End effector for angle filling and sealing of aircraft panel and using method

Abstract

The embodiment of the invention discloses an end effector for angle filling and sealing of an aircraft panel and a using method, a glue mixing barrel is fixedly mounted in an automatic glue mixing system in the end effector, and the front part of the upper end surface of the glue mixing barrel is correspondingly communicated with two glue storage barrels through two glue outlet pipelines; the front end of the glue mixing cylinder is communicated to a glue supply cylinder of the precise glue supply system through a glue outlet pipeline, and the front end of the glue supply cylinder is communicated to a scraper in the wallboard pressing device through a glue outlet nozzle; mixed glue flows out to a sealing position of an aircraft skin and a stringer through a glue outlet pipeline and a glue outlet nozzle of the glue supply barrel; a wall plate pressing mechanism of the wall plate pressing device is installed on a sliding block of the guide rail pair, and an extension rod of a micro air cylinder installed on the lower end face of the glue supply barrel through a connecting plate is connected with the wall plate pressing mechanism and used for controlling movement of the wall plate pressing mechanism. The end effector provided by the invention can complete automatic glue mixing, accurate glue discharging and gluing position positioning, ensures the gluing line and glue type quality, and improves the gluing efficiency of the aircraft panel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aviation sealing, in particular to an end effector for filling corner sealing of an aircraft panel and a use method thereof. BACKGROUND

[0002] The aircraft is corroded by the external environment during use, so strict sealing protection measures need to be taken to prevent the corrosion of the aircraft structure and ensure the service life of the aircraft structure. The corner sealing is a kind of sealing agent applied to the edge of the fitting surface of the part, and a continuous corrugated sealing agent coating is formed after shaping, which is the main sealing type in the aircraft structure sealing.

[0003] The aircraft panel mainly consists of a skin 32 and a stringer 33. At present, the domestic main machine factory mainly relies on manual glue coating to perform corner sealing on the edge of the fitting surface between the aircraft skin 32 and the stringer 33. The implementation process includes the processes of pasting a limiting paper tape, coating glue, shaping, and tearing the limiting paper tape. In the mass production process, the complex process leads to low efficiency, the glue coating shape is not uniform, and the glue can cause certain harm to the health of workers. SUMMARY

[0004] The purpose of the present application is to solve the above technical problems. The present application provides an end effector for filling corner sealing of an aircraft panel and a use method thereof to solve the problems of complex process, harm to human health, and difficult to unify the glue coating standard in the traditional manual glue coating process for filling corner sealing of the aircraft panel and the stringer 33.

[0005] The technical scheme of the present application is that the present application provides an end effector for filling corner sealing of an aircraft panel, which comprises an automatic glue mixing system 1, a precise glue supply system 2, a panel pressing device 3, a binocular camera 4, and a control system 5. The mounting seat assembly 6 of the automatic glue mixing system 1 is fixedly installed with a glue mixing cylinder 8 at the bottom through a concave cavity structure, the top end surface of the mounting seat assembly 6 is rigidly connected with the end of a multi-axis robot through threads, and is used for controlling the overall running track of the end effector through the multi-axis robot; the front end surface of the glue mixing cylinder 8 is in correspondence with two glue storage barrels 13 symmetrically installed on both sides of the mounting seat assembly 6 through two glue outlet pipes 16. The precise glue supply system 2 comprises a glue supply cylinder 19 arranged at the bottom end surface of the glue mixing cylinder 8, the front end of the glue mixing cylinder 8 is connected to the glue supply cylinder 19 through the glue outlet pipe 16, and the front end of the glue supply cylinder 19 is connected to the scraper 34 in the panel pressing device 3 through the glue outlet nozzle 21; The rear ends of the glue storage barrel 13 and the glue supply barrel 19 are respectively equipped with electric cylinders for providing output force to the glue inside them, and the rear end of the glue mixing barrel 8 is equipped with a rotary glue mixing mechanism for providing stirring and output force to the glue inside it. The different types of glue in the two glue storage barrels 13 are delivered to the glue mixing barrel 8 in a preset ratio for mixing, and the mixed glue flows out through the glue outlet pipe 16 and glue outlet nozzle 21 of the glue supply barrel 19 to the sealing position between the aircraft skin 32 and the long stringer 33. The guide rail pair 22 of the wall panel pressing device 3 is installed on the lower end surface of the glue supply cylinder 19, and the wall panel pressing mechanism is installed on the slider of the guide rail pair 22. The extension rod of the micro cylinder 23 installed on the lower end surface of the glue supply cylinder 19 is connected to the wall panel pressing mechanism through a connecting plate to control the movement of the wall panel pressing mechanism; The binocular camera 4 is fixedly mounted on the front of the upper end face of the glue supply cylinder 19 and is used to scan the shape of the aircraft skin 32 and the long stringer 33 before filling the corners and sealing, so as to determine the position of the fillet seal. The control system 5 is fixedly installed inside the mounting base assembly 6 and is electrically connected to the automatic glue mixing system 1, the precise glue supply system 2, the wall panel pressing device 3 and the binocular camera 4 respectively to control the operation of each component.

[0006] Optionally, in the end effector for sealing the fillet of an aircraft panel as described above, the automatic glue mixing system 1 includes a mounting seat assembly 6, an L-shaped mounting seat 7, a glue mixing cylinder 8, a motor 9, a reducer 10, a rotary blade 11, and a first electric cylinder 12, a glue storage barrel 13, a pressure regulating valve 14, a precision glue dispensing valve 15, a glue outlet pipe 16, a cylinder 17, and a linear guide pair 18 symmetrically arranged on both sides of the mounting seat assembly 6; The mounting seat assembly 6 is configured as a connecting frame structure having a concave cavity at the bottom; the mixing cylinder 8 is mounted on the front end of the top mounting plate of the concave cavity, and the linear guide pair 18 is mounted on the rear end of the top mounting plate; The reducer 10 is mounted on the slider of the linear guide pair 18 through the L-shaped mounting seat 7. The output shaft of the motor 9 is connected to the input shaft of the reducer 10. The rotary blade 11 built into the mixing cylinder 8 is connected to the output shaft of the reducer 10. Two cylinders 17 are symmetrically mounted on both sides of the mixing cylinder 8. The protruding ends of the two cylinders 17 are correspondingly connected to the vertical plates on both sides of the L-shaped mounting seat 7. On the one hand, it is used to drive the rotary blade 11 to rotate through the motor 9 through the reducer 10 to stir the different glues in the mixing cylinder 8. On the other hand, it is used to drive the L-shaped mounting seat 7 and the output shaft of the reducer 10 to synchronously advance into the mixing cylinder 8 through the movement of the protruding ends of the two cylinders 17, so as to push the mixed glue inside the mixing cylinder 8 into the glue supply cylinder 19. Two glue storage barrels 13 and their corresponding two first electric cylinders 12 symmetrically installed on both sides of the mounting seat assembly 6, the output shaft of the first electric cylinder 12 is connected with the extrusion end of the corresponding glue storage barrel 13, the output end of the two glue storage barrels 13 is connected with one end of a glue outlet pipe 16 through a pressure stabilizing valve 14 and a precise glue dispensing valve 15 respectively, the other end of the two glue outlet pipes 16 is connected to the upper end face of the glue mixing barrel 8; the different types of glue stored in the two glue storage barrels 13 flows out under the pressure of the first electric cylinder 12, sequentially passes through the pressure stabilizing valve 14 and the precise glue dispensing valve 15, and flows into the glue mixing barrel 8, and is stirred and pushed in the glue mixing barrel 8, so that the mixed glue flows into the glue supply barrel 19 through the glue outlet pipe 16.

[0007] Optionally, in the end effector for aircraft panel corner sealing as described above, the precise glue supply system comprises a glue supply barrel 19, a second electric cylinder 20, a precise glue dispensing valve 15, and a glue outlet nozzle 21; The glue supply barrel 19 is installed below the glue mixing barrel 8 through its connecting plate, and the second electric cylinder 20 is connected with the pushing plate inside the glue supply barrel 19 to provide pushing power. The glue outlet nozzle 21 is made of soft material, one end of which is installed in the front end of the glue supply barrel 19 through the precise glue dispensing valve 15, and the other end extends into the scraper 34 in the panel pressing device 3.

[0008] Optionally, in the end effector for aircraft panel corner sealing as described above, the panel pressing device 3 comprises a guide rail pair 22, a micro air cylinder 23, a hot air pipe 24, a spring 25, a spring mounting seat 26, an angle seat 27, an elastic rod 28, and an upper pressing assembly and a lower pressing assembly arranged in an up-down staggered manner; The guide rail pair 22 is installed on the lower end face of the glue supply barrel 19, the angle seat 27 is installed on the sliding block of the guide rail pair 22, and the micro air cylinder 23 is installed on the lower end face of the glue supply barrel 19 through the connecting plate, the extension rod of the micro air cylinder 23 is fixedly connected with the angle seat 27 to drive the angle seat 27 to move along the guide rail pair 22; The spring mounting seat 26 comprises a seat body and four columns arranged at the four corners of the seat body, an installation slot is formed in each column, a spring 25 is embedded in each installation slot, the inner end of each spring 25 is fixed with the bottom of the installation slot, and the outer end of each spring 25 is connected with an elastic rod 28; the spring mounting seat 26 is fixedly installed on the front end face of the angle seat 27 through the seat body, so that the axial direction of each spring 25 and elastic rod 28 is parallel to the direction of the guide rail pair 22, the front ends of the upper two elastic rods 28 are connected with the upper pressing assembly, and the front ends of the lower two elastic rods 28 are connected with the lower pressing assembly; The upper and lower pressing assemblies respectively comprise a special-shaped plate 29, two gears 30 and a toothed transmission belt 31. The toothed transmission belt 31 is sleeved outside the two gears 30, and the two special-shaped plates 29 are arranged at the upper end and the lower end of the upper and lower toothed transmission belts 31 respectively. The central shafts of the two gears 30 arranged in the upper and lower positions are connected to the extending sides of the upper and lower elastic rods 28 through the upper and lower special-shaped plates 29. The micro-cylinder 23 drives the upper and lower pressing assemblies to move along the guide rail pair 22 until the two toothed transmission belts 31 are tightly attached to the aircraft skin 32 and the longerons 33 respectively, and can rotate and walk synchronously with the movement of the end effector. The hot air pipe 24 is fixed by penetrating the through hole in the angle seat 27 and the spring mounting seat 26 from the small-diameter end, and the small-diameter end of the hot air pipe is fixed on the special-shaped plate 29 of the upper pressing assembly through the connecting plate. The small-diameter end is divided into two different openings through the split, hot air is input from the large-diameter end of the hot air pipe 24 and output from the small-diameter end to the glue coating position. The scraper 34 is arranged as an irregular half-cavity, and the short side of the scraper 34 is tightly attached to the skin 32 and the longerons 33 respectively to complete the surface flatness and angle modification of the mixed glue.

[0009] Optionally, in the end effector for filling and sealing the corners of the aircraft wall panel as described above, the first electric cylinder 12, the motor 9, the pressure stabilizing valve 14, the precise glue dispensing valve 15 and the cylinder 17 of the automatic glue mixing system 1 are connected to the control system 5. The control system 5 receives the signal feedback of the pressure stabilizing valve 14 and the precise glue dispensing valve 15 in real time to adjust the extension and retraction amount of the first electric cylinder 12 of the automatic glue mixing system 1 in real time, thereby controlling the extrusion amount of the two types of glue. The control system 5 cooperates with the extension and retraction of the cylinder 17 and the rotation of the motor 9 in the automatic glue mixing system 1 to control the sufficient mixing of the two types of glue.

[0010] Optionally, in the end effector for filling and sealing the corners of the aircraft wall panel as described above, the second electric cylinder 20, the precise glue dispensing valve 15 of the precise glue supply system 2, and the micro-cylinder 23 and the hot air pipe 24 of the wall panel pressing device 3 are connected to the control system 5. When supplying glue, the control system 5 drives the micro-cylinder 23 to move forward along the guide rail pair 22 to make the toothed transmission belt 31 tightly attached to the aircraft skin 32 and the longerons 33 with a certain pressing force, and the hot air pipe 24 blows hot air to the inside of the two toothed transmission belts 31. Then the second electric cylinder 20 of the precise glue supply system 2 is driven to move. During the glue supply process, the actual glue supply flow rate detected by the precise glue dispensing valve 15 is matched with the speed of the overall movement of the end effector by adjusting the pressure of the second electric cylinder 20 in real time.

[0011] Optionally, in the end effector for aircraft panel fillet sealing as described above, the scraper 34 is made of elastic material, and the gear 30, the scraper 34 and the toothed belt 31 are made of non-sticky material, the scraper 34 has the same angle as the angle of the solidified glue required by the aircraft panel glue coating, and the excess glue is scraped on the inside of the toothed belt 31 by the scraper 34 during glue coating; the hot air delivered by the hot air pipe 24 accelerates the glue coating on the aircraft panel and the solidification of the excess glue on the inside of the toothed belt 31, and the solidified glue on the inside of the toothed belt 31 is cleaned by meshing with the gear 30.

[0012] Optionally, in the end effector for aircraft panel fillet sealing as described above, the glue supply cylinder 19 of the precise glue supply system 2 has a back suction function, after the glue coating is completed, the second electric cylinder 20 moves backward to form negative pressure, and the glue in the glue outlet pipe 16 flows back to the glue supply cylinder 19, so that there is no glue dripping when the glue coating is stopped.

[0013] Optionally, in the end effector for aircraft panel fillet sealing as described above, the storage barrel 13 of the automatic glue mixing system 1 can be replaced from the side when it is used up.

[0014] In a second aspect, the embodiment of the present application also provides a method for aircraft panel fillet sealing, which adopts the end effector for aircraft panel fillet sealing as described in any one of the above embodiments to perform the operation method of the aircraft skin 32 and the longeron 33 fillet sealing, comprising: Step 1, complete the positioning of the aircraft skin 32 and the longeron 33, and install the two types of glue storage barrels 13 in the end effector, to ensure that the glue coating position of the aircraft skin 32 and the longeron 33 is within the moving range of the end effector; Step 2, the control system 5 cooperates with the multi-axis robot and the binocular camera 4 to complete the scanning of the actual aircraft skin 32 and longeron 33 appearance, determines the glue coating position by comparing with the theoretical model, calculates the workpiece coordinate position, and moves the end effector to be located in the normal front of the starting point of the aircraft panel glue coating; Step 3, the automatic glue mixing system 1 starts to run to complete the sufficient mixing of the two types of glue, the mixed glue flows into the glue supply cylinder 19, and the automatic glue mixing system 1 stops working and closes the precise glue valve 15; Step 4, the glue supply control system 5 drives the micro-cylinder 23 to move forward along the guide rail pair 22 to make the toothed transmission belt 31 tightly adhere to the aircraft skin 32 and the longeron 33 with a certain pressing force, the hot air pipe 24 synchronously blows hot air to the inner side of the two toothed transmission belts 31, then the second electric cylinder 20 of the precise glue supply system 2 is driven to apply pressure, the mixed glue flow rate is controlled by the precise glue dispensing valve 15, the pressure of the second electric cylinder 20 is adjusted in real time during the glue supply process to make the actual glue dispensing speed controlled by the precise glue dispensing valve 15 match the moving speed of the whole end effector, and the end effector is coated with glue at a certain speed by the multi-axis robot; Step 5, after the coating is completed, the glue storage barrels 13 on both sides of the mounting seat assembly 6 are removed, the cleaning pipeline is connected at the position of the glue storage barrels 13, the cleaning liquid flows into the pressure stabilizing valve 14, the precise glue dispensing valve 15, the glue outlet pipeline 16, the glue mixing cylinder 8 and the glue supply cylinder 19 in sequence to complete the cleaning of the end effector, and then the drying is completed by air blowing.

[0015] The end effector for aircraft panel fillet sealing and the use method provided by the embodiment of the application have the following beneficial effects: (1) The end effector for aircraft panel fillet sealing and the use method provided by the embodiment of the application can automatically complete the glue coating of the adhering position of the skin 32 and the longeron 33, and the work efficiency and the glue coating quality are improved, and the glue coating consistency is good, compared with the method of manually mixing glue and then coating glue.

[0016] (2) The end effector for aircraft panel fillet sealing and the use method provided by the embodiment of the application can be integrated on various types of robots, and the glue coating can be completed on any position of a product within the reachable range of the robot, the coverage rate is high, and the robot can be applied to various products.

[0017] (3) The end effector for aircraft panel fillet sealing provided by the embodiment of the application is provided with a piston type glue dispensing valve at the plurality of glue outlets, the glue dispensing reaction is fast, the glue dispensing is timely and has a back suction function, the glue dispensing is uniform and continuous, and the glue line and glue shape quality are guaranteed.

[0018] (4) The end effector and use method for aircraft panel corner sealing provided by the embodiment of the present application integrates an automatic glue mixing system, a precise glue supply system, a panel pressing device, a binocular camera and a control system, has automatic positioning and automatic glue coating functions, and each module can be replaced individually, facilitating maintenance and application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification, and are used together with the embodiments of the present application to explain the technical solutions of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0020] Figure 1 The overall structural schematic diagram of the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 2 The overall structural schematic diagram of the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 1 The structural schematic diagram of the precise glue supply system in the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 3 The structural schematic diagram of the precise glue supply system in the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 1 The combined structural schematic diagram of part of the modules in the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 4 The combined structural schematic diagram of part of the modules in the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 3 The combined structural schematic diagram of part of the modules in the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 5 The combined structural schematic diagram of part of the modules in the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 1 The partial structural schematic diagram of the panel pressing device in the end effector provided by the embodiment of the present application is shown in the figure. Figure 6 The partial structural schematic diagram of the panel pressing device in the end effector provided by the embodiment of the present application is shown in the figure. Figure 5 The structural schematic diagram of the panel pressing device in the end effector provided by the embodiment of the present application is shown in the figure. Figure 7 The use schematic diagram of the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 8 The use schematic diagram of the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure. Figure 9 The flowchart of the use method of the end effector for aircraft panel corner sealing provided by the embodiment of the present application is shown in the figure.

[0021] Explanation of reference signs: 1, automatic glue mixing system; 2, accurate glue supply system; 3, wallboard pressing device; 4, binocular camera; 5, control system; 6, mounting seat assembly; 7, L-shaped mounting seat; 8, glue mixing cylinder; 9, motor; 10, speed reducer; 11, rotating blade; 12, first electric cylinder; 13, glue storage barrel; 14, pressure stabilizing valve; 15, precision glue dispensing valve; 16, glue outlet pipeline; 17, air cylinder; 18, linear guide pair; 19, glue supply cylinder; 20, second electric cylinder; 21, glue outlet nozzle; 22, guide pair; 23, miniature air cylinder; 24, hot air pipe; 25, spring; 26, spring mounting seat; 27, angle seat; 28, elastic rod; 29, special-shaped plate; 30, gear; 31, toothed transmission belt; 32, skin 32; 33, stringer 33; 34, scraper 34. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

[0023] As explained in the above background, at present, domestic main machine factory still mainly relies on manual glue coating to perform fillet sealing on the edge of the bonding surface between the aircraft wallboard and the stringer 33, and the process includes the processes of pasting limiting paper adhesive tape, coating glue, repairing, tearing open the limiting paper adhesive tape, etc. In the mass production process, the complex process leads to low efficiency, the coated shape is not uniform, and the glue can cause certain harm to the health of workers. In addition, in the glue coating process, different types of glue that meet the use characteristics of different products are used according to the different characteristics of different products; when two-component glue is needed to be coated, the workers first mix the two-component glue with a glue mixing machine, and then manually coat it, further reducing the glue coating efficiency.

[0024] Under the trend of continuously improving the quality and production capacity of aircraft, an automatic and efficient aircraft wallboard fillet sealing equipment is urgently needed to complete the glue coating work and improve the glue coating efficiency and quality.

[0025] In view of the above problems and production needs, the embodiment of the present application provides an end effector for aircraft wallboard fillet sealing and a use method, which can achieve the purposes of simplifying the glue coating process, improving the glue coating efficiency, reducing the working cost, etc. The present application provides the following specific embodiments which can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments.

[0026] Figure 1 The overall structure diagram of an end effector for aircraft wallboard fillet sealing provided by the embodiment of the present application is shown in the figure, Figure 2 The end effector for aircraft wallboard fillet sealing provided by the embodiment of the present application comprises a mounting seat assembly, a glue supply cylinder, a glue outlet nozzle, a glue mixing cylinder, a glue outlet pipeline, a pressure stabilizing valve, a glue storage barrel, a first electric cylinder, a speed reducer, a motor, a rotating blade, a linear guide pair, an air cylinder, a second electric cylinder, a glue dispensing valve, a hot air pipe, a miniature air cylinder, a spring, a spring mounting seat, an angle seat, an elastic rod, a special-shaped plate, a gear, a toothed transmission belt, a skin, a stringer, and a scraper. Figure 1The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to Figure 1 and Figure 2 The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to

[0027] The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to

[0028] The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to Figure 1 and Figure 2 The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to

[0029] The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to Figure 3 The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to

[0030] The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to Figure 1 , Figure 2 , Figure 3 The embodiment shown provides a structural diagram of a precise glue supply system in an end effector for aircraft panel fillet sealing. Referring to

[0031] In an implementation form of the embodiment of the application, as shown in Figure 2 The automatic glue mixing system 1 comprises a mounting seat assembly 6, an L-shaped mounting seat 7, a glue mixing cylinder 8, a motor 9, a speed reducer 10, a rotating blade 11, a first electric cylinder 12 symmetrically arranged on both sides of the mounting seat assembly 6, a glue storage barrel 13, a pressure stabilizing valve 14, a precise glue dispensing valve 15, a glue outlet pipeline 16, a pneumatic cylinder 17, and a linear guide pair 18.

[0032] In this implementation form, the mounting seat assembly 6 is provided as a connecting frame structure with a concave cavity at the bottom; the glue mixing cylinder 8 is mounted at the front end of the top mounting plate of the concave cavity, and the linear guide pair 18 is mounted at the rear end of the top mounting plate.

[0033] In this implementation form, the speed reducer 10 is mounted on the slider of the linear guide pair 18 through the L-shaped mounting seat 7, the output shaft of the motor 9 is connected with the input shaft of the speed reducer 10, and the rotating blade 11 built in the glue mixing cylinder 8 is connected with the output shaft of the speed reducer 10; the two pneumatic cylinders 17 are symmetrically mounted on both sides of the glue mixing cylinder 8, and the extending ends of the two pneumatic cylinders 17 are correspondingly connected to the vertical plates on both sides of the L-shaped mounting seat 7; on the one hand, the rotating blade 11 is driven to rotate by the motor 9 through the speed reducer 10 to stir different glues in the glue mixing cylinder 8; on the other hand, the extending ends of the two pneumatic cylinders 17 are driven to move to synchronously push the output shaft of the L-shaped mounting seat 7 and the speed reducer 10 into the glue mixing cylinder 8 to push the mixed glue in the glue mixing cylinder 8 into the glue supply cylinder 19.

[0034] In this implementation form, the two glue storage barrels 13 and the two first electric cylinders 12 correspondingly connected at the rear ends of the two glue storage barrels 13 are symmetrically mounted on both sides of the mounting seat assembly 6, the output shaft of the first electric cylinder 12 is connected with the extrusion end of the corresponding glue storage barrel 13, the output ends of the two glue storage barrels 13 are connected with one end of one glue outlet pipeline 16 through the pressure stabilizing valve 14 and the precise glue dispensing valve 15 respectively, and the other end of the glue outlet pipeline 16 is connected to the upper end surface of the glue mixing cylinder 8; different types of glues stored in the two glue storage barrels 13 flow out from the two glue storage barrels 13 under the pressure of the first electric cylinder 12, sequentially pass through the pressure stabilizing valve 14 and the precise glue dispensing valve 15, and flow into the glue mixing cylinder 8 to be stirred and pushed in the glue mixing cylinder 8, so that the mixed glue flows into the glue supply cylinder 19 through the glue outlet pipeline 16.

[0035] It should be noted that, as shown in Figure 2 The glue storage barrel 13 of the automatic glue mixing system 1 in the embodiment of the application can be replaced from the side when it is used up.

[0036] In an implementation form of the embodiment of the application, as shown in Figure 3 The precise glue supply system comprises the glue supply cylinder 19, a second electric cylinder 20, the precise glue dispensing valve 15, and a glue outlet nozzle 21.

[0037] In the implementation, the glue supply cylinder 19 is installed below the mixing cylinder 8 through its connecting plate, and the second electric cylinder 20 is connected with the pushing plate inside the glue supply cylinder 19 to provide pushing power; the glue outlet nozzle 21 is made of soft material, one end of which is installed at the front end of the glue supply cylinder 19 through the precise glue valve 15, and the other end extends to the scraper 34 inside the wallboard pressing device 3.

[0038] In an implementation of the embodiment of the application, as shown in Figure 4 The wallboard pressing device 3 includes a guide rail pair 22, a micro-cylinder 23, a hot air pipe 24, a spring 25, a spring mounting seat 26, an angle seat 27, an elastic rod 28, and an upper pressing assembly and a lower pressing assembly arranged in an up-down staggered manner.

[0039] In the implementation, the guide rail pair 22 is installed at the lower end surface of the glue supply cylinder 19, the angle seat 27 is installed on the sliding block of the guide rail pair 22, and the micro-cylinder 23 is installed at the lower end surface of the glue supply cylinder 19 through a connecting plate. The extension rod of the micro-cylinder 23 is fixedly connected with the angle seat 27 to drive the angle seat 27 to move along the guide rail pair 22.

[0040] In the implementation, the spring mounting seat 26 includes a seat body and four column bodies arranged at four corners of the seat body. An installation slot is formed in each column body. Each spring 25 is embedded in each installation slot, and the inner end of each spring 25 is fixed to the bottom of the installation slot. The outer end of each spring 25 is connected with an elastic rod 28. The spring mounting seat 26 is fixedly installed at the front end surface of the angle seat 27 through the seat body, so that the axial direction of each spring 25 and elastic rod 28 is parallel to the direction of the guide rail pair 22. The front ends of the upper two elastic rods 28 are connected with the upper pressing assembly, and the front ends of the lower two elastic rods 28 are connected with the lower pressing assembly. In the implementation, the upper pressing assembly and the lower pressing assembly each include a special-shaped plate 29, two gears 30, and a toothed transmission belt 31. The toothed transmission belt 31 is sleeved outside the two gears 30. The two special-shaped plates 29 are arranged at the upper end and the lower end of the upper and lower toothed transmission belts 31, respectively. The central shafts of the two gears 30 arranged in an up-down manner are connected with the extension sides of the upper and lower elastic rods 28 through the upper and lower special-shaped plates 29. The micro-cylinder 23 drives the upper pressing assembly and the lower pressing assembly to move along the direction of the guide rail pair 22 until the two toothed transmission belts 31 are tightly attached to the aircraft skin 32 and the longerons 33, respectively, and can rotate and walk synchronously with the movement of the end effector.

[0041] In a specific implementation, the hot air pipe 24 is fixed with its small-diameter end penetrating through the through hole inside the angle seat 27 and the spring mounting seat 26, and the small-diameter end of the hot air pipe is fixed on the special-shaped plate 29 of the upper pressing assembly through the connecting plate, and the small-diameter end is divided into two different openings through the split, hot air is input from the large-diameter end of the hot air pipe 24 and output to the gluing position from the small-diameter end; the scraper 34 is arranged as an irregular half-cavity, and one side of the short edge of the scraper 34 is tightly attached to the skin 32 and the stringer 33 respectively to complete the flatness and angle modification of the mixed glue surface.

[0042] In an implementation manner of the embodiment of the present application, as shown in Figure 2 The first electric cylinder 12, the motor 9, the pressure stabilizing valve 14, the precise glue dispensing valve 15 and the air cylinder 17 of the automatic glue mixing system 1 are connected with the control system 5.

[0043] In the implementation manner, the control system 5 adjusts and controls the extension and retraction amount of the first electric cylinder 12 in the automatic glue mixing system 1 in real time through real-time receiving of the signal feedback of the pressure stabilizing valve 14 and the precise glue dispensing valve 15 during glue mixing, so as to control the extrusion amount of the two types of glue; the control system 5 cooperatively controls the extension and retraction of the air cylinder 17 and the rotation of the motor 9 in the automatic glue mixing system 1 to control the sufficient mixing of the two types of glue.

[0044] In an implementation manner of the embodiment of the present application, as shown in Figure 1 and Figure 3 The second electric cylinder 20, the precise glue dispensing valve 15 of the precise glue supplying system 2, the micro air cylinder 23 of the wall plate pressing device 3 and the hot air pipe 24 are connected with the control system 5, which is used for driving the micro air cylinder 23 to move forward along the guide rail pair 22 to make the toothed transmission belt 31 tightly adhere to the aircraft skin 32 and the stringer 33 with a certain pressing force, and then driving the second electric cylinder 20 of the precise glue supplying system 2 to move, so that the actual glue supplying flow rate detected by the precise glue dispensing valve 15 matches the speed of the overall movement of the end effector through real-time adjustment of the pressure of the second electric cylinder 20 during the glue supplying process, so as to ensure the consistency of the glue amount per unit length on the skin 32 and the stringer 33.

[0045] In an implementation manner of the embodiment of the present application, as shown in Figure 4 The scraper 34 is made of elastic material, and the gear 30, the scraper 34 and the toothed belt 31 are made of non-sticky material, the scraper 34 has an inclination angle same as the angle of the glue after solidification required by the aircraft wall plate gluing, and the excess glue is scraped on the inner side of the toothed transmission belt 31 during gluing; the hot air delivered by the hot air pipe 24 accelerates the glue solidification on the aircraft wall plate and the excess glue on the inner side of the toothed transmission belt 31, and the glue on the inner side of the toothed transmission belt 31 is cleaned after solidification through meshing with the gear 30.

[0046] It should be noted that the glue supply cylinder 19 of the precise glue supply system 2 in the embodiment of the application has a back suction function. After the glue coating is completed, the second electric cylinder 20 moves backward to form a negative pressure, the glue in the glue outlet pipeline 16 is returned to the glue supply cylinder 19, and it is ensured that there is no glue dripping when the glue coating is stopped. In addition, the storage barrel 13 of the automatic glue mixing system 1 in the embodiment of the application can be replaced from the side when it is used up.

[0047] Based on the end effector for aircraft panel fillet sealing provided in the above embodiment of the application, the embodiment of the application further provides a use method of the end effector for aircraft panel fillet sealing, as shown in the accompanying drawings, and the use method comprises the following steps: Figure 9 Step 1: The positioning of the aircraft skin 32 and the longeron 33 is completed, and the installation of the two types of storage barrels 13 in the end effector is completed, so as to ensure that the glue coating positions of the aircraft skin 32 and the longeron 33 are within the moving range of the end effector. Step 2: The control system 5 cooperates with the multi-axis robot and the binocular camera 4 to complete the scanning of the actual aircraft skin 32 and longeron 33, determines the glue coating position by comparison with a theoretical model, calculates the workpiece coordinate position, and moves the end effector to be located in front of the normal direction of the aircraft panel glue coating starting point. Step 3: The automatic glue mixing system 1 starts to run to complete the sufficient mixing of the two types of glue, the mixed glue flows into the glue supply cylinder 19, the automatic glue mixing system 1 stops working and the precise glue valve 15 is closed. Step 4: When the glue is supplied, the control system 5 drives the micro pneumatic cylinder 23 to move forward along the guide rail pair 22 so that the toothed transmission belts 31 are tightly attached to the aircraft skin 32 and the longeron 33 respectively with a certain pressing force, the hot air pipe 24 synchronously blows hot air to the inner sides of the two toothed transmission belts 31, then the second electric cylinder 20 of the precise glue supply system 2 is driven to apply pressure, the precise glue valve 15 controls the flow rate of the mixed glue, the pressure of the second electric cylinder 20 is adjusted in real time during the glue supply process so that the actual glue supply speed controlled by the precise glue valve 15 matches the moving speed of the whole end effector, and the multi-axis robot drives the end effector to coat glue at a certain speed. Step 5: After the glue coating is completed, the storage barrels 13 on both sides of the mounting seat assembly 6 are disassembled, the cleaning pipeline is connected at the position of the storage barrel 13, the cleaning liquid flows into the pressure stabilizing valve 14, the precise glue valve 15, the glue outlet pipeline 16, the glue mixing cylinder 8 and the glue supply cylinder 19 in sequence to complete the cleaning of the end effector, and then air is blown to complete drying.

[0048] ​The embodiment of the present application provides a kind of end effector and use method for aircraft panel fillet sealing, glue mixing cylinder 8 is installed in automatic glue mixing system 1 in end effector, different types of glue in two sides of two glue storage barrels 13 can be mixed to form mixed glue, and automatic glue mixing system 1 is rigidly connected with multi-axis robot end through its top mounting seat assembly 6, for controlling the overall operation trajectory of end effector by multi-axis robot;Glue cylinder 19 in precision glue supply system 2 is used to flow out mixed glue formed by glue mixing cylinder 8 to the sealing position of aircraft skin 32 and longer beam 33 through glue outlet nozzle 21;And glue body coated on sealing position is compacted by panel pressing device 3;In addition, actual position of fillet sealing can be determined by binocular camera 4 before fillet sealing.The technical scheme provided by the embodiment of the present application has the following beneficial effects: (1) The end effector and use method for aircraft panel fillet sealing provided by the embodiment of the present application can automatically complete glue coating at the bonding position of skin 32 and longer beam 33, which improves work efficiency and glue coating quality, and the glue coating consistency is good.

[0049] (2) The end effector and use method for aircraft panel fillet sealing provided by the embodiment of the present application can be integrated on various types of robots, and can complete glue coating at any position of the product within the reach of the robot, with high coverage, and can be applied to various products in cooperation with the robot.

[0050] (3) The end effector for aircraft panel fillet sealing provided by the embodiment of the present application is provided with piston type point glue valve at multiple glue outlets, the glue outlet reaction is fast, the glue is broken in time and has back suction function, the glue outlet is uniform and continuous, and the glue line and glue shape quality are guaranteed.

[0051] (4) The end effector and use method for aircraft panel fillet sealing provided by the embodiment of the present application integrates automatic glue mixing system, precision glue supply system, panel pressing device, binocular camera and control system, has automatic positioning and automatic glue coating functions, and each module can also be replaced separately, which is convenient for maintenance and application.

[0052] Although the embodiments disclosed in the present application are as above, the content is only the embodiment adopted for the purpose of understanding the present application, and is not used to limit the present application. Any person skilled in the art of the present application can make any modification and change in the form and details without departing from the spirit and scope of the present application, but the patent protection scope of the present application shall be subject to the scope defined in the appended claims.

Claims

1. An end effector for sealing fillet of aircraft wall panels, characterized in that: include: Automatic glue mixing system (1), precise glue supply system (2), wall panel pressing device (3), binocular camera (4) and control system (5); The bottom of the mounting seat assembly (6) of the automatic glue mixing system (1) is fixedly mounted with a glue mixing cylinder (8) through a concave cavity structure, and the top surface of the mounting seat assembly (6) is rigidly connected to the end of the multi-axis robot through a thread, so as to control the overall running trajectory of the end effector through the multi-axis robot; the front of the upper end of the glue mixing cylinder (8) is connected to two glue storage barrels (13) symmetrically mounted on both sides of the mounting seat assembly (6) through two glue outlet pipes (16); The precise glue supply system (2) includes a glue supply cylinder (19) arranged on the bottom end surface of the glue mixing cylinder (8), the front end of the glue mixing cylinder (8) is connected to the glue supply cylinder (19) through a glue outlet pipe (16), and the front end of the glue supply cylinder (19) is connected to a scraper (34) in the wall panel pressing device (3) through a glue outlet nozzle (21); The rear ends of the glue storage barrel (13) and the glue supply barrel (19) are respectively provided with electric cylinders for providing output force to the glue inside the glue storage barrels (13), and the rear end of the glue mixing barrel (8) is provided with a rotary glue mixing mechanism for providing stirring and output force to the glue inside the glue storage barrels (13). Different types of glue in the two glue storage barrels (13) are transported to the glue mixing barrel (8) in a preset ratio for mixing, and the mixed glue flows out through the glue outlet pipe (16) and the glue outlet nozzle (21) of the glue supply barrel (19) to the sealing position between the aircraft skin (32) and the long stringer (33). The guide rail pair (22) of the wall panel pressing device (3) is installed on the lower end surface of the glue supply cylinder (19), the wall panel pressing mechanism is installed on the slider of the guide rail pair (22), and the extension rod of the micro cylinder (23) installed on the lower end surface of the glue supply cylinder (19) is connected to the wall panel pressing mechanism through the connecting plate to control the movement of the wall panel pressing mechanism; The binocular camera (4) is fixedly mounted on the front face of the upper end of the glue supply cylinder (19) and is used to scan the outer shapes of the aircraft skin (32) and the long stringer (33) by controlling the binocular camera (4) before filling the corners and sealing, so as to determine the position of the fillet sealing; The control system (5) is fixedly mounted inside the mounting base assembly (6) and is electrically connected to the automatic glue mixing system (1), the precise glue supply system (2), the wall panel pressing device (3) and the binocular camera (4) to control the operation of each component.

2. The end effector for sealing the fillet of an aircraft panel according to claim 1, characterized in that: The automatic glue mixing system (1) comprises a mounting seat assembly (6), an L-shaped mounting seat (7), a glue mixing cylinder (8), a motor (9), a reducer (10), a rotary blade (11), and a first electric cylinder (12), a glue storage barrel (13), a pressure regulating valve (14), a precision glue dispensing valve (15), a glue outlet pipe (16), an air cylinder (17), and a linear guide pair (18) symmetrically arranged on both sides of the mounting seat assembly (6); The mounting seat assembly (6) is configured as a connecting frame structure having a concave cavity at the bottom; the mixing cylinder (8) is mounted on the front end of the top mounting plate of the concave cavity, and the linear guide pair (18) is mounted on the rear end of the top mounting plate; The reducer (10) is mounted on the slider of the linear guide pair (18) through the L-shaped mounting seat (7), the output shaft of the motor (9) is connected to the input shaft of the reducer (10), and the rotary blade (11) built into the mixing cylinder (8) is connected to the output shaft of the reducer (10); two cylinders (17) are symmetrically mounted on both sides of the mixing cylinder (8), and the protruding ends of the two cylinders (17) are correspondingly connected to the vertical plates on both sides of the L-shaped mounting seat (7); on the one hand, it is used to drive the rotary blade (11) to rotate through the motor (9) through the reducer 10 to stir the different glues in the mixing cylinder (8); on the other hand, it is used to drive the output shafts of the L-shaped mounting seat (7) and the reducer (10) to synchronously advance into the mixing cylinder (8) through the movement of the protruding ends of the two cylinders (17) to push the mixed glue inside the mixing cylinder (8) into the glue supply cylinder (19); Two glue storage barrels (13) and two first electric cylinders (12) connected to their rear ends are symmetrically mounted on both sides of the mounting base assembly (6). The output shaft of the first electric cylinder (12) is connected to the extrusion end of the corresponding glue storage barrel (13). The output ends of the two glue storage barrels (13) are connected to one end of a glue outlet pipe (16) through a pressure-stabilizing valve (14) and a precision glue dispensing valve (15), respectively. The other ends of the two glue outlet pipes (16) are respectively connected to the upper end surface of the glue mixing barrel (8). Different types of glue stored in the glue storage barrels (13) on both sides flow out from the two glue storage barrels (13) under the pressure of the first electric cylinder (12) and flow into the glue mixing barrel (8) in turn through the pressure-stabilizing valve (14) and the precision glue dispensing valve (15), and are stirred and pushed in the glue mixing barrel (8) so that the mixed glue flows into the glue supply barrel (19) through the glue outlet pipe (16).

3. The end effector for sealing fillet of aircraft wall panels according to claim 2, characterized in that: The precise glue supply system comprises: a glue supply cylinder (19), a second electric cylinder (20), a precise glue dispensing valve (15), and a glue outlet nozzle (21); The glue supply cylinder (19) is installed directly below the mixing cylinder (8) through its connecting plate, and the extended end of the second electric cylinder (20) is connected to the propulsion plate inside the glue supply cylinder (19) to provide propulsion power; The glue outlet nozzle (21) is made of a soft material, one end of which is installed on the front end of the glue supply cylinder (19) through a precision glue dispensing valve (15), and the other end of which extends into the scraper (34) in the wall panel pressing device (3).

4. The end effector for sealing fillet of aircraft wall panels according to claim 3, characterized in that: The wall panel pressing device (3) comprises: a guide rail pair (22), a micro cylinder (23), a hot air pipe (24), a spring (25), a spring mounting seat (26), an angle seat (27), an elastic rod (28), and an upper pressing assembly and a lower pressing assembly that are arranged in an upper and lower dislocation; The guide rail pair (22) is mounted on the lower end surface of the glue supply cylinder (19), the angle seat (27) is mounted on the slider of the guide rail pair (22), the micro cylinder (23) is mounted on the lower end surface of the glue supply cylinder (19) through the connecting plate, and the extension rod of the micro cylinder (23) is fixedly connected to the angle seat (27) to drive the angle seat (27) to move along the guide rail pair (22); The spring mounting seat (26) includes a seat body and four columns arranged at the four corners of the seat body, each column is provided with a mounting groove, each mounting groove is embedded with a mounting spring (25), and the inner end of each spring (25) is fixed to the bottom of the mounting groove, and the outer end of each spring (25) is connected to an elastic rod (28); the spring mounting seat (26) is fixedly mounted on the front end surface of the corner seat (27) through its seat body, so that the axis direction of each spring (25) and the elastic rod (28) is parallel to the direction of the guide rail pair (22), the front ends of the two upper elastic rods (28) are connected to the upper clamping assembly, and the front ends of the two lower elastic rods (28) are connected to the lower clamping assembly; The upper clamping assembly and the lower clamping assembly respectively include a special-shaped plate (29), two gears (30), and a toothed transmission belt (31); the toothed transmission belt (31) is sleeved on the outside of the left and right gears (30), and the two special-shaped plates (29) are respectively arranged at the upper and lower ends of the upper and lower toothed transmission belts (31). The central axes of the two gears (30) arranged above and below pass through the upper and lower special-shaped plates (29) and are connected to the protruding sides of the upper and lower elastic rods (28). The micro cylinder (23) pushes the upper clamping assembly and the lower clamping assembly to move along the guide rail pair (22) until the two toothed transmission belts (31) are respectively tightly attached to the aircraft skin (32) and the long stringer (33), and can rotate and move synchronously with the movement of the end effector; The hot air pipe (24) passes through the through holes inside the angle seat (27) and the spring mounting seat (26) with its small diameter end and is fixed. The small diameter end of the hot air pipe is fixed to the special-shaped plate (29) of the upper clamping assembly through a connecting plate, and the small diameter end is divided into two openings in different directions by a fork. Hot air is input from the large diameter end of the hot air pipe (24) and output from the small diameter end to the glue coating position; the scraper (34) is set as an irregular semi-enclosed cavity, and one side of the short side of the scraper (34) is respectively pressed against the skin (32) and the long stringer (33) to complete the surface flatness and angle modification of the mixed glue.

5. The end effector for sealing fillet of aircraft wall panels according to claim 4, characterized in that: The first electric cylinder (12), the motor (9), the pressure regulating valve (14), the precision dispensing valve (15), and the air cylinder (17) of the automatic glue mixing system (1) are respectively connected to the control system (5); the control system (5) receives signal feedback from the pressure regulating valve (14) and the precision dispensing valve (15) in real time during glue mixing to adjust and control the expansion and contraction of the first electric cylinder (12) in the automatic glue mixing system (1) in real time, thereby controlling the extrusion amount of the two types of glue; the control system (5) coordinates the expansion and contraction of the air cylinder (17) and the rotation of the motor (9) in the automatic glue mixing system (1) to control the full mixing of the two types of glue.

6. The end effector for sealing fillet of aircraft wall panels according to claim 4, characterized in that: The second electric cylinder (20) of the precise glue supply system (2), the precise glue dispensing valve (15), and the micro cylinder (23) and the hot air pipe (24) of the wall panel pressing device (3) are respectively connected to the control system (5). When supplying glue, the control system (5) first drives the micro cylinder (23) to move forward along the guide rail pair (22) so that the toothed transmission belt (31) is tightly attached to the aircraft skin (32) and the long stringer (33) with a certain pressing force. The hot air pipe (24) is ventilated to blow hot air toward the inner side of the two toothed transmission belts (31), and then drives the second electric cylinder (20) of the precise glue supply system (2) to move. During the glue supply process, the pressure of the second electric cylinder (20) is adjusted in real time so that the actual glue supply flow rate detected by the precise glue dispensing valve (15) matches the speed of the overall movement of the end effector.

7. The end effector for sealing fillet of aircraft wall panels according to claim 4, characterized in that: The scraper (34) is made of elastic material, and the gear (30), scraper (34), and toothed belt (31) are made of materials that are not easy to adhere to glue. The scraper (34) has an inclination angle that is the same as the angle required for glue coating on the aircraft wall panel after the glue is solidified. During glue coating, excess glue is scraped onto the inner side of the toothed conveyor belt (31) by the scraper (34); the hot air delivered by the hot air pipe (24) accelerates the solidification of the glue on the aircraft wall panel and the excess glue on the inner side of the toothed conveyor belt (31), and after the glue on the inner side of the toothed conveyor belt (31) is solidified, it is meshed with the gear (30) to complete cleaning.

8. The end effector for sealing fillet of an aircraft panel according to any one of claims 1 to 7, characterized in that: The glue supply cylinder (19) of the precise glue supply system (2) has a back-suction function. After glue application is completed, the second electric cylinder (20) moves backward to form negative pressure, causing the glue in the glue outlet pipe (16) to flow back into the glue supply cylinder (19), ensuring that there will be no glue dripping when glue application stops.

9. The end effector for sealing fillet of an aircraft panel according to any one of claims 1 to 7, characterized in that: The glue storage barrel (13) of the automatic glue mixing system (1) can be replaced from the side after it is used up.

10. A method for sealing the fillet of an aircraft panel, characterized in that: A method for performing fillet sealing on an aircraft skin (32) and a long stringer (33) using an end effector for filling fillet sealing of an aircraft panel as claimed in any one of claims 1 to 9, comprising: Step 1, completing the positioning of the aircraft skin (32) and the long stringer (33), and the installation of two types of glue storage barrels (13) in the end effector, ensuring that the glue coating positions of the aircraft skin (32) and the long stringer (33) are within the moving range of the end effector; Step 2, the control system (5) coordinates the multi-axis robot and the binocular camera (4) to complete the scanning of the actual aircraft skin (32) and the long stringer (33), determines the gluing position by comparing with the theoretical model, calculates the workpiece coordinate position, and moves the end effector so that it is located in the normal direction in front of the starting point of the aircraft panel gluing; Step 3, the automatic glue mixing system (1) starts to operate and completes the full mixing of the two types of glue, and the mixed glue flows into the glue supply cylinder (19), and the automatic glue mixing system (1) stops working and closes the precision glue dispensing valve (15); Step 4, when supplying glue, the control system (5) first drives the micro cylinder (23) to move forward along the guide rail pair (22) so that the toothed transmission belt (31) is respectively pressed against the aircraft skin (32) and the long stringer (33) with a certain pressing force, and the hot air pipe (24) is ventilated synchronously to blow hot air to the inner side of the two toothed transmission belts (31), and then drives the second electric cylinder (20) of the precision glue supply system (2) to apply pressure and the precision glue dispensing valve (15) to control the flow rate of the mixed glue. During the glue supply process, the pressure of the second electric cylinder (20) is adjusted in real time so that the actual glue dispensing speed of the glue control of the precision glue dispensing valve (15) matches the overall moving speed of the end effector, and the multi-axis robot drives the end effector to apply glue at a certain speed; Step 5. After the glue coating is completed, the glue storage barrels (13) on both sides of the mounting seat assembly (6) are removed, and a cleaning pipe is connected to the glue storage barrel (13). The cleaning liquid flows into the pressure regulating valve (14), the precision dispensing valve (15), the glue outlet pipe (16), the glue mixing cylinder (8), and the glue supply cylinder (19) in sequence to complete the cleaning of the end effector, and then ventilate to complete the drying.

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