Wing wallboard stringer skin accurate butt joint device and use method

Abstract

The invention provides a wing panel stringer skin accurate butt joint device and a use method. According to the method, the actual space pose of the skin is determined through a composite skin forming mold, and then the theoretical space pose of the stringer is calculated; space attitude adjustment is conducted on the stringers to be in butt joint through the numerical control attitude adjusting and positioning structure, the stringer accurate positioning device grabs and positions the stringers and accurately moves the stringers in the X direction and the Y direction, finally the stringers are accurately positioned and pressed on the composite material skin, and accurate butt joint of the stringers and the skin of the composite material wing wall plate is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of composite material wall panel manufacturing, in particular to a device for accurately butting together a wing wall panel long stringer skin and a method for using the device. Background Art

[0002] Most domestic composite wing panels are T-shaped stiffened panels, that is, they are composed of composite T-shaped long stringers and composite skins. There are three main process methods for manufacturing composite T-shaped stiffened panels: co-bonding, co-curing, and secondary bonding. The process method that is more commonly used in China is co-bonding. Co-bonding is to cure and form the wet composite T-shaped long stringers, and then precisely dock them with the wet composite skins by applying glue and bonding them, and then perform secondary curing to form composite T-shaped stiffened panels. With the improvement of aircraft performance, the size of wing panels is getting larger and larger, and the docking accuracy requirements between the long stringers and the skins are getting higher and higher. In the actual production process, it is usually necessary to set multiple long stringer positioning clamps on the skin forming mold to accurately position the composite T-shaped long stringers so that they can be precisely docked with the wet composite skins. Therefore, in the process of precisely docking the long stringers and skin of the wing T-shaped stiffened wall panels, it is necessary to design and manufacture multiple long stringer positioning clamps according to the wing T-shaped stiffened wall panels, and accurately position and install them on the skin forming mold. Moreover, the long stringer positioning clamps used by different wing T-shaped stiffened wall panels are completely different and not universal, resulting in low manufacturing efficiency and high manufacturing costs for the wing T-shaped stiffened wall panels. In addition, as the size of the wing panels increases, it is difficult to position large-sized long strings under the long stringer positioning clamps, and a large number of workers are required, which is labor-intensive. This positioning and docking method is no longer suitable for the production of large-sized wing composite stiffened wall panels. At present, there are few studies on devices and methods for precisely docking the long stringers and skin of wing panels with strong versatility, and the research is of low level. There are no application examples, which seriously delays the overall manufacturing process of wing T-shaped stiffened wall panels. Therefore, in order to meet production needs, it is urgent to study a device and method for precisely docking the long stringers and skin of wing panels. Summary of the Invention

[0003] In order to solve practical production problems, the present invention provides a wing panel long stringer skin precise docking device and a use method.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a wing wall panel long stringer skin precise docking device, which includes: a numerical control attitude adjustment and positioning structure, a long stringer precise positioning device, and a composite skin forming mold. The numerical control attitude adjustment and positioning structure includes a plurality of three-coordinate numerical control positioners distributed in a matrix, and each three-coordinate numerical control positioner can accurately move along the X, Y, and Z directions; the long stringer precise positioning device is placed above the numerical control attitude adjustment and positioning structure, and the numerical control attitude adjustment and positioning structure can accurately adjust its position and posture; the composite skin forming mold is located at the long stringer precise positioning structure. Directly below the positioning device is used to position and fix the composite material skin; the composite material skin is positioned and fixed on the composite skin forming mold, and the stringer is positioned and fixed on the stringer precision positioning device. The control system controls the coordinated movement of multiple three-coordinate CNC positioners in the CNC attitude adjustment and positioning structure to precisely adjust the spatial posture of the stringer precision positioning device so that the center plane of the stringer on the stringer precision positioning device is parallel to the theoretical center plane. The stringer precision positioning device drives the stringer to move and places the stringer at the theoretical position on the skin, thereby realizing precise docking of the composite material stringer and the skin.

[0005] Preferably, the composite skin forming mold includes a supporting column, a mold frame, and a mold template. The supporting column is a rectangular columnar structure, and the mold frame is a "well" box-shaped structure. A plurality of supporting columns are evenly installed on its lower surface in sequence, and the upper surface is consistent with the outer shape of the skin. The mold template is a curved plate structure of uniform thickness, welded to the upper surface of the mold frame, and has multiple reference holes around it, and the coordinate values ​​of the reference holes are engraved near the hole positions.

[0006] Preferably, the long stringer precise positioning device includes an X-direction moving mechanism, a Y-direction moving mechanism, an end bidirectional positioning and clamping mechanism, and a unidirectional positioning and clamping mechanism. The X-direction moving mechanism is placed above the CNC attitude adjustment and positioning structure, and can be adjusted in position under the drive of the CNC attitude adjustment and positioning structure. The Y-direction moving mechanism is installed directly below the X-direction moving mechanism and can be precisely moved in the X direction under the drive of the X-direction moving mechanism. The end bidirectional positioning and clamping mechanism is installed directly below one end of the Y-direction moving mechanism and can be precisely moved in the Y direction. Multiple unidirectional positioning and clamping mechanisms are evenly arranged in sequence and installed directly below the Y-direction moving mechanism, and are located behind the end bidirectional positioning and clamping mechanism.

[0007] Preferably, the X-axis moving mechanism includes a top frame, a ball head, an X-guide rail, an X-rack, an X-moving plate, an X-axis grating scale, and a driving mechanism. The top frame is a truss structure with a plurality of reference holes provided around it. The coordinate values ​​of the reference holes are engraved near the hole positions. The plurality of ball heads are fixed to the lower surface of the top frame around it. Each ball head has a precise positional relationship with the reference hole and is precisely matched with the three-coordinate CNC positioner in the corresponding CNC attitude adjustment and positioning structure. The plurality of X-guide rails are parallel to each other and are installed on the lower surface of the top frame along the X direction. The plurality of X-racks are installed parallel to the X-guide rails on the lower surface of the top frame. The plurality of X-moving plates are respectively fixed on the sliders of the X-guide rails. The plurality of X-grating scales are installed parallel to the X-guide rails between the two X-guide rails on the lower surface of the top frame. The X-grating scale sliding head is connected to the X-moving plate. The plurality of driving mechanisms are respectively installed on the plurality of X-moving plates and are precisely meshed with the plurality of X-racks, so as to drive the plurality of X-moving plates to move precisely along the X-guide rails.

[0008] Preferably, the Y-axis moving mechanism includes a moving beam, a Y-axis guide rail, a Y-axis rack, and a Y-axis grating ruler. The moving beam is a rectangular beam structure, and a plurality of fixed plates are provided on the upper surface, which are respectively connected to the plurality of X-axis moving plates on the X-axis moving mechanism. The two Y-axis guide rails are fixed parallel to each other on the lower surface of the moving beam and perpendicular to the X-axis guide rails. Each Y-axis guide rail has a plurality of sliders. The Y-axis rack is installed parallel to the Y-axis guide rail and between the two Y-axis guide rails on the lower surface of the top frame. The Y-axis grating ruler is installed parallel to the Y-axis guide rail and on the side of one end of the moving beam.

[0009] Preferably, the end head bidirectional positioning clamping mechanism includes a mobile base, a driving mechanism, a Z guide rail, a sliding box, a Z-axis cylinder, a fixed seat, a bidirectional positioning plate, a pneumatic clamping mechanism, and a rotary pressing mechanism. The mobile base is a T-shaped plate welding structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y guide rail and is connected to the sliding head of the Y-axis grating ruler. The driving mechanism is installed on the lower surface of the horizontal fixed plate of the mobile base and precisely meshes with the Y-axis rack, which can drive the mobile base to move precisely along the Y direction. The two Z guide rails are installed parallel to each other on the side of the vertical fixed plate of the mobile base and are perpendicular to the X guide rail and the Y guide rail respectively. The sliding box It is a hollow rectangular structure, one of whose inner sides is fixed to the upper surface of the slider of the Z guide rail. The Z-direction cylinder is installed between the two Z guide rails on the side of the mobile base through a fixed seat, parallel to the Z guide rail. The cylinder telescopic rod is connected to the slide box. The two-way positioning plate is a Z-shaped plate structure with two mutually perpendicular positioning surfaces, which are fixed to the outer side of the slide box opposite to the Z guide rail. The two mutually perpendicular positioning surfaces are parallel to the ZX surface and ZY surface respectively. The pneumatic clamping mechanism is installed on the two-way positioning plate, which can clamp the product on the ZY surface. Two symmetrical rotary clamping mechanisms are relatively installed on the outer side of the slide box at the Z guide rail.

[0010] Preferably, the one-way positioning and clamping mechanism includes a mobile base, a driving mechanism, a Z guide rail, a sliding box, a Z-direction cylinder, a fixed seat, a one-way positioning plate, a pneumatic clamping mechanism, and a rotary pressing mechanism. The mobile base is a T-shaped plate welding structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y guide rail. The driving mechanism is installed on the lower surface of the horizontal fixed plate of the mobile base and precisely meshes with the Y-direction rack, which can drive the mobile base to move along the Y direction. The two Z guide rails are installed parallel to each other on the side of the vertical fixed plate of the mobile base and are perpendicular to the X guide rail and the Y guide rail respectively. The sliding box is a hollow rectangular The body structure has one inner side surface fixed to the upper surface of the slider of the Z guide rail. The Z-direction cylinder is installed between the two Z guide rails on the side of the mobile base through a fixed seat, parallel to the Z guide rail. The cylinder telescopic rod is connected to the slide box. The one-way positioning plate is an L-shaped plate structure and is provided with a positioning surface, which is fixed to the outer side surface of the slide box opposite to the Z guide rail. The positioning surface is coplanar with the positioning surface on the two-way positioning plate parallel to the ZY surface. The pneumatic clamping mechanism is installed on the one-way positioning plate and can clamp the product on the positioning surface. Two symmetrical rotary clamping mechanisms are relatively installed on the outer side surface of the slide box at the Z guide rail.

[0011] Preferably, the rotary clamping mechanism includes a base plate, a clamping guide rail, a block seat, a clamping seat, a guide pin, a clamping spring, a pneumatic rotating mechanism, and a clamping roller. The base plate is fixed to the side of the sliding box, the clamping guide rail is installed on the upper surface of the base plate and is parallel to the Z guide rail. The block seat is a T-type plate welding structure, and a circular hole is provided on the vertical plate, which is fixed to the base plate at the upper end of the clamping guide rail. The clamping seat is an L-shaped plate structure, one side plate of which is fixed to the slider of the clamping guide rail, and the guide pin passes through the circular hole on the block seat and is fixed to the upper end of the clamping seat. The clamping spring is installed on the guide pin and is between the block seat and the clamping seat. The pneumatic rotating mechanism is a cylinder-driven rotating mechanism, which is installed on the other side plate of the clamping seat. The clamping roller is installed at the end of the pneumatic rotating mechanism and can rotate 90 degrees around the rotation axis under the drive of the pneumatic rotating mechanism.

[0012] The present invention also provides a method for using the above-mentioned wing panel long stringer skin precise docking device, comprising the following steps: 1 includes a composite material long truss placement frame, a laser tracker, and an AGV transport vehicle; 2. Establish a global coordinate system through the laser tracker, and measure the coordinate values ​​of the reference holes on each three-coordinate CNC positioner in the CNC attitude adjustment and positioning structure, and determine the relative posture relationship of each three-coordinate CNC positioner in the global coordinate system, so as to facilitate the precise posture adjustment of the CNC attitude adjustment and positioning structure; 3. In the global coordinate system, the coordinate values ​​of the reference holes on the top frame of the X-axis moving mechanism of the long truss precise positioning device are measured by a laser tracker to determine the actual position and posture of the long truss precise positioning device in the global coordinate system; 4. The composite skin forming mold with the skin is transported to the predetermined position directly below the long stringer precise positioning device by the AGV transport vehicle; 5. In the global coordinate system, the coordinate values ​​of the reference holes on the mold template in the composite skin forming mold are measured by a laser tracker to determine the actual position and posture of the composite skin forming mold in the global coordinate system; 6. Import the theoretical three-dimensional digital model of the composite skin forming mold into the global coordinate system, so that the position and posture of the composite skin forming mold are consistent with the actual measurement. Import the theoretical three-dimensional digital model of the composite material long stringer skin after docking into the global coordinate system, and make the skin theoretical model be in the accurate position on the theoretical model of the composite skin forming mold. At this time, the position and posture of the long stringer in the global coordinate system are the theoretical position and posture of the long stringer. According to the position and posture data and the actual position and posture data of the long stringer precise positioning device in the global coordinate system, the posture adjustment data of the numerical control posture adjustment and positioning structure and the X-direction and Y-direction movement data of the long stringer precise positioning device corresponding to all the long stringers are calculated; 7. The control system controls the numerical control attitude adjustment and positioning structure to accurately adjust the attitude of the long stringer precise positioning device according to the attitude adjustment data of the numerical control attitude adjustment and positioning structure, so that the ZY plane of the bidirectional positioning plate positioning surface in the end bidirectional positioning clamping is parallel to the theoretical center plane of the long stringer; 8. Place multiple cured T-shaped long stringers upside down on the composite material long stringer placement rack, and move the entire stringer to the vicinity of the composite skin forming mold below the long stringer precision positioning device, so that the length direction of the long stringer is consistent with the Y direction of the long stringer precision positioning device; 9. The control system controls the movement of the driving mechanism in the X-direction moving mechanism of the long stringer precise positioning device, driving the Y-direction moving mechanism, the end bidirectional positioning clamping mechanism, and the unidirectional positioning clamping mechanism to move as a whole to just above the first long stringer; 10. Control the opening of the bidirectional positioning clamping mechanism, the pneumatic clamping mechanism in the unidirectional positioning clamping mechanism, and the rotary clamping mechanism of the end head; 11. Control the Z-direction cylinder movement in the end bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism, drive the bidirectional positioning plate, the unidirectional positioning plate, the pneumatic clamping mechanism, and the rotary pressing mechanism to move downward in the Z direction, so that the web surface of the long stringer fits in with the ZY surface of the bidirectional positioning plate and the unidirectional positioning plate, and the end of the long stringer fits in with the ZX surface of the bidirectional positioning plate; 12. The pneumatic clamping mechanism and the rotary pressing mechanism in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism of the end head are closed. The pneumatic clamping mechanism clamps the long stringer to the ZY positioning surfaces of the bidirectional positioning plate and the unidirectional positioning plate. The pressing roller of the rotary pressing mechanism is located under the long stringer to protect it. All Z-direction cylinders in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism of the end head move synchronously, driving the long stringer to move upward and separate from the composite material long stringer placement frame. 13. Based on the X- and Y-direction movement data of the stringer precise positioning device calculated in step 6, the driving mechanism in the X-direction movement mechanism of the stringer precise positioning device is controlled to move the stringer in the X-direction. The driving mechanisms in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism at the end are synchronously moved to move the stringer in the Y-direction, so that the first stringer is directly above the theoretical position of the stringer, thereby achieving precise positioning of the stringer. 14. The control end bidirectional positioning clamping mechanism and the rotary clamping mechanism in the unidirectional positioning clamping mechanism open the clamping rollers, and all Z-direction cylinders move synchronously, driving the long stringer to move downward, so that the long stringer and the skin are butted together; 15 Starting from the first one-way positioning and clamping mechanism after the end bidirectional positioning and clamping mechanism, the pneumatic clamping mechanism in the one-way positioning and clamping mechanism is controlled to open, and the Z-direction cylinder moves upward, so that the one-way positioning plate, the pneumatic clamping mechanism, and the rotary pressing mechanism are separated from the long stringer. The pneumatic rotary mechanism in the rotary pressing mechanism moves, so that the pressing roller is closed. The Z-direction cylinder moves downward, so that the pressing roller in the rotary pressing mechanism is pressed on the surface of the long stringer. The driving device in the one-way positioning and clamping mechanism moves, driving the entire one-way positioning and clamping mechanism to move along the Y direction to the vicinity of the next one-way positioning and clamping mechanism, so that this part of the long stringer is tightly fitted with the skin. The remaining one-way positioning and clamping mechanisms are controlled in sequence to complete the above actions, so that all parts of the entire long stringer are tightly fitted with the skin. 16. The bidirectional positioning clamping mechanism of the control end, the pneumatic clamping mechanism in the unidirectional positioning clamping mechanism, and the rotary pressing mechanism are opened, and all the Z-direction cylinders move upward synchronously, so that the long stringer precise positioning device is separated from the long stringer; 17 Repeat steps 9 to 16 in sequence to accurately position all the stringers and fit them tightly with the skin to achieve accurate docking of the wing panel stringers and the skin.

[0013] Beneficial effects: The present invention provides a device for accurately docking the skin of a wing panel stringer and a method for using the device. The method determines the actual spatial position of the skin through a composite skin forming mold, and then calculates the theoretical spatial position of the stringer. The numerical control attitude adjustment and positioning structure adjusts the posture of the stringer to be docked. The stringer accurate positioning device grabs and positions the stringer, and moves accurately along the X and Y directions, and finally accurately positions and presses the stringer onto the composite skin, thereby achieving accurate docking of the composite wing panel stringer skin. The device is simple in form, safe and reliable in operation, and highly versatile. It can be applied to the accurate docking of a variety of composite wing panel stringer skins, greatly improving the efficiency of accurate docking of stringer skins, reducing manufacturing costs, and has great positive significance for the manufacture of composite wing panels. It can be directly extended to the application of similar parts and components installation in other industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the structure of the wing panel long stringer skin precise docking device; Figure 2 Schematic diagram of the composite skin forming mold structure; Figure 3 Schematic diagram of the structure of the long stringer precise positioning device; Figure 4 Schematic diagram of the X-axis moving mechanism structure; Figure 5 Schematic diagram of the local structure of the X-axis moving mechanism; Figure 6 Schematic diagram of the Y-axis moving mechanism structure; Figure 7 Schematic diagram of the end bidirectional positioning clamping mechanism structure; Figure 8 Cross-sectional view of the end bidirectional positioning clamping mechanism; Figure 9 Schematic diagram of the one-way positioning clamping mechanism structure; Figure 10 Schematic diagram of the rotary pressing mechanism structure; Explanation of the numbers in the figure: 1 long girder, 2 skin, 3 CNC attitude adjustment and positioning structure, 4 long girder precise positioning device, 5 composite skin forming mold, 6 composite material long girder placement frame, 7 laser tracker, 8 AGV transport vehicle, 9 supporting column, 10 mold frame, 11 mold template, 12 X-axis moving mechanism, 13 Y-axis moving mechanism, 14 end bidirectional positioning clamping mechanism, 15 unidirectional positioning clamping mechanism, 16 top frame, 17 ball head, 18X guide rail, 19X rack, 20X moving plate, 21X grating ruler, 22 drive mechanism, 23 moving beam, 24Y guide rail, 25Y rack, 26Y grating ruler, 27 moving base, 28 Z-direction guide rail, 29 sliding box, 30 Z-direction cylinder, 31 fixed seat, 32 two-way positioning plate, 33 pneumatic clamping mechanism, 34 rotary clamping mechanism, 35 one-way positioning plate, 36 bottom plate, 37 clamping guide rail, 38 block seat, 39 clamping seat, 40 guide pin, 41 clamping spring, 42 pneumatic rotating mechanism, 43 clamping roller. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings of the embodiments: See also Figure 1As shown, this embodiment provides a wing panel long stringer skin precise docking device, which includes: a numerical control attitude adjustment and positioning structure 3, a long stringer precise positioning device 4, and a composite skin forming mold 5. The numerical control attitude adjustment and positioning structure 3 includes multiple three-coordinate numerical control positioners distributed in a matrix, each of which can accurately move along the X, Y, and Z directions; the long stringer precise positioning device 4 is placed above the numerical control attitude adjustment and positioning structure 3, and the numerical control attitude adjustment and positioning structure 3 can accurately adjust its position and posture; the composite skin forming mold 5 is located directly below the long stringer precise positioning device 4 and is used to To position and fix the composite material skin 2; the composite material skin 2 is positioned and fixed on the composite skin forming mold 5, and the long stringer 1 is positioned and fixed on the long stringer precise positioning device 4. The control system controls the coordinated movement of multiple three-coordinate CNC positioners in the CNC attitude adjustment and positioning structure 3, and accurately adjusts the spatial posture of the long stringer precise positioning device 4, so that the center plane of the long stringer 1 on the long stringer precise positioning device 4 is parallel to the theoretical center plane. The long stringer precise positioning device 4 drives the long stringer 1 to move and places the long stringer 1 at the theoretical position on the skin 2, thereby realizing the precise docking of the composite material long stringer 1 and the skin 2.

[0016] See also Figure 2 As shown, the composite skin forming mold 5 includes a supporting column 9, a mold frame 10, and a mold template 11. The supporting column 9 is a rectangular columnar structure, and the mold frame 10 is a "well" box-shaped structure. A plurality of supporting columns 9 are evenly installed on its lower surface in sequence, and the upper surface is consistent with the outer shape of the skin 2. The mold template 11 is a curved plate structure of uniform thickness, welded to the upper surface of the mold frame 10, and has a plurality of reference holes around it, and the coordinate values ​​of the reference holes are engraved near the hole positions.

[0017] See also Figure 3 As shown, the long stringer precise positioning device 4 includes an X-direction moving mechanism 12, a Y-direction moving mechanism 13, an end bidirectional positioning and clamping mechanism 14, and a unidirectional positioning and clamping mechanism 15. The X-direction moving mechanism 12 is placed above the CNC attitude adjustment and positioning structure 3, and can be adjusted in position under the drive of the CNC attitude adjustment and positioning structure 3. The Y-direction moving mechanism 13 is installed directly below the X-direction moving mechanism 12 and can be precisely moved in the X direction under the drive of the X-direction moving mechanism 12. The end bidirectional positioning and clamping mechanism 14 is installed directly below one end of the Y-direction moving mechanism 13 and can be precisely moved in the Y direction. A plurality of unidirectional positioning and clamping mechanisms 15 are evenly arranged in sequence and installed directly below the Y-direction moving mechanism 13, and are located behind the end bidirectional positioning and clamping mechanism 14.

[0018] See also Figure 4 、 5As shown, the X-direction moving mechanism 12 includes a top frame 16, a ball head 17, an X-direction guide rail 18, an X-direction rack 19, an X-direction moving plate 20, an X-direction grating ruler 21, and a driving mechanism 22. The top frame 16 is a truss structure with a plurality of reference holes provided around it. The coordinate values ​​of the reference holes are engraved near the hole positions. A plurality of ball heads 17 are fixed to the lower surface of the top frame 16. Each ball head 17 has a precise positional relationship with the reference hole and is precisely matched with the three-coordinate CNC positioner in the corresponding CNC attitude adjustment and positioning structure 3. The plurality of X-direction guide rails 18 are parallel to each other and are installed on the top frame along the X direction. The top frame 16 is provided with a lower surface, a plurality of X-axis racks 19 are mounted on the lower surface of the top frame 16 in parallel with the X-guide rails 18, a plurality of X-axis movable plates 20 are respectively fixed on the sliders of the X-guide rails 18, a plurality of X-axis grating rulers 21 are mounted on the lower surface of the top frame 16 in parallel with the X-guide rails 18 between the two X-guide rails 18, the sliding head of the X-axis grating ruler 21 is connected to the X-axis movable plate 20, a plurality of driving mechanisms 22 are respectively mounted on the plurality of X-axis movable plates 20, and are respectively precisely engaged with the plurality of X-axis racks 19, which can drive the plurality of X-axis movable plates 20 to move precisely along the X-guide rails 18.

[0019] See also Figure 6 As shown, the Y-axis moving mechanism 13 includes a moving beam 23, a Y-axis guide rail 24, a Y-axis rack 25, and a Y-axis grating ruler 26. The moving beam 23 is a rectangular beam structure, and a plurality of fixed plates are provided on the upper surface, which are respectively connected to the plurality of X-axis moving plates 20 on the X-axis moving mechanism 12. The two Y-axis guide rails 24 are fixed parallel to each other on the lower surface of the moving beam 23 and perpendicular to the X-axis guide rail 18. Each Y-axis guide rail 24 has a plurality of sliders. The Y-axis rack 25 is installed parallel to the Y-axis guide rail 24 between the two Y-axis guide rails 24 on the lower surface of the top frame 16. The Y-axis grating ruler 26 is installed parallel to the Y-axis guide rail 24 on the side of one end of the moving beam 23.

[0020] See also Figure 7 、 8As shown, the end bidirectional positioning and clamping mechanism 14 includes a mobile base 27, a driving mechanism 22, a Z guide rail 28, a sliding box 29, a Z-direction cylinder 30, a fixed seat 31, a bidirectional positioning plate 32, a pneumatic clamping mechanism 33, and a rotary pressing mechanism 34. The mobile base 27 is a T-shaped plate welding structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y guide rail 24 and is connected to the sliding head of the Y-direction grating ruler 26. The driving mechanism 22 is installed on the lower surface of the horizontal fixed plate of the mobile base 27 and precisely meshes with the Y-direction rack 25, which can drive the mobile base 27 to move precisely along the Y direction. The two Z guide rails 28 are installed parallel to each other on the side of the vertical fixed plate of the mobile base 27, and are perpendicular to the X guide rail 18 and the Y guide rail 24 respectively. The slide box 29 is a hollow rectangular structure, one inner side of which is fixed to the upper surface of the slider of the Z guide rail 28. The Z-direction cylinder 30 is installed between the two Z guide rails 28 on the side of the mobile base 27 through a fixed seat 31, parallel to the Z guide rail 28, and the cylinder telescopic rod is connected to the slide box 29. The two-way positioning plate 32 is a Z-shaped plate structure with two mutually perpendicular positioning surfaces, which are fixed to the outer side of the slide box 29 opposite to the Z guide rail 28. The two mutually perpendicular positioning surfaces are parallel to the ZX surface and the ZY surface respectively. The pneumatic clamping mechanism 33 is installed on the two-way positioning plate 32, which can clamp the product on the ZY surface. Two symmetrical rotary clamping mechanisms 34 are relatively installed on the outer side of the slide box 29 at the Z guide rail 28.

[0021] See also Figure 9 As shown, the one-way positioning and clamping mechanism 15 includes a mobile base 27, a driving mechanism 22, a Z guide rail 28, a sliding box 29, a Z-direction cylinder 30, a fixed seat 31, a one-way positioning plate 35, a pneumatic clamping mechanism 33, and a rotary pressing mechanism 34. The mobile base 27 is a T-shaped plate welding structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y guide rail 24. The driving mechanism 22 is installed on the lower surface of the horizontal fixed plate of the mobile base 27 and precisely meshes with the Y-direction rack 25, which can drive the mobile base 27 to move along the Y direction. The two Z guide rails 28 are installed parallel to each other on the side of the vertical fixed plate of the mobile base 27, and are perpendicular to the X guide rail 18 and the Y guide rail 24 respectively. The sliding box 29 is in the middle An empty rectangular structure, one inner side of which is fixed to the upper surface of the slider of the Z guide rail 28, and the Z-direction cylinder 30 is installed between the two Z guide rails 28 on the side of the mobile base 27 through a fixed seat 31, parallel to the Z guide rail 28, and the cylinder telescopic rod is connected to the slide box 29. The one-way positioning plate 35 is an L-shaped plate structure and is provided with a positioning surface, which is fixed to the outer side of the slide box 29 opposite to the Z guide rail 28. The positioning surface is coplanar with the positioning surface on the two-way positioning plate 32 parallel to the ZY plane. The pneumatic clamping mechanism 33 is installed on the one-way positioning plate 35, which can clamp the product on the positioning surface. Two symmetrical rotary clamping mechanisms 34 are relatively installed on the outer side of the slide box 29 at the Z guide rail 28.

[0022] See also Figure 10 As shown, the rotary pressing mechanism 34 includes a base plate 36, a pressing guide rail 37, a stopper 38, a pressing seat 39, a guide pin 40, a pressing spring 41, a pneumatic rotating mechanism 42, and a pressing roller 43. The base plate 36 is fixed to the side of the sliding box 29, and the pressing guide rail 37 is installed on the upper surface of the base plate 36, parallel to the Z-direction guide rail 28. The stopper 38 is a T-shaped plate welding structure, and a circular hole is provided on the vertical plate, which is fixed to the base plate 36 at the upper end of the pressing guide rail 37. The pressing seat 39 is an L-shaped plate. Structure, one side plate of which is fixed on the slider of the clamping guide rail 37, the guide pin 40 passes through the circular hole on the block seat 38 and is fixed to the upper end of the clamping seat 39, the clamping spring 41 is installed on the guide pin 40, and is located between the block seat 38 and the clamping seat 39, the pneumatic rotating mechanism 42 is a cylinder-driven rotating mechanism, which is installed on the other side plate of the clamping seat 39, and the clamping roller 43 is installed at the end of the pneumatic rotating mechanism 42, and can be rotated 90 degrees around the rotation axis under the drive of the pneumatic rotating mechanism 42.

[0023] The method for using the above-mentioned wing panel long stringer skin precise docking device includes the following steps: 1 includes a composite material long truss placement frame 6, a laser tracker 7, and an AGV transport vehicle 8; 2. Establishing a global coordinate system through the laser tracker 7, and measuring the coordinate values ​​of the reference holes on each three-coordinate NC positioner in the NC attitude adjustment and positioning structure 3, and determining the relative posture relationship of each three-coordinate NC positioner in the global coordinate system, so as to facilitate the precise posture adjustment of the NC attitude adjustment and positioning structure 3; 3. In the global coordinate system, the coordinate values ​​of the reference holes on the top frame 16 of the X-axis moving mechanism 12 of the long stringer precise positioning device 4 are measured by the laser tracker 7 to determine the actual position and posture of the long stringer precise positioning device 4 in the global coordinate system; 4 The composite skin forming mold 5 with the skin 2 is transported to a predetermined position directly below the long stringer precise positioning device 4 by the AGV transport vehicle 8; In the global coordinate system, the laser tracker 7 is used to measure the coordinate values ​​of the reference holes on the mold template 11 in the composite skin forming mold 5 to determine the actual position and posture of the composite skin forming mold 5 in the global coordinate system; 6. Import the theoretical three-dimensional digital model of the composite skin forming mold 5 into the global coordinate system so that the position and posture of the composite skin forming mold 5 are consistent with the actual measurement. Import the theoretical three-dimensional digital model of the composite material long stringer 1 and skin 2 after docking into the global coordinate system, and make the theoretical model of skin 2 be at the accurate position on the theoretical model of composite skin forming mold 5. At this time, the position and posture of the long stringer 1 in the global coordinate system are the theoretical position and posture of the long stringer 1. According to the position and posture data and the actual position and posture data of the long stringer precise positioning device 4 in the global coordinate system, the posture adjustment data of the numerical control posture adjustment and positioning structure 3 and the X-direction and Y-direction movement data of the long stringer precise positioning device 4 corresponding to all the long stringers 1 are calculated; 7 The control system controls the numerical control attitude adjustment and positioning structure 3 to accurately adjust the attitude of the long stringer precise positioning device 4 according to the attitude adjustment data of the numerical control attitude adjustment and positioning structure 3, so that the positioning surface ZY plane of the bidirectional positioning plate 32 in the end bidirectional positioning clamping is parallel to the theoretical center plane of the long stringer 1; 8. Place multiple cured T-shaped long stringers 1 upside down on the composite material long stringer placement rack 6 and move the entire stringer to the vicinity of the composite skin forming mold 5 below the long stringer precision positioning device 4, so that the length direction of the long stringer 1 is consistent with the Y direction of the long stringer precision positioning device 4; 9 The control system controls the driving mechanism 22 in the X-direction moving mechanism 12 of the long stringer precise positioning device 4 to move, driving the Y-direction moving mechanism 13, the end bidirectional positioning clamping mechanism 14, and the unidirectional positioning clamping mechanism 15 to move as a whole to just above the first long stringer 1; 10 Control the end bidirectional positioning clamping mechanism 14, the pneumatic clamping mechanism 33 and the rotary clamping mechanism 34 in the unidirectional positioning clamping mechanism 15 to open; 11 controls the movement of the Z-direction cylinder 30 in the end bidirectional positioning and clamping mechanism 14 and the unidirectional positioning and clamping mechanism 15, driving the bidirectional positioning plate 32, the unidirectional positioning plate 35, the pneumatic clamping mechanism 33, and the rotary pressing mechanism 34 to move downward in the Z direction, so that the web surface of the long stringer 1 is in contact with the ZY surface of the bidirectional positioning plate 32 and the unidirectional positioning plate 35, and the end of the long stringer 1 is in contact with the ZX surface of the bidirectional positioning plate 32; 12 controls the pneumatic clamping mechanism 33 and the rotary pressing mechanism 34 in the end bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 to be closed. The pneumatic clamping mechanism 33 clamps the long stringer 1 to the ZY positioning surfaces of the bidirectional positioning plate 32 and the unidirectional positioning plate 35. The pressing roller 43 of the rotary pressing mechanism 34 is located below the long stringer 1 to protect it. All Z-direction cylinders 30 in the end bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 move synchronously, driving the long stringer 1 to move upward and separate from the composite material long stringer placement frame 6. 13. Based on the X- and Y-direction movement data of the stringer precise positioning device 4 calculated in step 6, the drive mechanism 22 in the X-direction movement mechanism 12 of the stringer precise positioning device 4 is controlled to move to drive the stringer 1 in the X-direction. The drive mechanisms 22 in the end bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 are synchronously moved to drive the stringer 1 in the Y-direction, so that the first stringer 1 is directly above the theoretical position of the stringer 1, thereby achieving precise positioning of the stringer 1. 14 controls the end bidirectional positioning clamping mechanism 14 and the rotary pressing mechanism 34 in the unidirectional positioning clamping mechanism 15 to open the pressing roller 43, and all the Z-direction cylinders 30 move synchronously, driving the long stringer 1 to move downward, so that the long stringer 1 and the skin 2 are butted together; 15 starts from the first one-way positioning and clamping mechanism 15 after the end bidirectional positioning and clamping mechanism 14, controls the pneumatic clamping mechanism 33 in the one-way positioning and clamping mechanism 15 to open, and the Z-direction cylinder 30 moves upward, so that the one-way positioning plate 35, the pneumatic clamping mechanism 33, and the rotary pressing mechanism 34 are separated from the long stringer 1, and the pneumatic rotating mechanism 42 in the rotary pressing mechanism 34 moves, so that the pressing roller 43 is closed, and the Z-direction cylinder 30 moves downward, so that the pressing roller 43 in the rotary pressing mechanism 34 is pressed on the surface of the long stringer 1, and the driving device in the one-way positioning and clamping mechanism 15 moves, driving the entire one-way positioning and clamping mechanism 15 to move along the Y direction to the vicinity of the next one-way positioning and clamping mechanism 15, so that this part of the long stringer 1 is tightly fitted with the skin 2, and the remaining one-way positioning and clamping mechanisms 15 are controlled in sequence to complete the above actions, so that all parts of the entire long stringer 1 are tightly fitted with the skin 2; 16 controls the end bidirectional positioning clamping mechanism 14, the pneumatic clamping mechanism 33 and the rotary pressing mechanism 34 in the unidirectional positioning clamping mechanism 15 to open, and all the Z-direction cylinders 30 move upward synchronously, so that the long stringer precise positioning device 4 is separated from the long stringer 1; 17 Repeat steps 9 to 16 in sequence to accurately position all the long stringers 1 and fit them tightly with the skin 2 to achieve accurate docking of the wing wall panel long stringers 1 and the skin 2.

[0024] An embodiment of the present invention adopts a set of devices combined with a method to achieve precise docking of a variety of different composite wing panel long stringer skins; the actual spatial position of the skin is determined by the composite skin forming mold, and then the theoretical spatial position of the long stringer is calculated, the numerical control attitude adjustment and positioning structure adjusts the posture of the long stringer to be docked, the long stringer precise positioning device grasps and positions the long stringer, and moves it precisely in the X and Y directions, and finally the long stringer is precisely positioned and pressed onto the composite skin, thereby achieving precise docking of the composite wing panel long stringer skin.

[0025] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A wing panel long stringer skin precise docking device, characterized in that: The docking device comprises: The CNC posture adjustment and positioning structure includes multiple three-coordinate CNC positioners distributed in a matrix, each of which moves precisely in the X, Y, and Z directions; The long stringer precise positioning device is placed above the numerical control posture adjustment and positioning structure, which accurately adjusts its position and posture; The composite skin forming die is located directly below the long stringer precision positioning device and is used to position and fix the composite skin; The composite skin is positioned and fixed on the composite skin forming mold, and the stringer is positioned and fixed on the stringer precision positioning device. The control system controls the coordinated movement of multiple three-coordinate CNC positioners in the CNC attitude adjustment and positioning structure, and accurately adjusts the spatial posture of the stringer precision positioning device so that the center plane of the stringer on the stringer precision positioning device is parallel to the theoretical center plane. The stringer precision positioning device drives the stringer to move and places the stringer at the theoretical position on the skin, thereby realizing precise docking of the composite stringer and the skin.

2. The wing panel long stringer skin precise docking device according to claim 1, characterized in that: The composite skin forming mold includes a supporting column, a mold frame, and a mold template. The supporting column is a rectangular columnar structure, and the mold frame is a "well" box-shaped structure. A plurality of supporting columns are evenly installed on its lower surface in sequence, and the upper surface is consistent with the outer shape of the skin. The mold template is a curved plate structure of uniform thickness, welded to the upper surface of the mold frame, and has multiple reference holes around it. The coordinate values ​​of the reference holes are engraved near the hole positions.

3. The wing panel long stringer skin precise docking device according to claim 1, characterized in that: The long stringer precise positioning device includes an X-direction moving mechanism, a Y-direction moving mechanism, a bidirectional positioning and clamping mechanism at the end, and a unidirectional positioning and clamping mechanism. The X-direction moving mechanism is placed above the numerical control attitude adjustment and positioning structure, and performs posture adjustment under the drive of the numerical control attitude adjustment and positioning structure. The Y-direction moving mechanism is installed directly below the X-direction moving mechanism and moves precisely in the X direction under the drive of the X-direction moving mechanism. The bidirectional positioning and clamping mechanism at the end is installed directly below one end of the Y-direction moving mechanism and moves precisely in the Y direction. Multiple unidirectional positioning and clamping mechanisms are evenly arranged in sequence and installed directly below the Y-direction moving mechanism, and are located behind the bidirectional positioning and clamping mechanism at the end.

4. The wing panel long stringer skin precise docking device according to claim 3, characterized in that: The X-axis moving mechanism includes a top frame, a ball head, an X-guide rail, an X-axis rack, an X-axis moving plate, an X-axis grating scale, and a driving mechanism. The top frame is a truss structure with multiple reference holes provided around it. The coordinate values ​​of the reference holes are engraved near the hole positions. Multiple ball heads are fixed to the lower surface of the top frame. Each ball head has a precise positional relationship with the reference hole and is precisely matched with the three-coordinate CNC positioner in the corresponding CNC attitude adjustment and positioning structure. Multiple X-guide rails are parallel to each other and installed on the lower surface of the top frame along the X direction. Multiple X-axis racks are installed on the lower surface of the top frame parallel to the X-guide rails. Multiple X-axis moving plates are respectively fixed on the sliders of the X-guide rails. Multiple X-axis grating scales are installed between the two X-guide rails on the lower surface of the top frame parallel to the X-guide rails. The X-axis grating scale sliding head is connected to the X-axis moving plate. Multiple driving mechanisms are respectively installed on the multiple X-axis moving plates and are precisely meshed with the multiple X-axis racks, driving the multiple X-axis moving plates to move precisely along the X-guide rails.

5. The wing panel long stringer skin precise docking device according to claim 3, characterized in that: The Y-axis moving mechanism includes a moving beam, a Y-axis guide rail, a Y-axis rack, and a Y-axis grating ruler. The moving beam is a rectangular beam structure with multiple fixed plates on the upper surface, which are respectively connected to the multiple X-axis moving plates on the X-axis moving mechanism. The two Y-axis guide rails are fixed parallel to each other on the lower surface of the moving beam and perpendicular to the X-axis guide rails. Each Y-axis guide rail has multiple sliders. The Y-axis rack is installed between the two Y-axis guide rails on the lower surface of the top frame parallel to the Y-axis guide rails. The Y-axis grating ruler is installed on the side of one end of the moving beam parallel to the Y-axis guide rails.

6. The wing panel long stringer skin precise docking device according to claim 3, characterized in that: The end head bidirectional positioning and clamping mechanism includes a mobile base, a driving mechanism, a Z guide rail, a sliding box, a Z-axis cylinder, a fixed seat, a bidirectional positioning plate, a pneumatic clamping mechanism, and a rotary pressing mechanism. The mobile base is a T-shaped plate welding structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y guide rail and is connected to the sliding head of the Y-axis grating ruler. The driving mechanism is installed on the lower surface of the horizontal fixed plate of the mobile base and precisely meshes with the Y-axis rack to drive the mobile base to move precisely along the Y direction. The two Z guide rails are installed parallel to each other on the side of the vertical fixed plate of the mobile base and are perpendicular to the X guide rail and the Y guide rail respectively. The sliding box is A hollow rectangular structure, one inner side of which is fixed to the upper surface of the slider of the Z guide rail. The Z-direction cylinder is installed between the two Z guide rails on the side of the mobile base through a fixed seat, parallel to the Z guide rail. The cylinder telescopic rod is connected to the slide box. The two-way positioning plate is a Z-shaped plate structure with two mutually perpendicular positioning surfaces, which are fixed to the outer side of the slide box opposite to the Z guide rail. The two mutually perpendicular positioning surfaces are parallel to the ZX surface and ZY surface respectively. The pneumatic clamping mechanism is installed on the two-way positioning plate to clamp the product on the ZY surface. Two symmetrical rotary clamping mechanisms are relatively installed on the outer side of the slide box at the Z guide rail.

7. The wing panel long stringer skin precise docking device according to claim 3, characterized in that: The one-way positioning and clamping mechanism includes a mobile base, a driving mechanism, a Z-direction guide rail, a sliding box, a Z-direction cylinder, a fixed seat, a one-way positioning plate, a pneumatic clamping mechanism, and a rotary pressing mechanism. The mobile base is a T-shaped plate welding structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y-direction guide rail. The driving mechanism is installed on the lower surface of the horizontal fixed plate of the mobile base and precisely meshes with the Y-direction rack to drive the mobile base to move along the Y-direction. The two Z-directions are installed parallel to each other on the side of the vertical fixed plate of the mobile base and are perpendicular to the X-direction guide rail and the Y-direction guide rail respectively. The sliding box is a hollow rectangular parallelepiped. Structure, one inner side of which is fixed to the upper surface of the slider of the Z guide rail, the Z-direction cylinder is installed between the two Z guide rails on the side of the mobile base through a fixed seat, parallel to the Z guide rail, the cylinder telescopic rod is connected to the slide box, the one-way positioning plate is an L-shaped plate structure, and is provided with a positioning surface, which is fixed to the outer side of the slide box opposite to the Z guide rail, and the positioning surface is coplanar with the positioning surface on the two-way positioning plate parallel to the ZY surface. The pneumatic clamping mechanism is installed on the one-way positioning plate to clamp the product on the positioning surface, and two symmetrical rotary clamping mechanisms are relatively installed on the outer side of the slide box at the Z guide rail.

8. The wing panel long stringer skin precise docking device according to claim 6, characterized in that: The rotary clamping mechanism includes a base plate, a clamping guide rail, a block seat, a clamping seat, a guide pin, a clamping spring, a pneumatic rotating mechanism, and a clamping roller. The base plate is fixed to the side of the sliding box, the clamping guide rail is installed on the upper surface of the base plate and is parallel to the Z guide rail. The block seat is a T-type plate welding structure, and a circular hole is provided on the vertical plate, which is fixed to the base plate at the upper end of the clamping guide rail. The clamping seat is an L-shaped plate structure, one side plate of which is fixed to the slider of the clamping guide rail, and the guide pin passes through the circular hole on the block seat and is fixed to the upper end of the clamping seat. The clamping spring is installed on the guide pin and is between the block seat and the clamping seat. The pneumatic rotating mechanism is a cylinder-driven rotating mechanism, which is installed on the other side plate of the clamping seat. The clamping roller is installed at the end of the pneumatic rotating mechanism and rotates 90 degrees around the rotation axis driven by the pneumatic rotating mechanism.

9. A method for using a wing panel long stringer skin precise docking device, characterized in that: The method is implemented using the docking device according to any one of claims 1 to 8, and the method further comprises a composite material long truss placement frame, a laser tracker, and an AGV transport vehicle; The method comprises the following steps: S1, establish a global coordinate system through a laser tracker, and measure the coordinate values ​​of the reference holes on each three-coordinate CNC positioner in the CNC attitude adjustment and positioning structure, and determine the relative posture relationship of each three-coordinate CNC positioner in the global coordinate system, so as to facilitate the precise posture adjustment of the CNC attitude adjustment and positioning structure; S2, in the global coordinate system, using a laser tracker to measure the coordinate values ​​of the reference hole on the top frame of the X-axis moving mechanism of the long stringer precise positioning device to determine the actual position and posture of the long stringer precise positioning device in the global coordinate system; S3, transporting the composite skin forming mold with the skin to the predetermined position directly below the long stringer precise positioning device by the AGV transport vehicle; S4, in the global coordinate system, measuring the coordinate values ​​of the reference holes on the mold template in the composite skin forming mold by a laser tracker to determine the actual position and posture of the composite skin forming mold in the global coordinate system; S5, importing the theoretical three-dimensional digital model of the composite skin forming mold into the global coordinate system, so that the position and posture of the composite skin forming mold are consistent with the actual measurement, importing the theoretical three-dimensional digital model of the composite material long stringer skin after docking into the global coordinate system, and making the skin theoretical model be in the accurate position on the theoretical model of the composite skin forming mold. At this time, the position and posture of the long stringer in the global coordinate system are the theoretical position and posture of the long stringer, and calculating the posture adjustment data of the numerical control posture adjustment and positioning structure and the X-direction and Y-direction movement data of the long stringer precise positioning device corresponding to all the long stringers based on the position and posture data and the actual position and posture data of the long stringer precise positioning device in the global coordinate system; S6, the control system controls the numerical control attitude adjustment and positioning structure to accurately adjust the attitude of the long stringer precise positioning device according to the attitude adjustment data of the numerical control attitude adjustment and positioning structure, so that the ZY plane of the bidirectional positioning plate in the end bidirectional positioning clamping is parallel to the theoretical center plane of the long stringer; S7, placing multiple cured T-shaped long stringers upside down on a composite material long stringer placement rack, and moving the entire stringer to the vicinity of the composite skin forming mold below the long stringer precision positioning device, so that the length direction of the long stringer is consistent with the Y direction of the long stringer precision positioning device; S8, the control system controls the driving mechanism in the X-direction moving mechanism of the long stringer precise positioning device to move, driving the Y-direction moving mechanism, the end bidirectional positioning clamping mechanism, and the unidirectional positioning clamping mechanism to move as a whole to just above the first long stringer; S9, controlling the end bidirectional positioning clamping mechanism, the pneumatic clamping mechanism in the unidirectional positioning clamping mechanism, and the rotary clamping mechanism to open; S10, controlling the Z-direction cylinders in the end bidirectional positioning and clamping mechanisms and the unidirectional positioning and clamping mechanisms to move, thereby driving the bidirectional positioning plate, the unidirectional positioning plate, the pneumatic clamping mechanism, and the rotary clamping mechanism to move downward in the Z direction, so that the web surface of the stringer aligns with the ZY surfaces of the bidirectional positioning plate and the unidirectional positioning plate, and the end of the stringer aligns with the ZX surface of the bidirectional positioning plate; S11, controlling the pneumatic clamping mechanism and the rotary pressing mechanism in the end bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism to close, the pneumatic clamping mechanism clamps the long stringer to the ZY positioning surfaces of the bidirectional positioning plate and the unidirectional positioning plate, the pressing roller of the rotary pressing mechanism is located under the long stringer to provide protection, and all Z-direction cylinders in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism of the end move synchronously, driving the long stringer to move upward and separate from the composite material long stringer placement frame; S12, based on the X- and Y-direction movement data of the stringer precise positioning device calculated in step 6, controlling the driving mechanism in the X-direction movement mechanism of the stringer precise positioning device to move the stringer in the X-direction, and synchronously controlling the driving mechanisms in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism at the end to move the stringer in the Y-direction, so that the first stringer is directly above the theoretical position of the stringer, thereby achieving precise positioning of the stringer; S13, controlling the end bidirectional positioning clamping mechanism and the rotary clamping mechanism in the unidirectional positioning clamping mechanism to open the clamping rollers, so that all Z-direction cylinders move synchronously, driving the long stringer to move downward, so that the long stringer and the skin are butted together; S14, starting from the first one-way positioning and clamping mechanism after the end bidirectional positioning and clamping mechanism, the pneumatic clamping mechanism in the one-way positioning and clamping mechanism is controlled to open, the Z-direction cylinder moves upward, so that the one-way positioning plate, the pneumatic clamping mechanism, and the rotary pressing mechanism are separated from the long stringer, the pneumatic rotating mechanism in the rotary pressing mechanism moves, so that the pressing roller is closed, the Z-direction cylinder moves downward, so that the pressing roller in the rotary pressing mechanism is pressed on the surface of the long stringer, and the driving device in the one-way positioning and clamping mechanism moves, driving the entire one-way positioning and clamping mechanism to move along the Y direction until it contacts the next one-way positioning and clamping mechanism, so that this part of the long stringer is tightly fitted with the skin, and the remaining one-way positioning and clamping mechanisms are controlled in sequence to complete the above actions, so that all parts of the entire long stringer are tightly fitted with the skin; S15, controlling the end bidirectional positioning clamping mechanism, the pneumatic clamping mechanism in the unidirectional positioning clamping mechanism, and the rotary pressing mechanism to open, and all the Z-direction cylinders to move upward synchronously, so that the long stringer precise positioning device is separated from the long stringer; S16, repeat S8 to S15 in sequence, accurately position all the long stringers and fit them tightly with the skin, so as to achieve accurate docking of the wing wall panel long stringers and the skin.

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