longeron part laying robot end effector and longeron part laying robot

Abstract

The application discloses a long string part laying robot end effector and a long string part laying robot. The long string part laying robot end effector comprises a mounting seat, a guide rail on the mounting seat being oriented along the length direction of the mounting seat; a grabbing device, the grabbing device comprising a profiling upper finger piece, a profiling lower finger piece, a finger driving device and a force sensor; a drilling and riveting auxiliary device, the drilling and riveting auxiliary device comprising an auxiliary device base, a movable seat, a drilling auxiliary support piece, an auxiliary riveting head, a horizontal driving device and a vertical driving device; a follow-up camera, the follow-up camera being arranged below the auxiliary riveting head and moving together with the auxiliary riveting head; and a measuring device, the measuring device being arranged on the mounting seat and being liftable between a measuring position and an avoiding position through a lifting driving device. The long string part laying robot end effector has the advantages of high functional integration, high control precision and high laying efficiency.

Description

Technical Field

[0001] This invention relates to the field of aircraft manufacturing technology, and more specifically, to a stringer part laying robot end effector and a stringer part laying robot having the stringer part laying robot end effector. Background Technology

[0002] The design and manufacture of aircraft face a significant challenge in balancing strength and weight reduction, necessitating the application of numerous lightweight structures. Panel structures reinforced with stringers are widely used in aircraft manufacturing, assembled from panel components with high tensile strength and stringers with high torsional and bending resistance. The stringers not only provide reinforcement but also connect to the main frame structure, acting as a load-bearing skeleton. The stringers are attached to the panel components via riveting.

[0003] The installation method for stringer components in related technologies involves manual operation. First, the entire panel component is fixed on a positioning fixture. Then, according to design requirements, a large number of stringer components are positioned on one side of the panel. Next, holes are drilled in both the stringer components and the panel components, and finally, they are connected together with rivets. This method suffers from poor precision and involves a large amount of repetitive work, making it time-consuming and labor-intensive. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes an end effector for a long stringer parts laying robot, which has the advantages of high functional integration, high control precision, and high laying efficiency.

[0005] The present invention also proposes a stringer part laying robot having the end effector of the stringer part laying robot.

[0006] To achieve the above objectives, according to an embodiment of the first aspect of the present invention, an end effector for a long stringer component laying robot is provided. The end effector includes: a mounting base with a guide rail oriented along its length; and a gripping device comprising a contoured upper finger, a contoured lower finger, a finger drive mechanism, and a force sensor. The finger drive mechanism is mounted on the mounting base, and the contoured upper and lower fingers are mounted on the finger drive mechanism and have gripping and releasing positions. The contoured upper and lower fingers are adapted to grip the long stringer component. The device grips the stringer component at the gripping position and releases it at the release position. The force sensor is located between the finger drive device and the mounting base. A drilling and riveting auxiliary device includes an auxiliary device base, a movable seat, a drilling auxiliary support, an auxiliary riveting joint, a clamping drive device, a horizontal drive device, and a vertical drive device. The auxiliary device base is slidably mounted on the guide rail. The movable seat is vertically movable and can be raised and lowered and moved horizontally along a direction perpendicular to the length of the stringer component on the auxiliary device base. The drilling auxiliary support is located on the movable seat. The component has a through hole oriented horizontally and perpendicular to the length of the stringer component. An auxiliary riveting head is horizontally movable on the movable seat, perpendicular to the length of the stringer component. The auxiliary riveting head has a hammer head that is axially movable within the through hole. A clamping drive device is connected to the movable seat and drives the movable seat to move horizontally perpendicular to the length of the stringer component. The horizontal drive device is connected to the auxiliary riveting head. A vertical drive device is connected to the movable seat and drives the movable seat to rise and fall. A drilling auxiliary support... A support member is adapted to support the side of the stringer component facing away from the drill bit when drilling the stringer component, the through hole is adapted to receive the drill bit, and the hammer head is adapted to hammer the rivet flat; a follow-up camera is disposed below the auxiliary riveting joint and moves with the auxiliary riveting joint, the axial direction of the follow-up camera is tilted horizontally toward the stringer component; a measuring device is jackingly mounted on the mounting base between a measuring position and a clearance position via a lifting drive device, the measuring device being adapted to detect the position of the stringer component in the measuring position and to avoid the drilling and riveting auxiliary device in the clearance position.

[0007] The end effector of the long stringer parts laying robot according to an embodiment of the present invention has the advantages of high functional integration, high control precision, and high laying efficiency.

[0008] In addition, the end effector of the long stringer parts laying robot according to the above embodiments of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, the mounting base includes a base plate, two side plates and a top base, wherein the two side plates are respectively connected to both ends of the base plate, and the top base is respectively connected to the two side plates.

[0010] According to one embodiment of the present invention, the finger driving device is disposed on the top base.

[0011] According to one embodiment of the present invention, the lifting drive device is disposed on the top base and passes through the top base, and the position height of the measuring device when it is in the avoidance position is higher than the position height of the measuring device when it is in the measuring position.

[0012] According to one embodiment of the present invention, the measuring device includes a cross-sectional line laser measuring instrument and two end-face measuring cameras, the two end-face measuring cameras being respectively disposed adjacent to both ends of the mounting base, and the cross-sectional line laser measuring instrument being located at the horizontal center of the mounting base.

[0013] According to one embodiment of the present invention, there are two gripping devices, each disposed adjacent to one end of the mounting base.

[0014] According to one embodiment of the present invention, there are two guide rails arranged in parallel and spaced apart, and the auxiliary device base is slidably connected to the two guide rails respectively.

[0015] According to one embodiment of the present invention, the force sensor is a six-axis force-torque sensor.

[0016] According to one embodiment of the present invention, both the finger driving device and the pressing driving device are pneumatic driving devices.

[0017] According to an embodiment of a second aspect of the present invention, a stringer component laying robot is provided, the stringer component laying robot including the stringer component laying robot end effector described in the embodiment of a first aspect of the present invention.

[0018] The stringer component laying robot according to an embodiment of the present invention, by utilizing the end effector of the stringer component laying robot according to the first aspect of the present invention, has the advantages of high functional integration, high control precision, and high laying efficiency.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of the structure of a stringer parts laying robot according to an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the end effector of a stringer parts laying robot according to an embodiment of the present invention.

[0023] Figure 3 This is a partial structural schematic diagram of the end effector of the stringer parts laying robot according to an embodiment of the present invention.

[0024] Figure 4 This is a partial structural schematic diagram of the end effector of the stringer parts laying robot according to an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the end effector of a stringer parts laying robot according to an embodiment of the present invention.

[0026] Reference numerals: 1. Long stringer parts laying robot; 10. Long stringer parts laying robot end effector; 100. Mounting base; 110. Guide rail; 120. Base plate; 130. Side plate; 140. Top base; 200. Gripping device; 210. Contouring upper finger; 220. Contouring lower finger; 230. Finger drive device; 240. Force sensor; 300. Drilling and riveting auxiliary device; 310. Auxiliary device base; 320. Movable seat; 330. Drilling auxiliary support; 340. Auxiliary riveting joint; 341. Hammer head; 350. Horizontal drive device; 360. Vertical drive device; 370. Clamping drive device; 380. Grating ruler; 400. Follow-up camera; 510. Lifting drive device; 520. Cross-section line laser measuring instrument; 530. End face measuring camera; 20. Industrial robotic arm; 2. Long stringer parts. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] The end effector 10 of the stringer part laying robot according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0031] like Figures 1-5 As shown, the end effector 10 of the stringer parts laying robot according to an embodiment of the present invention includes a mounting base 100, a gripping device 200, a drilling and riveting auxiliary device 300, a follow-up camera 400, and a measuring device.

[0032] The mounting base 100 is provided with a guide rail 110 oriented along the length direction of the mounting base 100. The gripping device 200 includes a contoured upper finger 210, a contoured lower finger 220, a finger driving device 230, and a force sensor 240. The finger driving device 230 is mounted on the mounting base 100. The contoured upper finger 210 and the contoured lower finger 220 are mounted on the finger driving device 230 and have a gripping position and a release position. The contoured upper finger 210 and the contoured lower finger 220 are adapted to grip the stringer part 2 in the gripping position and release the stringer part 2 in the release position. The force sensor 240 is located between the finger driving device 230 and the mounting base 100.

[0033] The drilling and riveting auxiliary device 300 includes an auxiliary device base 310, a movable seat 320, a drilling auxiliary support 330, an auxiliary riveting joint 340, a clamping drive device 370, a horizontal drive device 350, and a vertical drive device 360. The auxiliary device base 310 is slidably mounted on the guide rail 110. The movable seat 320 is vertically movable and can move along a horizontal direction perpendicular to the length of the stringer part 2 on the auxiliary device base 310. The drilling auxiliary support 330 is mounted on the movable seat 320 and has a through hole axially oriented in the horizontal direction and perpendicular to the length of the stringer part 2. The auxiliary riveting joint 340 can move along a horizontal direction perpendicular to the length of the stringer part 2. The auxiliary riveting head 340 is horizontally movable on the movable seat 320. It has a hammer head 341, which is movably fitted into the through hole along the axial direction of the through hole. The clamping drive device 370 is driven by the movable seat 320 and drives the movable seat 320 to move horizontally in a direction perpendicular to the length of the stringer part 2. The horizontal drive device 350 is driven by the auxiliary riveting head 340. The vertical drive device 360 ​​is driven by the movable seat 320 and drives the movable seat 320 to rise and fall. The drilling auxiliary support 330 is adapted to support the side of the stringer part 2 away from the drill bit when drilling the stringer part 2. The through hole is adapted to accommodate the drill bit. The hammer head 341 is adapted to hammer the rivet flat.

[0034] The follow-up camera 400 is located below the auxiliary riveting joint 340 and moves together with the auxiliary riveting joint 340. The axis of the follow-up camera 400 is tilted in the horizontal direction so as to face the stringer part 2.

[0035] The measuring device is mounted on the mounting base 100 and can be raised and lowered between the measuring position and the avoidance position via the lifting drive device 510. When the measuring device is in the measuring position, it is suitable for detecting the position of the stringer part 2 and when the avoidance position, it avoids the drilling and riveting auxiliary device 300.

[0036] Specifically, the end effector 10 of the stringer parts laying robot can be connected to the end of the industrial robotic arm 20.

[0037] It is important to understand that the vertical direction, as shown by the arrows in the figure, and the horizontal direction, which is perpendicular to the vertical direction, are used for ease of description only and do not constitute a limitation on the actual orientation of the end effector 10 of the stringer parts laying robot. Those skilled in the art will understand that the end effector 10 of the stringer parts laying robot can be driven to rotate by the industrial robotic arm 20, and after rotation, the length direction of the end effector 10 may not necessarily be oriented according to the actual horizontal direction.

[0038] The following is for reference. Figures 1-5 The working process of the end effector 10 of the stringer parts laying robot according to an embodiment of the present invention is described.

[0039] The process of laying the stringer part 2 on the wall panel part first requires grasping the stringer part 2 and attaching it to the wall panel part. Then, holes are drilled in the wall panel part and the stringer part 2, and rivets are inserted into the drilled holes. Finally, the rivets are hammered flat to connect the stringer part 2 and the wall panel part.

[0040] First, the industrial robotic arm 20 drives the end effector 10 of the stringer part laying robot to approach the stringer part 2 to be grasped. The measuring device measures the position information of the stringer part 2. The industrial robotic arm 20 further drives the end effector 10 of the stringer part laying robot to approach the stringer part 2. When the grasping device 200 contacts the stringer part 2, the force sensor 240 detects the contact force. By balancing the contact force through the force sensor 240, the posture of the stringer part 2 is adjusted. The upper and lower contour fingers 210 and 220, driven by the finger driving device 230, close to the gripping position, clamping the stringer part 2 and completing the grasping. At this time, the degrees of freedom of the stringer part 2 are fully constrained. Further, the end effector 10 of the stringer part laying robot carries the stringer part 2 to approach the wall panel part. By balancing the contact force through the force sensor 240, the posture of the stringer part 2 is adjusted so that the stringer part 2 is parallel and attached to the wall panel part. The measuring device monitors this process. After the bonding is completed, the lifting drive device 510 raises the measuring device to the avoidance position to avoid the left and right movement of the drilling and riveting auxiliary device 300.

[0041] Subsequently, for each predetermined drilling and riveting position on the stringer part 2, the drilling and riveting auxiliary device 300 moves along the guide rail 110 to the predetermined drilling and riveting position, and the vertical drive device 360 ​​drives the movable seat 320 so that the axes of the auxiliary riveting joint 340 and the drilling auxiliary support 330 intersect with the directional reference axis a along the length direction of the stringer part 2. The clamping drive device 370 drives the drilling auxiliary support 330 to adhere to the stringer part 2 with a specific pressure, keeping the stringer part 2 always in contact with the wall panel part. When the wall panel part and the stringer part 2 are drilled through, the drill bit will insert into the through hole of the drilling auxiliary support 330. During the drilling process, the drilling auxiliary support 330 bears the local deformation caused by the drilling force, improves the rigidity of the stringer part 2 during the drilling process, and further improves the drilling quality. After the rivet is inserted into the hole on the other side of the wall panel part, the horizontal drive device 350 drives the auxiliary riveting joint 340 to feed along the through hole of the drilling auxiliary support 330, hammering the rivet flat and completing the riveting at this hole position. Then, the horizontal drive device 350 drives the auxiliary riveting joint 340 to retract. The clamping drive device 370 drives the drilling auxiliary support 330 to disengage from the mating surface of the stringer part 2, and the follow-up camera 400 monitors the morphology of the rivet head for data traceability throughout the process. The above process needs to be repeated for each hole position of the same stringer part 2. Furthermore, after the entire drilling and riveting auxiliary process of the stringer part 2 is completed, the stringer part 2 is assembled with the wall panel part. At this time, the upper contour finger 210 and the lower contour finger 220 open under the drive of the finger drive device 230, releasing the stringer part 2. The drilling and riveting auxiliary device 300 stays in the standby position, and the measuring device returns to the measuring position, completing the automatic laying of the stringer part 2.

[0042] According to an embodiment of the present invention, the end effector 10 of the stringer component laying robot can grasp or release the stringer component 2 by setting the upper contour finger 210 and the lower contour finger 220.

[0043] By setting up a force sensor 240, the force on the upper contour finger 210 and the lower contour finger 220 can be detected, thereby adjusting the position and orientation of the stringer part 2 according to the force conditions, and improving the control accuracy of the end effector 10 of the stringer part laying robot.

[0044] By setting up a drilling auxiliary support 330, the drilling process can be assisted by the drilling auxiliary support 330, which provides support for the drilling process and prevents deformation of the stringer part 2 and the wall panel part.

[0045] By setting up an auxiliary riveting joint 340, the rivet can be hammered flat to complete the rivet connection.

[0046] By setting through holes on the drilling auxiliary support 330, the drill bit can be avoided after drilling through the stringer part 2, and the hammer head 341 can be fitted into the through holes. In this way, after drilling and inserting the rivet, the rivet can be hammered flat without moving the position of the drilling and riveting auxiliary device 300.

[0047] By setting up a follow-up camera 400, the drilling and riveting process and results can be recorded, which facilitates subsequent traceability.

[0048] By setting the guide rail 110, the movement range of the drilling and riveting auxiliary device 300 can be increased, thereby increasing the range of drilling and riveting assistance, increasing the coverage of preset hole positions, reducing the overall movement of the end effector 10 of the stringer parts laying robot, and improving production efficiency.

[0049] By setting up the measuring device, the position of the stringer part 2 can be measured, which further facilitates the adjustment of the attitude of the stringer part 2 and improves the control accuracy of the end effector 10 of the stringer part laying robot.

[0050] By setting up a lifting drive device 510, it can avoid obstacles when the drilling and riveting auxiliary device 300 moves, thereby facilitating the movement of the drilling and riveting auxiliary device 300 and making the control process of the end effector 10 of the stringer parts laying robot smoother.

[0051] In other words, the end effector 10 of the long stringer part laying robot according to the embodiment of the present invention can complete the identification, grasping, posture adjustment, laying and drilling and riveting assistance of the long stringer part 2. It has multiple functions and high integration. Compared with manual operation, it is more time-saving and labor-saving, and the control accuracy is higher and the laying effect is better than manual operation.

[0052] Therefore, the end effector 10 of the long stringer parts laying robot according to the present invention has the advantages of high functional integration, high control accuracy, and high laying efficiency.

[0053] The end effector 10 of a stringer parts laying robot according to a specific embodiment of the present invention is described below with reference to the accompanying drawings.

[0054] In some specific embodiments of the present invention, such as Figures 1-5 As shown, the end effector 10 of the stringer parts laying robot according to an embodiment of the present invention includes a mounting base 100, a gripping device 200, a drilling and riveting auxiliary device 300, a follow-up camera 400, and a measuring device.

[0055] Specifically, such as Figure 2 and Figure 3As shown, the mounting base 100 includes a base plate 120, two side plates 130, and a top base 140. The two side plates 130 are respectively connected to both ends of the base plate 120, and the top base 140 is respectively connected to the two side plates 130. This facilitates the assembly of the mounting base 100, facilitates the formation of an internal space within the mounting base 100, and facilitates the placement of components inside the mounting base 100.

[0056] Specifically, the measuring device and auxiliary device base 310 are located within the mounting base 100, and the drilling auxiliary support 330 extends out of the mounting base 100. This facilitates the installation of the measuring device and drilling and riveting auxiliary device 300, and provides auxiliary support for the drilling auxiliary support 330 during drilling.

[0057] More specifically, such as Figure 2 As shown, the finger drive device 230 is mounted on the top base 140. Specifically, the finger drive device 230 is located on the side of the top base 140. This facilitates the gripping device 200 in gripping the stringer part 2.

[0058] Furthermore, such as Figure 3 As shown, the lifting drive device 510 is mounted on and passes through the top base 140. The position height of the measuring device when it is in the avoidance position is higher than the position height of the measuring device when it is in the measuring position. This facilitates the installation of the lifting drive device 510 and the measuring device.

[0059] Optionally, such as Figure 3 As shown, the measuring device includes a cross-sectional laser measuring instrument 520 and two end-face measuring cameras 530. The two end-face measuring cameras 530 are respectively arranged near both ends of the mounting base 100, and the cross-sectional laser measuring instrument 520 is located at the horizontal center of the mounting base 100. This allows the cross-sectional laser measuring instrument 520 to measure the depth information of the gripping surface and the mating surface of the stringer part 2, and the end-face measuring cameras 530 to measure the position of both ends of the stringer part 2.

[0060] Specifically, before the gripping device 200 grips the stringer part 2, the industrial robotic arm 20 drives the end effector 10 of the stringer part laying robot to approach the stringer part 2 to be gripped. The cross-sectional laser measuring instrument 520 measures the cross-sectional depth information of the stringer part 2 to obtain the yaw angle of the stringer part 2. Two end-face measuring cameras 530 measure the position of the stringer part 2 along its length direction, further guiding the industrial robotic arm 20 to drive the end effector 10 of the stringer part laying robot to approach the stringer part 2.

[0061] Advantageously, such as Figure 2 and Figure 3As shown, there are two gripping devices 200, each located adjacent to one end of the mounting base 100. This allows the two gripping devices 200 to grip different positions on the stringer part 2, facilitating the adjustment of the position and orientation of the stringer part 2 and ensuring that the stringer part 2 remains horizontal.

[0062] More advantageously, such as Figure 3 and Figure 5 As shown, there are two guide rails 110 arranged in parallel and spaced apart, and the auxiliary device base 310 is slidably connected to the two guide rails 110 respectively. This makes the force on the auxiliary device base 310 more stable and the sliding of the auxiliary device base 310 more smooth.

[0063] Optionally, the force sensor 240 is a six-axis force-torque sensor. This allows the force sensor 240 to detect forces and torques, facilitating the adjustment of the pose of the stringer part.

[0064] Furthermore, both the finger drive device 230 and the clamping drive device 370 are pneumatically driven. This facilitates the provision of sufficient driving force for reliable gripping and stable support of the stringer part 2.

[0065] Specifically, stringer part 2 can be a sheet metal part.

[0066] The following describes a stringer component laying robot 1 according to an embodiment of the present invention. The stringer component laying robot 1 according to an embodiment of the present invention includes a stringer component laying robot end effector 10 according to the above embodiment of the present invention.

[0067] The stringer parts laying robot 1 according to the present invention has the advantages of high functional integration, high control precision and high laying efficiency by utilizing the end effector 10 of the stringer parts laying robot according to the above embodiment of the present invention.

[0068] Specifically, the stringer parts laying robot 1 also includes an industrial robotic arm 20, with an end effector 10 located at the end of the industrial robotic arm 20. The industrial robotic arm 20 can be a six-axis industrial robotic arm.

[0069] Other configurations and operations of the stringer parts laying robot 1 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0071] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A longeron part layup robot end effector, characterized by, The installation seat comprises a bottom plate, two side plates and a top base, the two side plates are respectively connected with two ends of the bottom plate, and the top base is respectively connected with the two side plates. The finger driving device is arranged on the top base. The lifting driving device is arranged on the top base and penetrates through the top base, and the position height of the measuring device in the avoiding position is higher than the position height of the measuring device in the measuring position. The measuring device comprises a cross-section line laser measuring instrument and two end face measuring cameras, the two end face measuring cameras are respectively arranged adjacent to two ends of the installation seat, and the cross-section line laser measuring instrument is located at the horizontal direction center of the installation seat. The finger driving device is arranged on the top base. The lifting driving device is arranged on the top base and penetrates through the top base, and the position height of the measuring device in the avoiding position is higher than the position height of the measuring device in the measuring position.

2. The longeron part layup robot end effector of claim 1, wherein, The measuring device comprises a cross-section line laser measuring instrument and two end face measuring cameras, the two end face measuring cameras are respectively arranged adjacent to two ends of the installation seat, and the cross-section line laser measuring instrument is located at the horizontal direction center of the installation seat.

3. The longeron part layup robot end effector of claim 2, wherein, ​ 4. The longeron part layup robot end effector of claim 2, wherein, ​ 5. The longeron part layup robot end effector of claim 2, wherein, ​ 6. The longeron part layup robot end effector of claim 1, wherein, The grabbing devices are two and are arranged adjacent to two ends of the mounting seat respectively.

7. The longeron part layup robot end effector of claim 1, wherein, The guide rails are two and are arranged in parallel and at intervals, and the auxiliary device base is slidably connected with the two guide rails respectively.

8. The longeron part layup robot end effector of claim 1, wherein, The force sensor is a six-axis force and torque sensor.

9. The longeron part layup robot end effector of claim 1, wherein, The finger driving device and the pressing driving device are both pneumatic driving devices.

10. A longeron part laying robot characterized by, A longeron part laying robot end effector according to any one of claims 1-9.

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