A clamping and positioning device and its usage method for butt welding of composite stringer skin

Abstract

This application discloses a stringer clamping and positioning device and its usage method for composite stringer skin docking. The structure includes multiple sets of end effectors and a control system. Each end effector includes a rotation mechanism, an adaptive mechanism, a positioning and adsorption mechanism, and a protective mechanism. The rotation mechanism is fixed on the flange connection surface of the stringer skin docking equipment. The adaptive mechanism includes a horizontal mounting base and a mounting beam perpendicular to the mounting plate. The adaptive mechanism is fixed on the side of the rotation mechanism. The positioning and adsorption mechanism is installed on the lower surface of the horizontal mounting base of the adaptive mechanism. The protective mechanism is installed on the side of the mounting beam. The control system controls multiple sets of end effectors to position and adsorb the stringer to be docked. After rotating 180°, the stringer automatically docks with the skin.

Description

Technical Field

[0001] This application relates to the field of aerospace manufacturing technology, and in particular to a clamping and positioning device and its method for docking composite stringer skin. Background Technology

[0002] Composite material components have been widely used in the aerospace field in recent years due to their excellent specific stiffness, specific modulus, corrosion resistance, and weight reduction properties. Their usage has become an important indicator of an aircraft's advancement. To improve the overall mechanical properties of the components and reduce the overall structural weight, the design plans to extensively utilize stiffened panel structures. Domestically, composite wing panels are mostly T-shaped stiffened panels, and fuselage panels are mostly hat-shaped stiffened panels. These are composed of composite T-shaped stringers, hat-shaped stringers, and composite skin, respectively. In the composite panel molding process, one step requires accurately positioning the stringers onto the skin. Specifically, this involves precisely butt-fitting and bonding the cured composite stringers to the wet composite skin, followed by secondary curing to form the composite T-shaped stiffened panel.

[0003] Currently, the traditional docking method mainly used in China involves installing multiple stringer positioning plates on the skin forming mold for stringer positioning and detecting stringer axis deviation. Each stringer positioning plate has a positioning block on one side of its opening and a threaded tightening device on the other side to clamp the stringer. The significant difference in cross-sectional shape between T-shaped and cap-shaped stringers results in inconsistent opening sizes for the positioning plates, making them unusable. Furthermore, after demolding, the mating surfaces of T-shaped and cap-shaped stringers face upwards, but when docking with the skin using the positioning plates, these mating surfaces need to face downwards. Therefore, each stringer needs to be rotated 180° before docking. Currently, stringers shorter than 10 meters are manually rotated in China, while stringers longer than 10 meters require a stringer forming mold rotation device to rotate the mold and stringer 180° before demolding to achieve the required stringer posture for docking. This traditional docking method has high manufacturing costs, low efficiency, poor docking accuracy, and low automation. It requires a stable, reliable, and automatically controlled automatic docking process equipment to ensure product accuracy and improve docking efficiency. The difficulty lies in the positioning, clamping, and attitude rotation of the stringer. Therefore, it is necessary to develop a clamping and positioning device and a method for docking composite stringer skins. Summary of the Invention

[0004] The purpose of this application is to provide a clamping and positioning device and a method for docking composite stringers with skin. This method can be applied to the process of automatic docking of T-shaped and cap-shaped stringers with skin of aircraft composite panels in the aerospace manufacturing process.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] A clamping and positioning device for docking composite stringer skins includes multiple sets of end effectors and a control system. Each end effector includes a rotating mechanism, an adaptive mechanism, a positioning and adsorption mechanism, and a protective mechanism. The rotating mechanism is fixed to the flange connection surface of the stringer docking equipment. The main frame of the adaptive mechanism is a T-shaped structure, including a horizontal mounting base and a mounting beam perpendicular to the mounting plate. The adaptive mechanism is fixed to the side of the rotating mechanism. The positioning and adsorption mechanism is installed on the lower surface of the horizontal mounting base of the adaptive mechanism. The protective mechanism is installed on the side of the mounting beam. The control system controls the multiple sets of end effectors to position and adsorb the stringer to be docked, and automatically dock with the skin after rotating 180°. The rotating mechanism includes a fixed flange corner seat, a rotary reducer, and a motor. The bottom surface of the fixed flange corner seat is installed on the flange connection surface of the stringer docking equipment. The rotary reducer is connected and fixed to the motor, and its fixed end is installed on the vertical surface of the fixed flange corner seat. The adaptive mechanism includes a horizontal mounting base, a mounting beam, a transition flange corner seat, two spring stops, two gas spring mounting corner seats, four bearing seats, a guide rail, two gas springs, two pneumatic clamps, and two guide rods. The horizontal mounting base includes a rectangular plate and trapezoidal vertical ribs on the long sides of the upper surface of the rectangular plate. There is a notch in the middle of the short sides of the two sides of the rectangular plate. Two bearing seats are installed on each notch along the width of the rectangular plate. The pneumatic clamps are connected to the bearing seats. The guide rods pass through the clamping holes on the pneumatic clamps. A guide rail is provided along the length of the upper surface of the rectangular plate. The mounting beam is perpendicular to the horizontal mounting base and is connected to the guide rail through a slide rail slider structure. The gas spring mounting corner seats are fixed to the bottom side of the mounting beam. The gas springs are arranged parallel to the length of the guide rail on both sides above the guide rail. The two gas springs extend in opposite directions. Spring stops are provided at the two extension ends of the gas springs on the rectangular plate. The transition flange corner seat is fixed to the upper end face of the mounting beam. The rotating end of the rotary reducer of the rotating mechanism is fixed to the transition flange corner seat.The positioning and adsorption mechanism includes a clamping seat, a floating frame, a cylinder, multiple vacuum suction cups, a T-shaped stringer positioning block, a T-shaped stringer positioning cylinder, a hat-shaped stringer positioning block, and a hat-shaped stringer positioning cylinder. The fixed end of the cylinder is connected and fixed to the bottom surface of the horizontal mounting base in the adaptive mechanism. The cylinder has guide posts on both sides, and the movable end of the cylinder is connected and fixed to the clamping seat. The clamping seat includes a flat plate and two double-lug structures at both ends of the flat plate. The floating frame is an arranged rectangular frame. The center of the long side of the floating frame is equipped with a pin and hinged to the two double-lug structures on the clamping seat. The center of the short side of the floating frame is equipped with... It features a double-ear structure hinged to the guide rod end of the adaptive mechanism; multiple vacuum suction cups are arranged in three rows along the short side of the floating frame and in multiple columns along the long side, fixed in a matrix on the bottom surface of the floating frame; the two spacings formed by the three rows of vacuum suction cups are used to avoid the cap-shaped stringer and T-shaped stringer respectively; the middle two columns of vacuum suction cups are spaced to avoid the clamping seat; T-shaped stringer positioning blocks and cap-shaped stringer positioning blocks are installed at the middle position of the bottom surface of the clamping seat, and T-shaped stringer positioning cylinders and cap-shaped stringer positioning cylinders are installed at the two ends of the bottom surface of the clamping seat respectively, corresponding to the positioning blocks. T-shaped stringer positioning blocks and T-shaped stringer positioning cylinders are arranged at the positions of the two rows of vacuum suction cups with small spacing, and cap-shaped stringer positioning blocks and cap-shaped stringer positioning cylinders are arranged at the positions of the two rows of vacuum suction cups with large spacing. The protective mechanism includes a pneumatic clamp and a protective hook. The fixed end of the pneumatic clamp is connected and fixed to the side of the adaptive mechanism mounting beam, and the protective hook is connected and fixed to the clamping arm of the pneumatic clamp.

[0007] The method of using the clamping and positioning device for the joint of the composite stringer skin includes the following:

[0008] 1. The control system controls multiple end effectors to rotate synchronously upwards by 180° so that the vacuum suction cup adsorption surface faces upwards;

[0009] 2. The control system controls the opening of the protective hooks of multiple end effectors;

[0010] 3. Multiple sets of end effectors move upwards synchronously until the two rows of small-pitch vacuum suction cups contact the horizontal plane of the T-shaped stringer;

[0011] 4. The movable end of the T-shaped stringer positioning cylinder on each end effector extends to press the T-shaped stringer upright against the T-shaped stringer positioning block.

[0012] 5. Vacuum suction cups on each end effector that contact the T-shaped stringer will attract and tighten the T-shaped stringer.

[0013] 6. The control system controls the closure of the protective hooks of multiple end effectors;

[0014] 7. The control system controls multiple sets of end effectors with T-shaped stringers to rotate synchronously downwards by 180°;

[0015] 8. The control system controls the opening of the protective hooks of multiple end effectors;

[0016] Nine sets of end effectors, each with a T-shaped stringer, move synchronously downwards until the T-shaped stringer contacts the skin to be docked.

[0017] 10. The cylinder in the positioning and adsorption mechanism on each set of end effectors extends and presses the T-shaped stringer onto the skin in an adaptive manner according to the skin profile.

[0018] 11. The vacuum suction cups on each end effector stop adsorption, and the cylinders retract to their initial positions;

[0019] More than 12 sets of end effectors move upwards simultaneously to remove the product and complete the docking of the T-shaped stringer with the skin;

[0020] 13. If the object to be clamped and positioned is a hat-shaped stringer, repeat steps 1-2. Multiple sets of end effectors move upward synchronously until the two rows of wide-spaced vacuum suction cups contact the hat-shaped stringer. The movable end of the hat-shaped stringer positioning cylinder on each set of end effectors extends to press the diagonal ribs of the hat-shaped stringer against the positioning block of the hat-shaped stringer. The vacuum suction cups on each set of end effectors that are in contact with the hat-shaped stringer adsorb and tighten the hat-shaped stringer. Repeat steps 6-12 to complete the docking of the hat-shaped stringer with the skin.

[0021] The advantages of this application are that it utilizes matrix vacuum adsorption technology and pneumatic control principle to achieve clamping and positioning of T-type and cap-type stringers, and realizes the docking work between stringers and wall panel skin. It has the characteristics of simple structure, strong versatility, relatively low cost and full automation, and is universally applicable to the docking of stringers and wall panel skins of composite materials and even ordinary metal wall panel docking.

[0022] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0023] Figure 1 Axonometric drawing of a clamping and positioning device for butt welding of composite stringer skin.

[0024] Figure 2 End effector isometric view

[0025] Figure 3 End effector bottom view

[0026] Figure 4 Rotary mechanism axonometric view

[0027] Figure 5 Adaptive mechanism isometric view

[0028] Figure 6 Side view of the end effector clamping positioning cap-shaped stringer

[0029] The numbers in the diagram are explained as follows: 1. End effector; 2. Control system; 3. Rotation mechanism; 4. Adaptive mechanism; 5. Positioning and adsorption mechanism; 6. Protective mechanism; 7. Fixed flange angle seat; 8. Rotary reducer; 9. Motor; 10. Horizontal mounting base; 11. Mounting beam; 12. Transition flange angle seat; 13. Spring stop; 14. Gas spring mounting angle seat; 15. Bearing seat; 16. Guide rail; 17. Gas spring; 18. Pneumatic clamp; 19. Guide rod; 20. Clamping seat; 21. Floating frame; 22. Cylinder; 23. Vacuum suction cup; 24. T-shaped stringer positioning stop; 25. T-shaped stringer positioning cylinder; 26. Hat-shaped stringer positioning stop; 27. Hat-shaped stringer positioning cylinder; 28. Pneumatic heavy-duty clamp; 29. ​​Protective hook; 30. T-shaped stringer; 31. Hat-shaped stringer. Detailed Implementation

[0030] See Figures 1-6A clamping and positioning device for docking composite stringer skins includes multiple sets of end effectors 1 and a control system 2. Each end effector 1 includes a rotating mechanism 3, an adaptive mechanism 4, a positioning and adsorption mechanism 5, and a protective mechanism 6. The rotating mechanism 3 is fixed to the flange connection surface of the stringer docking equipment. The main frame of the adaptive mechanism 4 is a T-shaped structure, including a horizontal mounting base 10 and a mounting beam 11 perpendicular to the mounting plate. The adaptive mechanism 4 is fixed to the side of the rotating mechanism 3. The positioning and adsorption mechanism 5 is installed on the lower surface of the horizontal mounting base 10 of the adaptive mechanism 4. The protective mechanism 6 is installed on the side of the mounting beam 11. The control system 2 controls the multiple sets of end effectors 1 to position and adsorb the stringer to be docked, and automatically dock with the skin after rotating 180°. The rotating mechanism 3 includes a fixed flange corner seat 7, a rotary reducer 8, and a motor 9. The bottom surface of the fixed flange corner seat 7 is installed on the flange connection surface of the stringer docking equipment. The rotary reducer 8 is connected and fixed to the motor 9, and its fixed end is installed on the vertical surface of the fixed flange corner seat 7. The adaptive mechanism 4 includes a horizontal mounting base 10, a mounting beam 11, a transition flange corner seat 12, two spring stops 13, two gas springs 17, a mounting corner seat 14, four bearing seats 15, a guide rail 16, two gas springs 17, two pneumatic clamps 18, and two guide rods 19. The horizontal mounting base 10 includes a rectangular plate and trapezoidal vertical ribs on the long sides of the upper surface of the rectangular plate. There is a notch in the middle of the short sides of both sides of the rectangular plate. Two bearing seats 15 are installed on each notch along the width direction of the rectangular plate. The pneumatic clamps 18 are connected to the bearing seats 15. The guide rods 19 pass through the pneumatic clamps 18. The rectangular plate has a clamping hole. A guide rail 16 is provided in the middle of the upper surface of the rectangular plate along the length direction. The mounting beam 11 is perpendicular to the horizontal mounting seat 10 and is connected to the guide rail 16 through a slide rail slider structure. The gas spring 17 is mounted on the bottom side of the mounting beam 11 with the mounting angle seat 14. The gas spring 17 is arranged parallel to the length direction of the guide rail 16 on both sides above the guide rail 16. The two gas springs 17 extend in opposite directions. Spring stops 13 are provided at the two extension ends of the gas springs 17 on the rectangular plate. The transition flange angle seat 12 is fixed to the upper end face of the mounting beam 11. The rotating end of the rotary reducer 8 of the rotating mechanism 3 is fixed on the transition flange angle seat 12.The positioning and adsorption mechanism 5 includes a clamping seat 20, a floating frame 21, a cylinder 22, multiple vacuum suction cups 23, a T-shaped stringer positioning block 24, a T-shaped stringer positioning cylinder 25, a hat-shaped stringer positioning block 26, and a hat-shaped stringer positioning cylinder 27. The bottom fixed end of the cylinder 22 is connected and fixed to the bottom surface of the horizontal mounting base 10 in the adaptive mechanism 4. The cylinder 22 has guide columns on both sides, and the movable end of the cylinder 22 is connected and fixed to the clamping seat 20. The clamping seat 20 includes a flat plate and two double-ear structures at both ends of the flat plate. The floating frame 21 is an arranged rectangular frame. The center of the long side of the floating frame 21 is equipped with a pin and hinged to the two double-ear structures on the clamping seat 20. The short side of the floating frame 21 is... The center is equipped with a double-ear structure and is hinged to the end of the guide rod 19 of the adaptive mechanism 4; multiple vacuum suction cups 23 are divided into three rows along the short side of the floating frame 21 and into multiple columns along the long side of the floating frame 21, and are installed and fixed on the bottom surface of the floating frame 21 in a matrix form; the two gaps formed by the three rows of vacuum suction cups 23 are used to avoid the hat-shaped stringer 31 and the T-shaped stringer 30 respectively; the middle two columns of vacuum suction cups 23 are spaced to avoid the pressing seat 20; the T-shaped stringer positioning block 24 and the hat-shaped stringer positioning block 26 are installed at the middle position of the bottom surface of the pressing seat 20, and the T-shaped stringer positioning cylinder 25 and the hat-shaped stringer positioning cylinder 27 are respectively installed at the two ends of the bottom surface of the pressing seat 20, corresponding to the positioning blocks. T-shaped stringer positioning blocks 24 and T-shaped stringer positioning cylinders 25 are arranged at the positions of two rows of vacuum suction cups 23 with small spacing, while hat-shaped stringer positioning blocks 26 and hat-shaped stringer positioning cylinders 27 are arranged at the positions of two rows of vacuum suction cups 23 with large spacing. The protective mechanism 6 includes a pneumatic clamp 28 and a protective hook 29. The fixed end of the pneumatic clamp 28 is connected and fixed to the side of the mounting beam 11 of the adaptive mechanism 4, and the protective hook 29 is connected and fixed to the clamping arm of the pneumatic clamp 28.

[0031] The method of using the clamping and positioning device for the jointing of composite stringers and skins includes the following:

[0032] 1. Control system 2 controls multiple sets of end effectors 1 to rotate synchronously upward 180° so that the suction surface of the vacuum suction cup 23 faces upward;

[0033] 2. Control system 2 controls multiple sets of end effectors 1. Protective hook 29 to open;

[0034] 3. Multiple end effectors 1 move upward synchronously until the two rows of small-pitch vacuum suction cups 23 contact the horizontal plane of the T-shaped stringer 30;

[0035] 4. The movable end of the T-shaped stringer positioning cylinder 25 on each end effector 1 extends to press the vertical rib of the T-shaped stringer 30 against the T-shaped stringer positioning block 24.

[0036] 5. The vacuum suction cups 23 on each end effector 1 that contact the T-shaped stringer 30 will attract and tighten the T-shaped stringer 30.

[0037] 6. Control system 2 controls the closure of multiple sets of end effectors 1 and protective hook 29;

[0038] 7. Control system 2 controls multiple sets of end effectors 1 with T-shaped stringers 30 to rotate synchronously downwards by 180°;

[0039] 8. Control system 2 controls multiple sets of end effectors 1 and 29 to open;

[0040] Nine sets of end effectors 1 with T-shaped stringers 30 move downwards synchronously until the T-shaped stringers 30 contact the skin to be docked;

[0041] 10. The cylinder 22 in the positioning and adsorption mechanism 5 on each end effector 1 extends to press the T-shaped stringer 30 onto the skin in an adaptive manner according to the skin profile.

[0042] 11 The vacuum suction cup 23 on each end effector 1 stops adsorption, and the cylinder 22 retracts to the initial position;

[0043] More than 12 sets of end effectors 1 move upward synchronously to remove the product and complete the docking of the T-shaped stringer 30 with the skin;

[0044] 13 If the clamping and positioning object is the hat-shaped stringer 31, repeat steps 1-2. Multiple sets of end effectors 1 move upward synchronously until the two rows of large-pitch vacuum suction cups 23 contact the hat-shaped stringer 31. The movable end of the hat-shaped stringer positioning cylinder 27 on each set of end effectors 1 extends to press the diagonal ribs of the hat-shaped stringer 31 against the hat-shaped stringer positioning block 26. The vacuum suction cups 23 on each set of end effectors 1 that are in contact with the hat-shaped stringer 31 adsorb and tighten the hat-shaped stringer 31. Repeat steps 6-12 to complete the docking of the hat-shaped stringer 31 with the skin.

Claims

1. A clamping and positioning device for butt welding of composite stringer skin, characterized in that... The system comprises multiple end effectors and a control system. Each end effector includes a rotating mechanism, an adaptive mechanism, a positioning and adsorption mechanism, and a protective mechanism. The rotating mechanism is fixed to the flange connection surface of the skin stringer docking equipment. The main frame of the adaptive mechanism is a T-shaped structure, including a horizontal mounting base and a mounting beam perpendicular to the mounting plate. The adaptive mechanism is fixed to the side of the rotating mechanism. The positioning and adsorption mechanism is installed on the lower surface of the horizontal mounting base of the adaptive mechanism. The protective mechanism is installed on the side of the mounting beam. The control system controls the multiple end effectors to position and adsorb the stringer to be docked. After rotating 180°, they automatically dock with the skin. The rotating mechanism includes a fixed flange corner seat, a rotary reducer, and a motor. The bottom surface of the fixed flange corner seat is installed on the flange connection surface of the skin stringer docking equipment. After the rotary reducer is connected and fixed to the motor, its fixed end is installed on the vertical surface of the fixed flange corner seat. The adaptive mechanism includes a horizontal mounting base, a mounting beam, a transition flange corner seat, and two spring stops. The system comprises a block, two gas spring mounting brackets, four bearing seats, a guide rail, two gas springs, two pneumatic clamps, and two guide rods. The horizontal mounting base includes a rectangular plate and trapezoidal vertical ribs on the long sides of the upper surface of the rectangular plate. There is a notch in the middle of the short sides of the two sides of the rectangular plate. Two bearing seats are installed on each notch along the width of the rectangular plate. The pneumatic clamps are connected to the bearing seats. The guide rods pass through the clamping holes on the pneumatic clamps. A guide rail is provided along the length of the upper surface of the rectangular plate. The mounting beam is perpendicular to the horizontal mounting base and is connected to the guide rail through a slide rail slider structure. The gas spring mounting brackets are fixed to the bottom side of the mounting beam. The gas springs are arranged parallel to the guide rail on both sides above the guide rail along the length of the guide rail. The two gas springs extend in opposite directions. Spring stops are provided at the two gas spring extension ends on the rectangular plate. The transition flange bracket is fixed to the upper end face of the mounting beam. The rotating end of the rotary reducer of the rotating mechanism is fixed to the transition flange bracket.

2. The clamping and positioning device for butt welding of composite stringer skins according to claim 1, characterized in that... The positioning and adsorption mechanism includes a clamping seat, a floating frame, a cylinder, multiple vacuum suction cups, a T-shaped stringer positioning block, a T-shaped stringer positioning cylinder, a hat-shaped stringer positioning block, and a hat-shaped stringer positioning cylinder. The fixed end of the cylinder is connected and fixed to the bottom surface of the horizontal mounting base in the adaptive mechanism. The cylinder has guide columns on both sides, and the movable end of the cylinder is connected and fixed to the clamping seat. The clamping seat includes a flat plate and two double-ear structures at both ends of the flat plate. The floating frame is an arranged rectangular frame. The center of the long side of the floating frame is equipped with a pin that is hinged to the two double-ear structures on the clamping seat. The center of the short side of the floating frame is... The core is equipped with a double-ear structure and is hinged to the end of the guide rod of the adaptive mechanism; multiple vacuum suction cups are divided into three rows along the short side of the floating frame and into multiple columns along the long side of the floating frame, and are installed and fixed on the bottom surface of the floating frame in a matrix form; the two spacings formed by the three rows of vacuum suction cups are used to avoid the hat-shaped stringer and the T-shaped stringer respectively; the middle two columns of vacuum suction cups are spaced to avoid the clamping seat; the T-shaped stringer positioning block and the hat-shaped stringer positioning block are installed at the middle position of the bottom surface of the clamping seat, and the T-shaped stringer positioning cylinder and the hat-shaped stringer positioning cylinder are respectively installed at the two ends of the bottom surface of the clamping seat corresponding to the positioning block.

3. A clamping and positioning device for butt welding of composite stringer skins according to claim 2, characterized in that... The T-shaped stringer positioning block and T-shaped stringer positioning cylinder are arranged at the positions of two rows of vacuum suction cups with small spacing, while the hat-shaped stringer positioning block and hat-shaped stringer positioning cylinder are arranged at the positions of two rows of vacuum suction cups with large spacing.

4. A clamping and positioning device for butt welding of composite stringer skins according to claim 1, characterized in that... The protective mechanism includes a pneumatic clamp and a protective hook. The fixed end of the pneumatic clamp is connected and fixed to the side of the self-adaptive mechanism mounting beam, and the protective hook is connected and fixed to the clamping arm of the pneumatic clamp.

5. A method of using a clamping and positioning device for butt welding of composite stringer skin, characterized in that... Includes the following: 5-1 The control system controls multiple sets of end effectors to rotate synchronously upwards by 180° so that the vacuum suction cup adsorption surface faces upwards; 5-2 The control system controls the opening of the protective hooks of multiple end effectors; 5-3 Multiple sets of end effectors move upward synchronously until the two rows of small-pitch vacuum suction cups contact the horizontal plane of the T-shaped stringer; 5-4 The movable end of the T-shaped stringer positioning cylinder on each set of end effectors extends to press the T-shaped stringer upright against the T-shaped stringer positioning block. 5-5 The vacuum suction cups on each end effector that come into contact with the T-shaped stringer will attract and tighten the T-shaped stringer; 5-6 The control system controls the closure of the protective hooks of multiple end effectors; 5-7 The control system controls multiple sets of end effectors with T-shaped stringers to rotate synchronously downwards by 180°; 5-8 The control system controls the opening of the protective hooks of multiple end effectors; 5-9 Multiple end effectors with T-shaped stringers move synchronously downwards until the T-shaped stringers contact the skin to be docked; 5-10 The cylinder in the positioning and adsorption mechanism on each set of end effectors extends and presses the T-shaped stringer onto the skin in an adaptive manner according to the skin profile; 5-11 The vacuum suction cups on each set of end effectors stop adsorption, and the cylinders retract to their initial positions; 5-12 Multiple sets of end effectors move upwards synchronously to remove the product and complete the docking of the T-shaped stringer with the skin; 5-13 If the object to be clamped and positioned is a hat-shaped stringer, repeat 1-2. Multiple sets of end effectors move upward synchronously until the two rows of wide-spaced vacuum suction cups contact the hat-shaped stringer. The movable end of the hat-shaped stringer positioning cylinder on each set of end effectors extends to press the diagonal ribs of the hat-shaped stringer against the positioning block of the hat-shaped stringer. The vacuum suction cups on each set of end effectors that are in contact with the hat-shaped stringer adsorb and tighten the hat-shaped stringer. Repeat 6-12 to complete the docking of the hat-shaped stringer with the skin.

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