bolts, and multiple groups of clamp reinforcement ribs are arranged on the surface, and the clamping holes of the clamp bolts are arranged on the clamp reinforcement ribs, so as to improve the overall stiffness and clamping reliability of the conformal clamp.

[0024] Furthermore, retractable dust-proof accordion covers are installed between two adjacent connecting toolings, between the outermost connecting tooling and the tooling partition, between two adjacent horizontal motion modules, and between the outermost horizontal motion module and the crossbeam. The accordion covers and tooling partitions are used to protect the internal mechanical structure and electrical components of the tooling system and prevent debris from falling into the tooling system.

[0025] Furthermore, the angle-adjustable positioning member specifically includes:

[0026] R-axis rotating table and swing structure; the lower end outer wall of the R-axis rotating table is fixedly connected to the three-dimensional force sensor by blind bolts, and the upper end outer wall is fixedly connected to the swing structure by bolts; the outer side of the R-axis rotating table is engraved with a rotation scale to quantify the rotation angle, and the swing structure is provided with a rotation center hole, a locking hole and a positioning hole, and can be connected to the frame through the positioning hole using connecting bolts to position the frame; the swing structure is engraved with a swing scale to quantify the swing angle; and the rotation center hole is located at the top and the locking hole is located at the bottom.

[0027] Furthermore, the flexible tooling control system includes:

[0028] An electrical cabinet, an industrial computer, a PLC controller and a bus coupling module; the PLC controller and the bus coupling module are installed in the electrical cabinet, and a motor driver and an air switch arranged on the bus are also installed in the electrical cabinet; the industrial computer is connected to the PLC controller through a network cable, and the PLC controller is connected to the motor driver through a bus, and the motor driver is respectively connected to an X-axis motor, a Y-axis motor and a lifting module.

[0029] The present invention also provides a control method for the aircraft skeleton welding flexible intelligent tooling system with deformation prediction function as described above, which specifically comprises the following steps:

[0030] S1. Input the control program on the industrial computer and connect it to the PLC controller, and establish the connection relationship between the control program and the X-axis motor, Y-axis motor, lifting module and motor driver through the PLC controller;

[0031] S2. Import the workpiece digital model into the industrial computer, and automatically generate the coordinate position to which the angle-adjustable positioning part needs to be moved. The industrial computer sends a command signal to the PLC controller, and the PLC controller controls the X-axis motor, Y-axis motor and lifting module connected to the tooling to work, and controls the angle-adjustable positioning part to move to the specified position;

[0032] S3, hoist and load each frame, and position the frame by connecting the angle-adjustable positioning pieces on the tooling;

[0033] S4, loading each stringer, clamping the stringer and each frame together through the stringer clamp, and ensuring that the conformal curved surface of the conformal pad is completely fitted with the outer surface of the workpiece during the clamping process;

[0034] S5. After the welding and post-weld heat treatment of the trusses and the frame are completed, the plates are loaded, and the plates and the frame are clamped together by the plate clamp. During the clamping process, the conformal curved surface of the conformal pad is ensured to be completely fitted with the outer surface of the workpiece, and the height of the clamp support structure is adjusted to support the plate clamp;

[0035] S6. After all the panels are heat treated after welding, force monitoring data is obtained through a three-dimensional force sensor. The force monitoring data and prior data are integrated to establish a Gaussian regression deformation prediction model. The post-weld deformation of the product is predicted through a force monitoring data-post-weld deformation prediction method based on Gaussian process regression. The welding quality of the aircraft skeleton product is evaluated based on the deformation of the product.

[0036] S7. When the aircraft skeleton product is taken out of the rack after welding, gradually loosen the clamping of the positioning points, and use the manual operation mode in the industrial computer to move the tooling system and lift the product out of the rack.

[0037] Furthermore, step S6 specifically includes:

[0038] S61, obtaining n groups of prior data of contact force between angle-adjustable positioning parts and frame parts and deformation of parts after welding through simulation of welding of skeleton parts;

[0039] S62. The contact force between the frame and the positioning part is used as the input feature, the post-welding deformation is used as the output feature, the radial basis kernel function is selected as the covariance function, the hyperparameters in the covariance function are estimated using the maximum likelihood, and the prediction formula for the post-welding deformation of the product is established through the definition of multivariate Gaussian distribution:

[0040]

[0041] Among them, y represents the product post-welding deformation data in the prior data, f * is the product deformation data predicted by the Gaussian regression model, μ(X) is the mean of the contact force data in the prior data, and μ(X * ) is the mean value of the actual force monitoring data after welding, K is the covariance function of all possible combinations of contact forces in the prior sample, K * For force monitoring data X * The covariance function of all possible combinations of contact force inputs in the prior sample, K ** is the covariance function of all possible combinations of force monitoring data;

[0042] S63. According to the conditional Gaussian standard law, the post-weld deformation prediction formula based on the prediction model is solved:

[0043]

[0044] in, Represents the uncertainty of the predicted deformation value; according to the post-welding deformation prediction data condition, it follows the multivariate Gaussian distribution, and the probability is the largest at the mean, so the post-welding deformation data of the aircraft skeleton product f * The best estimate of f is * =μ(X * )+K * K-1 (y-μ(X)).

[0045] Furthermore, step S61 specifically includes:

[0046] S611. Create a parametric model of the skeleton part, including the following features: manufacturing errors of the positioning clamping hole and the welding area; the offset of the center of the part positioning hole in the XYZ direction and the offset of the V-groove angle of the welding area are defined as Gaussian distribution random variables with a mean of 0 and a standard deviation according to the process specification to ensure that the error space covers the actual manufacturing fluctuations;

[0047] S612, using Latin hypercube sampling method to generate n groups of process parameters, including welding speed, heat input, welding area clamping deviation, and perform simulation analysis of skeleton parts welding;

[0048] S613, extracting the post-welding deformation of parts and the contact support reaction force at the positioning point of n groups of welding simulation data, and obtaining prior data for predicting the post-welding deformation of skeleton parts.

[0049] By means of the above technical solution, the present invention has at least the following beneficial effects:

[0050] The aircraft skeleton welding flexible intelligent tooling system designed by the present invention can adapt to skeleton parts of different configurations and realize fast and accurate flexible positioning; the stringer clamp and the plate clamp clamp the welding area to resist welding deformation force; after welding, the force detection data is obtained through the three-dimensional force sensor and the force monitoring data-post-welding deformation prediction method based on Gaussian process regression is used to enable the tooling system to predict the post-welding deformation of the skeleton product. The present invention can effectively improve the high-quality and rapid trial production capabilities of aircraft skeletons and enhance the research and development level of high-performance aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is an overall structural view of an aircraft frame welding flexible intelligent tooling system with deformation prediction function proposed by the present invention;

[0052] Figure 2 This is the structural view of the ground rail in the flexible intelligent tooling system;

[0053] Figure 3 It is a structural view of connecting tooling in the flexible intelligent tooling system;

[0054] Figure 4 This is the structural view of the horizontal motion module and the lifting motion module in the flexible intelligent tooling system;

[0055] Figure 5 This is a structural view of the angle-adjustable positioning parts in the flexible intelligent tooling system;

[0056] Figure 6This is the structural view of the conformal gripper in the flexible intelligent tooling system;

[0057] Figure 7 This is a structural view of the gripper support structure in the flexible intelligent tooling system;

[0058] Figure 8 This is a flow chart of the force-post-welding deformation prediction method based on Gaussian process regression proposed by the present invention;

[0059] Fig. 9 Schematic diagram of frame positioning for controlling the flexible intelligent tooling system for welding the aircraft skeleton;

[0060] Fig.10 Schematic diagram of the stringer welding process for controlling the flexible intelligent tooling system to weld the aircraft frame;

[0061] Fig.11 Schematic diagram of post-welding of panels for controlling the flexible intelligent tooling system for aircraft frame welding.

[0062] Figure numerals: 1-ground rail; 1.1-ground rail structure; 1.2-ground rail guide; 1.3-ground rail rack; 1.4-leveling foot; 1.5-ground rail reinforcement; 2-connecting tooling; 2.1-X-axis motor; 2.1.1-X-axis motor end gear; 2.2-crossbeam; 2.2.1-crossbeam rack; 2.2.2-crossbeam guide; 2.2.3-crossbeam structure; 2.3-horizontal motion module; 2.3.1-slider on the rear bottom surface of the horizontal motion module; 2.3.2-Y-axis motor; 2.3.3-slider on the back side of the horizontal motion module; 2.3.4-Y-axis motor end gear; 2.3.5-Y-axis limit device; 2.3.6 front side of the horizontal motion module; 2.3.7 back side of the horizontal motion module; 2.3.8 rear bottom side of the horizontal motion module; 2.4-lifting motion module; 2.4.1-lifting module; 2.4.2- Lifting connector; 2.4.3-3D force sensor; 2.4.4-angle adjustable positioning member; 2.4.4.1-R-axis rotating table; 2.4.4.2-swinging structure; 2.4.4.3-rotation center hole; 2.4.4.4-locking hole; 2.4.4.5-positioning hole; 2.5-wiring sheet metal; 2.6-connecting tooling slider; 2.7-X-axis limit device; 3-adaptive clamp; 3.1-beam Clamp; 3.2-plate clamp; 3.3-clamp housing; 3.4-conformal pad; 3.5-clamp bolt; 3.6-clamp reinforcement rib; 4-clamp support structure; 4.1-scissor structure; 4.2-waist groove; 5-steel springboard; 6-workbench; 7-beam; 8-frame; 9-plate; 10-electrical cabinet; 11-industrial computer; 12-accordion cover; 13-pit; 14-tooling partition. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following will be combined with the attached Figure 1-11 The present invention is described in detail. It should be noted that these specific embodiments are only used to explain the present invention and do not limit its scope. In addition, the technical features involved in each embodiment described in the text can be combined with each other as long as they do not conflict with each other.

[0064] When describing the present invention, it should be particularly noted that, unless otherwise expressly provided or limited, when a component is mentioned to be "connected" to another component, it means that it can be directly connected or indirectly connected through an intermediate medium. Terms such as "installation" and "fixation" should be broadly understood. For example, they can refer to fixed connection, detachable connection or integral connection, mechanical connection or electrical connection, direct connection or indirect connection through an intermediary, and even include the internal connection relationship or interaction between the two components. For ordinary technicians in this field, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0065] In addition, although the steps in the present invention are arranged with numbers, they are not used to limit the order of the steps. Unless the order of the steps is clearly stated or the execution of a certain step requires other steps as a basis, the relative order of the steps can be adjusted. It is understood that the term "and / or" used in this article involves and covers any and all possible combinations of one or more of the associated listed items.

[0066] like Figure 1 As shown, the present invention proposes a flexible intelligent tooling system for welding an aircraft skeleton with a deformation prediction function, which specifically includes:

[0067] Ground rail 1, connecting tooling 2, conformable clamp 3, clamping support structure 4, steel springboard 5, workbench 6 and flexible tooling control system;

[0068] The ground rails 1 are provided with two tracks, which are symmetrically fixedly installed at both ends of the pit 13 in the Y direction, supporting the connecting tool 2 and serving as the base of the X-direction motion axis of the connecting tool 2;

[0069] In this embodiment, Figure 2 As shown, the ground track 1 specifically includes:

[0070] A floor rail structure 1.1, a floor rail guide 1.2, a floor rail rack 1.3, a leveling foot 1.4 and a floor rail reinforcement 1.5; the floor rail structure 1.1 is used as the base of the flexible intelligent tooling system and is welded to the leveling foot 1.4; the leveling foot 1.4 is placed on the surface of the pit 13, and the X-direction straightness of the floor rail 1 is leveled by adding a gasket, and a floor rail reinforcement 1.5 is arranged thereon to improve the overall rigidity of the floor rail; there are two floor rail guides 1.2, which are symmetrically located on both sides of the upper surface of the floor rail, and the floor rail rack 1.3 is installed on the floor rail structure 1.1 by blind bolts; tooling partitions 14 are also fixed at the front and rear ends of the floor rail to seal the front and rear of the floor rail 1 to prevent debris from entering the tooling system.

[0071] There are four connecting fixtures 2, each of which is installed on the ground rail 1, driving the internal angle-adjustable positioning member 2.4.4 to move along the XYZ three-degree-of-freedom;

[0072] In this embodiment, Figure 3 As shown, each connection tool 2 specifically includes:

[0073] X-axis motor 2.1, crossbeam 2.2, horizontal motion module 2.3, lifting motion module 2.4, wiring sheet metal 2.5, connecting tooling slider 2.6 and X-axis limit device 2.7;

[0074] The crossbeam 2.2 is the main load-bearing component of the connecting tool 2, including a crossbeam rack 2.2.1, a crossbeam guide rail 2.2.2 and a crossbeam structural member 2.2.3. The bottom surface of the crossbeam 2.2 is installed with a connecting tool slider 2.6 and an X-direction motor 2.1. The end of the rotating shaft of the X-direction motor 2.1 is provided with an X-direction motor end gear 2.1.1; the X-direction motor end gear 2.1.1 cooperates with the ground rail rack 1.3, and the connecting tool slider 2.6 cooperates with the ground rail guide rail 1.2. Through the transmission mode of the gear rack and the guide rail, the X-direction movement of the connecting tool 2 is driven; the X-direction limit device 2.7 is installed at both ends of the crossbeam 2.2 in the X direction to prevent the connecting tool 2 from having an X-direction collision;

[0075] In addition, the present application also installs a retractable dust-proof accordion cover 12 between two adjacent connecting toolings 2, between the outermost connecting tooling 2 and the tooling partition 14, between two adjacent horizontal motion modules 2.3, and between the outermost horizontal motion module 2.3 and the crossbeam 2.2. The accordion cover 12 and the tooling partition 14 are used to protect the internal mechanical structure and electrical components of the tooling system to prevent debris from falling into the tooling system.

[0076] For example Figure 4As shown, in this embodiment, the horizontal motion modules 2.3 are arranged in a plurality along the Y direction; in each horizontal motion module 2.3, two horizontal motion module rear bottom surface sliders 2.3.1 are installed on the rear bottom surface 2.3.8 of the horizontal motion module, two horizontal motion module back surface sliders 2.3.3 are installed on the back surface 2.3.7 of the horizontal motion module, a Y-direction motor 2.3.2 is installed on the front surface 2.3.6 of the horizontal motion module, and a Y-direction motor end gear 2.3.4 is installed at the end of the rotating shaft of the Y-direction motor 2.3.2; the Y-direction motor end gear 2.3.4 cooperates with the crossbeam rack 2.2.1, the horizontal motion module bottom surface slider 2.3.1 and the horizontal motion module back surface slider 2.3.3 cooperate with the crossbeam guide rail 2.2.2, and the Y-direction motion of the horizontal motion module 2.3 is driven by the transmission mode of the gear rack and the guide rail; Y-direction limit devices 2.3.5 are installed at both ends of the horizontal motion module 2.3 in the Y direction to avoid Y-direction collision between the horizontal motion modules 2.3;

[0077] The lifting motion module 2.4 includes a lifting module 2.4.1, a lifting connection part 2.4.2, a three-dimensional force sensor 2.4.3, and an angle-adjustable positioning part 2.4.4; the lifting module 2.4.1 is fixedly connected to the horizontal motion module 2.3 by bolts to drive the angle-adjustable positioning part 2.4.4 to move in the Z direction; the lifting connection part 2.4.2 is fixedly connected to the lifting module 2.4.1 and the three-dimensional force sensor 2.4.3 by bolts; the three-dimensional force sensor 2.4.3 is fixedly connected to the angle-adjustable positioning part 2.4.4 by blind bolts to monitor the contact force data between the angle-adjustable positioning part 2.4.4 and the frame part 8;

[0078] The internal structure of the angle-adjustable positioning member 2.4.4 is as follows: Figure 5 As shown, it includes an R-axis rotating table 2.4.4.1 and a swinging structure 2.4.4.2; the lower end outer wall of the R-axis rotating table 2.4.4.1 is fixedly connected to the three-dimensional force sensor 2.4.3 by a blind bolt, and the upper end outer wall is fixedly connected to the swinging structure 2.4.4.2 by a bolt; the outer side of the R-axis rotating table 2.4.4.1 is engraved with a rotation scale for quantifying the rotation angle, and the swinging structure 2.4.4.2 is provided with a rotation center hole 2.4.4.3, a locking hole 2.4.4.4 and a positioning hole 2.4.4.5, and can be connected to the frame 8 through the positioning hole 2.4.4.5 using a connecting bolt, so as to position the frame 8; the swinging structure 2.4.4.2 is engraved with a swing scale for quantifying the swing angle; and the rotation center hole 2.4.4.3 is located at the top, and the locking hole 2.4.4.4 is located at the bottom. The rotation center hole and the locking hole are arranged in this way so that the locking force arm is large, thereby improving the reliability of positioning.

[0079] The conformal clamp 3 includes a beam clamp 3.1 and a plate clamp 3.2, which are used to clamp the welds between the beam 7 and the frame 8, and between the plate 9 and the frame 8, respectively, to resist deformation force during welding;

[0080] like Figure 6 As shown, in this embodiment, the conformable clamp 3 specifically includes:

[0081] The beam clamp 3.1 and the plate clamp 3.2, different clamps all have a common clamp housing 3.3, a conformal pad 3.4, a clamp bolt 3.5 and a clamp reinforcement rib 3.6; the conformal pad 3.4 is used to adapt to product surfaces with different curvatures, and it is connected to the clamp housing 3.3 by the clamp bolt 3.5; the beam clamp 3.1 and the plate clamp 3.2 are used to clamp the beam 7 and the plate 9 respectively, and their upper and lower surfaces are clamped by the clamp bolt 3.5, and at the same time, a plurality of groups of clamp reinforcement ribs 3.6 are arranged on the surface, and the clamping holes of the clamp bolts 3.5 are arranged on the clamp reinforcement rib 3.6, so as to improve the overall rigidity and clamping reliability of the conformal clamp 3.

[0082] The clamp support structure 4 is provided with four, and is installed below the weld of the plate 9, such as Figure 7 As shown, it includes a scissor structure 4.1, a waist groove 4.2 and a support platform; the lifting movement of the support platform is adjusted by the scissor structure 4.1 to support the plate-shaped clamp 3.2, and the waist groove 4.2 arranged on the surface of the base is connected with different positioning holes on the connecting tool 2 to achieve flexible positioning of the clamp support structure 4;

[0083] The workbench 6 is placed around the inside of the pit 13, and the steel springboard 5 is placed on the workbench 6 along the system Y direction to provide a stepping space for workers. In this embodiment, the steel springboard 5 is a plurality of groups of different specifications. After the connecting tooling 2 is flexibly positioned for the skeleton parts of different configurations, the steel springboards 5 of different specifications are used to be placed in the gaps between the connecting toolings;

[0084] The flexible tooling control system is installed on the pit 13 to send out command signals to control the entire tooling system to complete the flexible positioning of the aircraft frame and the prediction of post-welding deformation;

[0085] Flexible tooling control system such as Figure 1 As shown, specifically including:

[0086] An electrical cabinet 10, an industrial computer 11, a PLC controller and a bus coupling module; the PLC controller and the bus coupling module are installed in the electrical cabinet 10, and a motor driver and an air switch arranged on the bus are also installed in the electrical cabinet 10; the industrial computer 11 is connected to the PLC controller via a network cable, and the PLC controller is connected to the motor driver via a bus, and the motor driver is respectively connected to the X-axis motor 2.1, the Y-axis motor 2.3.2 and the lifting module 2.4.1.

[0087] In addition, it should be noted that the XYZ direction of the tooling system designed in this application is as follows Figure 1 As shown, the ground rail 1 is the X direction, the direction facing the positioning clamping hole 2.4.4.5 of the angle-adjustable positioning member 2.4.4 is the X positive direction, the rise is the Z positive direction, the crossbeam is the Y direction, and the Y positive direction is obtained by the right-hand rule;

[0088] All motors in the flexible intelligent tooling system designed in the present application are equipped with a brake mechanism, and the brake torque is greater than 2 times the rated torque, which can realize power-off locking of the tooling system.

[0089] After the fuselage frame is welded, the relative positioning accuracy between the parts is required to be high, but the welding force generated during the welding process will cause the parts to deform, resulting in reduced welding accuracy. Therefore, this application designs a flexible positioning tool for a multi-configuration frame based on the structural characteristics of the aircraft frame; a conformal clamp at the weld is designed to resist the welding deformation force; and a tool control system with the function of predicting the deformation of parts after welding is developed.

[0090] So far, the flexible intelligent tooling system designed in this application has been introduced. The following embodiment also provides a control method of the system, which specifically includes:

[0091] S1, input the control program on the industrial computer 11 and connect it to the PLC controller, and establish the connection relationship between the control program and the X-axis motor 2.1, the Y-axis motor 2.3.2, the lifting module 2.4.1 and the motor driver through the PLC controller;

[0092] S2, import the workpiece digital model into the industrial computer 11, and automatically generate the coordinate position to which the angle-adjustable positioning member 2.4.4 needs to be moved, the industrial computer 11 sends a command signal to the PLC controller, and the PLC controller controls the X-axis motor 2.1, the Y-axis motor 2.3.2 and the lifting module 2.4.1 connected to the tooling 2 to work, and controls the angle-adjustable positioning member 2.4.4 to move to the specified position;

[0093] S3, hoisting and loading each frame 8, positioning the frame 8 by connecting the angle adjustable positioning piece 2.4.4 on the tooling 2, such as Fig. 9 As shown;

[0094] S4, loading each stringer 7, clamping the stringer 7 and each frame 8 together through the stringer clamp 3.1, and ensuring that the conformal surface of the conformal pad 3.4 is completely in contact with the outer surface of the workpiece during the clamping process, such as Fig.10 As shown;

[0095] S5, after the welding and post-weld heat treatment of the beam 7 and frame 8 are completed, Fig.11 As shown, each plate 9 is loaded, and the plate 9 and the frame 8 are clamped together by the plate clamp 3.2. During the clamping process, the conformal curved surface of the internal pad 3.4 of the plate clamp 3.2 is ensured to be completely in contact with the outer surface of the workpiece, and the height of the clamp support structure 4 is adjusted to support the plate clamp 3.2;

[0096] S6. After all the panels have been heat treated after welding, force monitoring data is obtained through the three-dimensional force sensor 2.4.3. The force monitoring data and prior data are integrated to establish a Gaussian regression deformation prediction model. The post-weld deformation of the product is predicted through the force monitoring data-post-weld deformation prediction method based on Gaussian process regression. The welding quality of the aircraft skeleton product is evaluated based on the deformation of the product.

[0097] As a preferred embodiment, Figure 8 As shown, step S6 specifically includes:

[0098] S61. Obtain n groups of prior data on the contact force between the angle-adjustable positioning member 2.4.4 and the frame member and the deformation of the parts after welding through simulation of the welding of the frame parts;

[0099] More specifically, step S61 specifically includes:

[0100] S611. In this embodiment, Catia is used to create a parametric model of the skeleton part, which includes the following features: manufacturing errors of the part positioning holes and welding areas; wherein the offset of the center of the positioning clamping hole in the XYZ direction and the offset of the V-groove angle of the welding area are defined as Gaussian distribution random variables with a mean of 0 and a standard deviation according to the process specifications to ensure that the error space covers the actual manufacturing fluctuations;

[0101] S612, Latin hypercube sampling method is used to generate n groups of process parameters, including welding speed, heat input, and welding area clamping deviation. The double ellipsoid heat source model is defined through the Fortran subroutine. The six degrees of freedom of the part positioning clamping point are fully constrained in the Abaqus software to simulate rigid fixation. At the same time, the welding conformal clamp adopts friction contact and normal pressure contact coupling constraints to perform skeleton part welding simulation analysis;

[0102] S613, using multi-core parallelism to accelerate the solution and track the model convergence in real time, setting the frame clamping point as the reference point, extracting the post-welding deformation of the parts and the contact support reaction force at the positioning point of n groups of welding simulation data, and obtaining the priori data for predicting the post-welding deformation of the skeleton parts;

[0103] S62, taking the contact force between the frame and the positioning part as the input feature and the post-welding deformation as the output feature, selecting the radial basis kernel function as the covariance function, and using the maximum likelihood estimation for the hyperparameters in the covariance function;

[0104] The prediction formula for product post-weld deformation is established by defining multivariate Gaussian distribution:

[0105]

[0106] Among them, y represents the product post-welding deformation data in the prior data, f * is the product deformation data predicted by the Gaussian regression model, μ(X) is the mean of the contact force data in the prior data, and μ(X * ) is the mean value of the actual force monitoring data after welding, K is the covariance function of all possible combinations of contact forces in the prior sample, and its formula can be expressed as:

[0107]

[0108] K * For force monitoring data X * The covariance function of all possible combinations of contact force inputs in the prior sample, i.e., K * =[k(X * ,X 1 )k(X * ,X 2 )...k(X * ,X n )]; K ** is the covariance function of all possible combinations of force monitoring data, that is, K ** =[k(X * ,X * )];X n is the nth contact force input in the prior sample;

[0109] The radial basis function RBF is the effective basis of the Gaussian regression prediction model. RBF is infinitely differentiable and can realize nonlinear mapping. Compared with other commonly used polynomial kernel functions, it reduces the complexity of the model. Therefore, the radial basis function is selected as the kernel function of the post-weld deformation prediction model. The formula is expressed as follows:

[0110]

[0111] Among them, l>0 is the characteristic length scale of the covariance function, is a hyperparameter, and Xi Input the i-th contact force sample in the prior sample, X j Input the j-th contact force sample in the prior sample;

[0112] The hyperparameter l is solved by the maximum likelihood estimation method, which can make the RBF kernel function more adaptable to the post-weld deformation prediction problem. The hyperparameter is learned by maximizing the log-likelihood function. The log-likelihood function is as follows:

[0113]

[0114] where θ is the hyperparameter such as the length scale l in the kernel function, and here θ = {l};

[0115] The likelihood function gradient obtained by taking the partial derivative of the likelihood function is:

[0116]

[0117] Update the hyperparameter l using the gradient optimization method, set the number of iterations item, and after item calculations, obtain the hyperparameter l of the kernel function;

[0118] S63. According to the conditional Gaussian standard rule, solve the post-weld deformation prediction formula based on the prediction model:

[0119]

[0120] where, represents the uncertainty of the predicted deformation value; according to the fact that the post-weld deformation prediction data conditionally follows a multivariate Gaussian distribution and the probability is the largest at the mean value, the post-weld deformation data f of the aircraft frame product * The best estimate of is f * = μ(X * ) + K * K -1 (y - μ(X)).

[0121] The function of predicting the post-weld deformation of the parts of the tooling system designed by the present invention is to use the post-weld force monitoring data to predict the post-weld deformation of the parts. Since the application scenario of the tooling is the skeleton welding trial production, there is no fixed value for the deformation tolerance threshold when carrying out different welding experiments, which needs to be determined by the R & D personnel according to the situation, and the parts can be further deformed by post-weld heat treatment. Through the post-weld deformation prediction method proposed by the present invention, the demand for predicting the post-weld deformation of the intelligent tooling for the fuselage skeleton welding trial production can be met, so as to provide a basis for the R & D personnel to evaluate the trial production quality and whether further heat treatment is needed to eliminate the deformation.

[0122] S7. When the aircraft frame product exits the rack after welding, gradually loosen the clamping of the positioning points, and move the tooling system through the manual operation mode in the industrial control computer 11, and hoist the product out of the rack.

[0123] So far, the flexible intelligent tooling system and its control method proposed by the present invention have completed the welding of aircraft frames, realized the flexible positioning of multi-configuration frame parts, the clamping of welding areas, and the prediction of product post-welding deformation and quality assessment. Compared with the existing technology, the present invention can effectively improve the high-quality and rapid trial production capabilities of aircraft frames and enhance the development level of high-performance aircraft.

[0124] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0125] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A flexible intelligent tooling system for welding aircraft skeletons with deformation prediction function, characterized in that: Specifically include: A ground rail (1), a connecting tool (2), a conformable clamp (3), a clamp support structure (4), a steel springboard (5), a workbench (6) and a flexible tool control system; The ground rails (1) are provided with two tracks, which are symmetrically fixedly installed at both ends of the pit (13) in the Y direction, support the connecting tooling (2), and serve as the base of the X-direction motion axis of the connecting tooling (2); There are four connecting fixtures (2), each of which is installed on the ground rail (1) to drive the angle-adjustable positioning member (2.4.4) inside the connecting fixture to move along the XYZ three-degree-of-freedom. The conformal clamp (3) comprises a beam clamp (3.1) and a plate clamp (3.2), which are respectively used to clamp the welds between the beam (7) and the frame (8), and between the plate (9) and the frame (8), so as to resist deformation force during welding; The clamp support structure (4) is provided with four and is installed below the weld of the plate (9), and comprises a scissor-fork structure (4.1), a waist-shaped groove (4.2) and a support platform; the lifting and lowering movement of the support platform is adjusted by the scissor-fork structure (4.1), the plate clamp (3.2) is supported, and the waist-shaped groove (4.2) provided on the surface of the base is connected with different positioning holes on the connecting tool (2), so as to realize the flexible positioning of the clamp support structure (4); The workbench (6) is placed around the inside of the pit (13), and the steel springboard (5) is placed on the workbench (6) along the system Y direction to provide a working space for workers; The flexible tooling control system is installed on the pit (13) to send out command signals to control the entire tooling system to complete the flexible positioning of the aircraft frame and the prediction of post-welding deformation.

2. The aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 1 is characterized in that: The ground rail (1) specifically comprises: A floor rail structure (1.1), a floor rail guide rail (1.2), a floor rail rack (1.3), a leveling foot seat (1.4) and a floor rail reinforcement rib (1.5); the floor rail structure (1.1) is used as the base of the flexible intelligent tooling system and is welded to the leveling foot seat (1.4); the leveling foot seat (1.4) is placed on the surface of a pit (13), and the X-direction straightness of the floor rail (1) is leveled by adding a gasket, and a floor rail reinforcement rib (1.5) is arranged on the floor rail to improve the overall rigidity of the floor rail; the floor rail guide rails (1.2) are provided with two symmetrically located on both sides of the upper surface of the floor rail; the floor rail rack (1.3) is installed on the floor rail structure (1.1) by blind bolts; tooling partitions (14) are also fixed at the front and rear ends of the floor rail to seal the front and rear of the floor rail (1) to prevent debris from entering the tooling system.

3. The aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 2 is characterized in that: Each connecting tool (2) specifically comprises: X-axis motor (2.1), crossbeam (2.2), horizontal motion module (2.3), lifting motion module (2.4), wiring sheet metal (2.5), connecting tooling slider (2.6) and X-axis limit device (2.7); The crossbeam (2.2) is the main load-bearing component of the connecting tool (2), comprising a crossbeam rack (2.2.1), a crossbeam guide rail (2.2.2) and a crossbeam structural member (2.2.3); a connecting tool slider (2.6) and an X-direction motor (2.1) are installed on the bottom surface of the crossbeam (2.2); an X-direction motor terminal gear (2.1.1) is provided at the end of the rotating shaft of the X-direction motor (2.1); the X-direction motor terminal gear (2.1.1) cooperates with the ground rail rack (1.3), and the connecting tool slider (2.6) cooperates with the ground rail guide rail (1.2); the X-direction movement of the connecting tool (2) is driven by the transmission mode of the gear rack and the guide rail; the X-direction limit device (2.7) is installed at both ends of the crossbeam (2.2) in the X direction to prevent the connecting tool (2) from having an X-direction collision; The horizontal motion modules (2.3) are arranged in a plurality along the Y direction; in each horizontal motion module (2.3), two horizontal motion module rear bottom surface sliders (2.3.1) are installed on the rear bottom surface (2.3.8) of the horizontal motion module, two horizontal motion module rear back sliders (2.3.3) are installed on the back surface (2.3.7) of the horizontal motion module, a Y-direction motor (2.3.2) is installed on the front surface (2.3.6) of the horizontal motion module, and a Y-direction motor end gear (2.3) is installed at the end of the rotating shaft of the Y-direction motor (2.3.2). .4); the Y-direction motor end gear (2.3.4) cooperates with the crossbeam rack (2.2.1), the bottom slider (2.3.1) of the horizontal motion module and the back slider (2.3.3) of the horizontal motion module cooperate with the crossbeam guide rail (2.2.2), and the Y-direction movement of the horizontal motion module (2.3) is driven by the transmission mode of the gear rack and the guide rail; Y-direction limit devices (2.3.5) are installed at both ends of the horizontal motion module (2.3) in the Y direction to avoid Y-direction collision between the horizontal motion modules (2.3); The lifting and lowering motion module (2.4) comprises a lifting module (2.4.1), a lifting connection member (2.4.2), a three-dimensional force sensor (2.4.3), and an angle-adjustable positioning member (2.4.4); the lifting and lowering module (2.4.1) is fixedly connected to the horizontal motion module (2.3) by bolts, so as to drive the angle-adjustable positioning member (2.4.4) to move in the Z direction; the lifting and lowering connection member (2.4.2) is fixedly connected to the lifting and lowering module (2.4.1) and the three-dimensional force sensor (2.4.3) by bolts; the three-dimensional force sensor (2.4.3) is fixedly connected to the angle-adjustable positioning member (2.4.4) by blind bolts, so as to monitor the contact force data between the angle-adjustable positioning member (2.4.4) and the frame member (8).

4. The aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 2 is characterized in that: The shape-matching holder (3) specifically comprises: The beam clamp (3.1) and the plate clamp (3.2) are different clamps, all of which have a common clamp housing (3.3), a conformal pad (3.4), a clamp bolt (3.5) and a clamp reinforcement rib (3.6); the conformal pad (3.4) is used to adapt to product surfaces with different curvatures, and is connected to the clamp housing (3.3) via the clamp bolt (3.5); the beam clamp (3.1) and the plate clamp (3.2) are used to clamp the beam (7) and the plate (9) respectively, and their upper and lower surfaces are clamped via the clamp bolts (3.5), and multiple groups of clamp reinforcement ribs (3.6) are arranged on the surface, and the clamping holes of the clamp bolts (3.5) are arranged on the clamp reinforcement ribs (3.6), so as to improve the overall rigidity and clamping reliability of the conformal clamp (3).

5. The aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 3 is characterized in that: A retractable dustproof accordion cover (12) is installed between two adjacent connecting fixtures (2), between the outermost connecting fixture (2) and the fixture partition (14), between two adjacent horizontal motion modules (2.3), and between the outermost horizontal motion module (2.3) and the crossbeam (2.2). The accordion cover (12) and the fixture partition (14) are used to protect the internal mechanical structure and electrical components of the fixture system and prevent debris from falling into the fixture system.

6. The aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 3 is characterized in that: The angle-adjustable positioning member (2.4.4) specifically includes: An R-axis rotating table (2.4.4.1) and a swing structure (2.4.4.2); the lower end outer wall of the R-axis rotating table (2.4.4.1) is fixedly connected to the three-dimensional force sensor (2.4.3) by blind bolts, and the upper end outer wall is fixedly connected to the swing structure (2.4.4.2) by bolts; the outer side of the R-axis rotating table (2.4.4.1) is engraved with a rotation scale for quantifying the rotation angle, and the swing structure (2.4.4.2) is provided with a rotation center hole (2.4.4.3), a locking hole (2.4.4.4) and a positioning hole (2.4.4.5), and can be connected to the frame (8) through the positioning hole (2.4.4.5) using a connecting bolt, so as to position the frame (8); the swing structure (2.4.4.2) is engraved with a swing scale for quantifying the swing angle; and the rotation center hole (2.4.4.3) is located at the top, and the locking hole (2.4.4.4) is located at the bottom.

7. The aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 6 is characterized in that: Flexible tooling control system includes: An electrical cabinet (10), an industrial computer (11), a PLC controller and a bus coupling module; the PLC controller and the bus coupling module are installed in the electrical cabinet (10), and a motor driver and an air switch arranged on the bus are also installed in the electrical cabinet (10); the industrial computer (11) is connected to the PLC controller via a network cable, the PLC controller is connected to the motor driver via the bus, and the motor driver is respectively connected to an X-axis motor (2.1), a Y-axis motor (2.3.2) and a lifting module (2.4.1).

8. A control method for a flexible intelligent tooling system for welding an aircraft skeleton with a deformation prediction function according to any one of claims 1 to 7, characterized in that: The specific steps include: S1, input the control program on the industrial computer (11) and connect it to the PLC controller, and establish the connection relationship between the control program and the X-axis motor (2.1), the Y-axis motor (2.3.2), the lifting module (2.4.1) and the motor driver through the PLC controller; S2, importing the workpiece digital model into the industrial computer (11), and automatically generating the coordinate position to which the angle-adjustable positioning member (2.4.4) needs to be moved, the industrial computer (11) sends a command signal to the PLC controller, and the PLC controller controls the X-axis motor (2.1), the Y-axis motor (2.3.2) and the lifting module (2.4.1) connected to the tooling (2) to work, and controls the angle-adjustable positioning member (2.4.4) to move to the specified position; S3, hoisting and loading each frame member (8), and positioning the frame member (8) by connecting the angle-adjustable positioning member (2.4.4) on the tooling (2); S4, loading each stringer (7), clamping the stringer (7) and each frame member (8) together through the stringer clamp (3.1), and ensuring that the conformal curved surface of the conformal pad (3.4) is completely in contact with the outer surface of the workpiece during the clamping process; S5, after the welding and post-weld heat treatment of the beam (7) and the frame (8) are completed, each plate (9) is loaded, and the plate (9) and the frame (8) are clamped together by the plate clamp (3.2), during the clamping process, the conformal curved surface of the conformal pad (3.4) is ensured to be completely in contact with the outer surface of the workpiece, and the height of the clamp support structure (4) is adjusted to support the plate clamp (3.2); S6. After all the panels have been heat treated after welding, force monitoring data is obtained through the three-dimensional force sensor (2.4.3). The force monitoring data and prior data are integrated to establish a Gaussian regression deformation prediction model. The post-weld deformation of the product is predicted through the force monitoring data-post-weld deformation prediction method based on Gaussian process regression. The welding quality of the aircraft skeleton product is evaluated based on the deformation of the product. S7. When the aircraft skeleton product is taken out of the rack after welding, the clamping of the positioning points is gradually loosened, and the tooling system is moved through the manual operation mode in the industrial control computer (11), and the product is hoisted out of the rack.

9. The control method of the aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 8 is characterized in that: Step S6 specifically includes the following steps: S61. Obtaining n groups of prior data on contact force between the angle-adjustable positioning member (2.4.4) and the frame member (8) and deformation of the parts after welding through simulation of the welding of the skeleton parts; S62, using the contact force between the frame (8) and the positioning member as the input feature and the post-welding deformation as the output feature, selecting the radial basis kernel function as the covariance function, using the maximum likelihood estimation for the hyperparameters in the covariance function, and defining the multivariate Gaussian distribution to establish the prediction formula for the post-welding deformation of the product as follows: Among them, y represents the product post-welding deformation data in the prior data, f * is the product deformation data predicted by the Gaussian regression model, μ(X) is the mean of the contact force data in the prior data, and μ(X * ) is the mean value of the actual force monitoring data after welding, K is the covariance function of all possible combinations of contact forces in the prior sample, K * For force monitoring data X * The covariance function of all possible combinations of contact force inputs in the prior sample, K ** is the covariance function of all possible combinations of force monitoring data; S63. According to the conditional Gaussian standard law, the post-weld deformation prediction formula based on the prediction model is solved: in, Represents the uncertainty of the predicted deformation value; according to the post-welding deformation prediction data condition, it follows the multivariate Gaussian distribution, and the probability is the largest at the mean, so the post-welding deformation data of the aircraft skeleton product f * The best estimate of f is * =μ(X * )+K * K -1 (y-μ(X)).

10. The control method of the aircraft frame welding flexible intelligent tooling system with deformation prediction function according to claim 9 is characterized in that: Step S61 specifically includes: S611. Create a parametric model of the skeleton part, including the following features: manufacturing errors of the part positioning holes and welding areas; the offset of the center of the positioning clamping hole in the XYZ direction and the offset of the V-groove angle of the welding area are defined as Gaussian distribution random variables with a mean of 0 and a standard deviation according to the process specifications to ensure that the error space covers the actual manufacturing fluctuations; S612, using Latin hypercube sampling method to generate n groups of process parameters, including welding speed, heat input, welding area clamping deviation, and perform simulation analysis of skeleton parts welding; S613, extracting the post-welding deformation of parts and the contact support reaction force at the positioning point of n groups of welding simulation data, and obtaining prior data for predicting the post-welding deformation of skeleton parts.

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