A wing panel stringer skin precise butt joint device and a using method thereof

Abstract

This invention provides a precise docking device and method for wing panel stringer skin. The method determines the actual spatial orientation of the skin using a composite skin forming mold, and then calculates the theoretical spatial orientation of the stringer. A CNC attitude adjustment and positioning structure adjusts the spatial orientation of the stringer to be docked. The stringer precision positioning device grasps and positions the stringer, and moves it precisely along the X and Y directions, ultimately precisely positioning and pressing the stringer onto the composite material skin, achieving precise docking of the composite material wing panel stringer skin.

Description

Technical Field

[0001] This invention relates to the field of composite material panel manufacturing technology, specifically a device and method for precise docking of wing panel stringer skin. Background Technology

[0002] Domestically produced composite wing panels are mostly T-stiffened panels, consisting of composite T-strings and composite skin. There are three main manufacturing methods for composite T-stiffened panels: co-bonding, co-curing, and secondary bonding. Co-bonding is the most commonly used method in China. Co-bonding involves curing the wet composite T-strings, precisely aligning them with the wet composite skin, applying adhesive, and then undergoing secondary curing to form the composite T-stiffened panel. As aircraft performance improves, wing panel sizes are increasing, and the precision requirements for stringer-skin alignment are becoming increasingly stringer-required. In actual production, multiple stringer positioning plates are typically installed on the skin forming mold to precisely position the composite T-strings for accurate alignment with the wet composite skin. Therefore, in the precise docking process of the stringers and skin of the T-shaped stiffened wing panel, multiple stringer positioning plates need to be designed and manufactured according to the T-shaped stiffened wing panel, and precisely positioned and installed on the skin forming mold. Furthermore, the stringer positioning plates used for different T-shaped stiffened wing panels are completely different and lack universality, resulting in low manufacturing efficiency and high manufacturing costs. In addition, as the size of the wing panel increases, the positioning operation of large-sized stringers under the stringer positioning plates becomes more difficult, requiring a large number of workers and resulting in high labor intensity. This positioning and docking method is no longer suitable for the production of large-sized composite stiffened wing panels. Currently, research on devices and methods for precise docking of wing panel stringers and skin with greater universality is limited, at a low level, and lacks application examples, seriously hindering the overall manufacturing process of wing T-shaped stiffened wing panels. Therefore, to meet production needs, it is urgent to research a device and method for precise docking of wing panel stringers and skin. Summary of the Invention

[0003] To address practical production problems, this invention provides a precise docking device and method for wing panel stringer skin.

[0004] The technical solution adopted by this invention to solve its technical problem is: a wing panel stringer skin precision docking device, comprising: a CNC attitude adjustment and positioning structure, a stringer precision positioning device, and a composite skin forming mold; the CNC attitude adjustment and positioning structure includes multiple three-coordinate CNC positioners arranged in a matrix, each of which can move precisely along the X, Y, and Z directions; the stringer precision positioning device is placed above the CNC attitude adjustment and positioning structure, which can precisely adjust its position and attitude; the composite skin forming mold is located above the stringer precision... Directly below the positioning device, it is used to position and fix the composite material skin. The composite material skin is positioned and fixed on the composite material skin forming mold, and the stringer is positioned and fixed on the stringer precision positioning device. The control system controls multiple three-axis CNC positioners in the CNC attitude adjustment and positioning structure to move in coordination, and 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 place the stringer in the theoretical position on the skin, so as to achieve precise docking of the composite material stringer and the skin.

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

[0006] Preferably, the stringer precision positioning device includes an X-axis moving mechanism, a Y-axis moving mechanism, a bidirectional end positioning clamping mechanism, and a unidirectional positioning clamping mechanism. The X-axis 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-axis moving mechanism is installed directly below the X-axis moving mechanism and can move precisely along the X-axis under the drive of the X-axis moving mechanism. The bidirectional end positioning clamping mechanism is installed directly below one end of the Y-axis moving mechanism and can move precisely along the Y-axis. Multiple unidirectional positioning clamping mechanisms are arranged in sequence and evenly below the Y-axis moving mechanism, located at the rear of the bidirectional end positioning clamping mechanism.

[0007] Preferably, the X-axis moving mechanism includes a top frame, ball heads, X-axis guide rails, X-axis racks, X-axis moving plates, X-axis grating rulers, and drive mechanisms. The top frame is a truss structure with multiple reference holes around its circumference. 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 around its circumference. Each ball head has a precise positional relationship with a reference hole and precisely engages with the three-axis CNC positioner in the corresponding CNC attitude adjustment and positioning structure. Multiple X-axis guide rails are installed parallel to each other along the X-axis on the lower surface of the top frame. Multiple X-axis racks are installed parallel to the X-axis guide rails on the lower surface of the top frame. Multiple X-axis moving plates are fixed to the sliders of the X-axis guide rails. Multiple X-axis grating rulers are installed parallel to the X-axis guide rails between the two X-axis guide rails on the lower surface of the top frame. The sliding head of the X-axis grating ruler is connected to the X-axis moving plate. Multiple drive mechanisms are installed on multiple X-axis moving plates and precisely mesh with multiple X-axis racks, which can drive multiple X-axis moving plates to move precisely along the X-axis guide rails.

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

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

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

[0011] Preferably, the rotary clamping mechanism includes a base plate, a clamping guide rail, a stop, a clamping seat, a guide pin, a clamping spring, a pneumatic rotary 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 stop is a T-shaped plate welded structure with a round hole 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, with one side plate fixed to the slider of the clamping guide rail. The guide pin passes through the round hole on the stop and is fixed to the upper end of the clamping seat. The clamping spring is installed on the guide pin and is located between the stop and the clamping seat. The pneumatic rotary mechanism is a cylinder-driven rotary mechanism, which is installed on the other side plate of the clamping seat. The clamping roller is installed at the end of the pneumatic rotary mechanism and can rotate 90 degrees around the rotation axis under the drive of the pneumatic rotary mechanism.

[0012] The present invention also provides a method for using the above-mentioned precision docking device for wing panel stringer skin, comprising the following steps: 1 includes a composite material truss placement rack, a laser tracker, and an AGV transport vehicle; 2. A global coordinate system is established by using a laser tracker, and the coordinate values ​​of the reference holes on each three-axis CNC positioner in the CNC attitude adjustment and positioning structure are measured to determine the relative pose relationship of each three-axis CNC positioner in the global coordinate system, which facilitates the precise attitude 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 in the stringer precision positioning device are measured by a laser tracker to determine the actual position and attitude of the stringer precision positioning device in the global coordinate system; 4. The composite skin forming mold with skin is transported to the predetermined position directly below the stringer precision positioning device by an 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 orientation of the composite skin forming mold in the global coordinate system; 6. Import the theoretical 3D model of the composite skin forming mold into the global coordinate system to ensure that the position and orientation of the composite skin forming mold are consistent with the actual measurement. Import the theoretical 3D model of the composite stringer skin after docking into the global coordinate system and place the skin theoretical model at the accurate position on the composite skin forming mold theoretical model. At this time, the position and orientation of the stringer in the global coordinate system are the theoretical position and orientation of the stringer. Based on the position and orientation data and the actual position and orientation data of the stringer precision positioning device in the global coordinate system, calculate the orientation adjustment data of the CNC orientation adjustment and positioning structure and the X and Y direction movement data of the stringer precision positioning device corresponding to all strings. 7. The control system controls the CNC attitude adjustment and positioning structure to perform precise attitude adjustment on the stringer precision positioning device based on the attitude adjustment data of the CNC attitude adjustment and positioning structure, so that the positioning surface ZY surface of the bidirectional positioning plate in the end bidirectional positioning clamping is parallel to the theoretical center surface of the stringer. 8. Place multiple cured T-shaped stringers upside down on the composite stringer placement rack, and move them as a whole to the vicinity of the composite skin forming mold below the stringer precision positioning device, so that the length direction of the stringers is consistent with the Y direction of the stringer precision positioning device. 9. The control system controls the drive mechanism in the X-axis moving mechanism of the stringer precision positioning device to move, thereby driving the Y-axis moving mechanism, the end bidirectional positioning clamping mechanism, and the unidirectional positioning clamping mechanism to move as a whole to directly above the first stringer. 10. The pneumatic clamping mechanism and rotary pressing mechanism in the bidirectional positioning and clamping mechanism and unidirectional positioning and clamping mechanism of the control end are opened; 11. The Z-axis cylinder in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism at the control end moves, driving the bidirectional positioning plate, the unidirectional positioning plate, the pneumatic clamping mechanism, and the rotary pressing mechanism to move downward along the Z-axis, so that the web surface of the long stringer is in contact with the ZY surface of the bidirectional positioning plate and the unidirectional positioning plate, and the end of the long stringer is in contact with the ZX surface of the bidirectional positioning plate. 12. The pneumatic clamping mechanism and rotary pressing mechanism in the bidirectional positioning clamping mechanism and unidirectional positioning clamping mechanism at the control end are closed. The pneumatic clamping mechanism clamps the stringer to the ZY positioning surface of the bidirectional positioning plate and the unidirectional positioning plate. The pressing roller of the rotary pressing mechanism is located below the stringer for protection. All Z-direction cylinders in the bidirectional positioning clamping mechanism and unidirectional positioning clamping mechanism at the control end move synchronously, driving the stringer to move upward and detach from the composite material stringer placement frame. 13. Based on the X and Y movement data of the stringer precision positioning device calculated in step 6, control the drive mechanism in the X movement mechanism of the stringer precision positioning device to move the stringer along the X direction. The drive mechanisms in the end bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism move synchronously to move the stringer along the Y direction, so that the first stringer is directly above the theoretical position of the stringer, thus achieving precise positioning of the stringer. 14. When the rotary clamping mechanism in the bidirectional positioning and clamping mechanism and the unidirectional positioning and clamping mechanism of the control end opens, all the Z-axis cylinders move synchronously, driving the stringer to move downward, so that the stringer and the skin are aligned and fit together. 15 Starting from the first one-way positioning clamping mechanism after the bidirectional positioning clamping mechanism at the end, control the pneumatic clamping mechanism in the one-way positioning clamping mechanism to open, and the Z-axis cylinder to move upward, so that the one-way positioning plate, pneumatic clamping mechanism, and rotary pressing mechanism are disengaged from the stringer. The pneumatic rotating mechanism in the rotary pressing mechanism moves, so that the pressing roller closes. The Z-axis cylinder moves downward, so that the pressing roller in the rotary pressing mechanism presses against the surface of the stringer. The drive device in the one-way positioning clamping mechanism moves, driving the entire one-way positioning clamping mechanism to move along the Y direction to the vicinity of the next one-way positioning clamping mechanism, so that this part of the stringer is tightly fitted with the skin. The remaining one-way positioning clamping mechanisms are controlled in sequence to complete the above actions, so that all parts of the stringer are tightly fitted with the skin. 16. When the pneumatic clamping mechanism and rotary pressing mechanism in the bidirectional positioning clamping mechanism and unidirectional positioning clamping mechanism of the control end are opened, all Z-axis cylinders move upward synchronously, causing the stringer precision positioning device to disengage from the stringer. 17. Repeat steps 9 to 16 in sequence to precisely position all the stringers and fit them tightly with the skin, so as to achieve precise docking between the wing panel stringers and the skin.

[0013] Beneficial Effects: This invention provides a precise docking device and method for wing panel stringer skin. The method determines the actual spatial orientation of the skin using a composite skin forming mold, then calculates the theoretical spatial orientation of the stringer. A CNC attitude adjustment and positioning structure adjusts the attitude of the stringer to be docked. The stringer precision positioning device grasps and positions the stringer, and moves it precisely along the X and Y directions, ultimately precisely positioning and pressing the stringer onto the composite material skin, achieving precise docking of the composite material wing panel stringer skin. This device is simple in design, safe and reliable in operation, and highly versatile. It can be applied to the precise docking of various composite material wing panel stringer skins, significantly improving the efficiency of stringer skin precision docking and reducing manufacturing costs, which has great positive significance for the manufacturing of composite material wing panels. It can be directly extended to the installation of similar parts and components in other industries. Attached Figure Description

[0014] Figure 1 Schematic diagram of the precision docking device for the wing panel stringer skin; Figure 2 Schematic diagram of composite skin molding die structure; Figure 3 Schematic diagram of the stringer precision positioning device; Figure 4 Schematic diagram of the X-axis moving mechanism; Figure 5 Schematic diagram of a partial structure of the X-axis moving mechanism; Figure 6 Schematic diagram of the Y-axis moving mechanism; Figure 7 Schematic diagram of the bidirectional positioning and clamping mechanism at the end; Figure 8 Cross-sectional view of the bidirectional positioning and clamping mechanism at the end; Figure 9 Schematic diagram of a one-way positioning and clamping mechanism; Figure 10 Schematic diagram of the rotary clamping mechanism; Numbering in the diagram: 1. Truss, 2. Skin, 3. CNC attitude adjustment and positioning structure, 4. Truss precision positioning device, 5. Composite skin forming mold, 6. Composite material truss placement rack, 7. Laser tracker, 8. AGV transport vehicle, 9. Support column, 10. Mold frame, 11. Mold template, 12. X-axis moving mechanism, 13. Y-axis moving mechanism, 14. End bidirectional positioning and clamping mechanism, 15. Unidirectional positioning and clamping mechanism, 16. Top frame, 17. Ball head, 18. X-axis guide rail, 19. X-axis rack, 20. X-axis moving plate, 21. X-axis grating ruler, 22. Drive mechanism, 23. Moving crossbeam, 24. Y-axis guide rail, 25. Y-axis rack, 26. Y-axis grating ruler, 27. Moving base, 28. Z-guide rail, 29 sliding box, 30 Z-axis cylinder, 31 fixed seat, 32 bidirectional positioning plate, 33 pneumatic clamping mechanism, 34 rotary pressing mechanism, 35 unidirectional positioning plate, 36 base plate, 37 pressing guide rail, 38 stop seat, 39 pressing seat, 40 guide pin, 41 pressing spring, 42 pneumatic rotating mechanism, 43 pressing roller. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings of the embodiments: See Figure 1As shown, this embodiment provides a precise docking device for the stringer skin of an airfoil, comprising: a CNC attitude adjustment and positioning structure 3, a stringer precision positioning device 4, and a composite skin forming mold 5. The CNC attitude adjustment and positioning structure 3 includes multiple three-coordinate CNC positioners arranged in a matrix, each of which can move precisely along the X, Y, and Z directions. The stringer precision positioning device 4 is placed above the CNC attitude adjustment and positioning structure 3, which can precisely adjust its position and attitude. The composite skin forming mold 5 is located directly below the stringer precision positioning device 4, and is used for... The composite material skin 2 is positioned and fixed on the composite material skin forming mold 5, and the stringer 1 is positioned and fixed on the stringer precision positioning device 4. The control system controls the multiple three-axis CNC positioners in the CNC attitude adjustment and positioning structure 3 to move in coordination, and precisely adjusts the spatial attitude of the stringer precision positioning device 4 so that the center plane of the stringer 1 on the stringer precision positioning device 4 is parallel to the theoretical center plane. The stringer precision positioning device 4 drives the stringer 1 to move and place the stringer 1 in the theoretical position on the skin 2, so as to achieve precise docking of the composite material stringer 1 and the skin 2.

[0016] See Figure 2 As shown, the composite skin forming mold 5 includes a support column 9, a mold frame 10, and a mold template 11. The support column 9 is a cuboid column structure, and the mold frame 10 is a "well" box-shaped structure. Multiple support columns 9 are evenly installed on its lower surface, and its upper surface is consistent with the outer shape of the skin 2. The mold template 11 is a curved plate structure of equal thickness, which is welded to the upper surface of the mold frame 10. Multiple reference holes are opened around its circumference, and the coordinate values ​​of the reference holes are engraved near the hole positions.

[0017] See Figure 3 As shown, the stringer precision positioning device 4 includes an X-axis moving mechanism 12, a Y-axis moving mechanism 13, an end bidirectional positioning clamping mechanism 14, and a unidirectional positioning clamping mechanism 15. The X-axis 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-axis moving mechanism 13 is installed directly below the X-axis moving mechanism 12 and can move precisely along the X-axis under the drive of the X-axis moving mechanism 12. The end bidirectional positioning clamping mechanism 14 is installed directly below one end of the Y-axis moving mechanism 13 and can move precisely along the Y-axis. Multiple unidirectional positioning clamping mechanisms 15 are arranged in sequence and evenly below the Y-axis moving mechanism 13, located behind the end bidirectional positioning clamping mechanism 14.

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

[0019] See 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 with multiple fixed plates on its upper surface, which are respectively connected to multiple X-axis moving plates 20 on the X-axis moving mechanism 12. 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 multiple sliders. The Y-axis rack 25 is installed parallel to the Y-axis guide rail 24 between the two Y-axis guide rails 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 one side of the moving beam 23.

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

[0021] See Figure 9 As shown, the one-way positioning and clamping mechanism 15 includes a movable base 27, a drive mechanism 22, a Z-axis guide rail 28, a sliding box 29, a Z-axis cylinder 30, a fixed base 31, a one-way positioning plate 35, a pneumatic clamping mechanism 33, and a rotary pressing mechanism 34. The movable base 27 is a T-shaped plate welded structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y-axis guide rail 24. The drive mechanism 22 is installed on the lower surface of the horizontal fixed plate of the movable base 27 and precisely meshes with the Y-axis rack 25, which can drive the movable base 27 to move along the Y direction. The two Z-axis guide rails 28 are installed parallel to each other on the side of the vertical fixed plate of the movable base 27 and are perpendicular to the X-axis guide rail 18 and the Y-axis guide rail 24, respectively. The sliding box 29 is a central... The hollow cuboid structure has one inner side 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 movable base 27 through the fixed seat 31, parallel to the Z-guide rails 28. The cylinder extension rod is connected to the sliding box 29. The one-way positioning plate 35 is an L-shaped plate structure with a positioning surface, which is fixed to the outer side of the sliding 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 that is parallel to the ZY plane. The pneumatic clamping mechanism 33 is installed on the one-way positioning plate 35 and can clamp the product on the positioning surface. Two symmetrical rotary pressing mechanisms 34 are installed opposite each other on the outer side of the sliding box 29 at the Z-guide rail 28.

[0022] See Figure 10 As shown, the rotary clamping mechanism 34 includes a base plate 36, a clamping guide rail 37, a stop 38, a clamping seat 39, a guide pin 40, a clamping spring 41, a pneumatic rotary mechanism 42, and a clamping roller 43. The base plate 36 is fixed to the side of the sliding box 29. The clamping guide rail 37 is installed on the upper surface of the base plate 36 and is parallel to the Z-guide rail 28. The stop 38 is a T-shaped plate welded structure with a round hole on the vertical plate, which is fixed to the base plate 36 at the upper end of the clamping guide rail 37. The clamping seat 39 is an L-shaped plate. The structure has one side plate fixed to the slider of the clamping guide rail 37, the guide pin 40 passing through the round hole on the stop 38 and fixed to the upper end of the clamping seat 39, the clamping spring 41 installed on the guide pin 40 and located between the stop 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, which can rotate 90 degrees around the rotating axis under the drive of the pneumatic rotating mechanism 42.

[0023] The above-mentioned method for using a precision docking device for wing panel stringer skin includes the following steps: 1 includes a composite material long stringer; 6 includes a laser tracker; 7 includes an AGV transport vehicle; 8 includes a composite material long stringer; 2. A global coordinate system is established by laser tracker 7, and the coordinate values ​​of the reference holes on each three-axis CNC positioner in CNC attitude adjustment and positioning structure 3 are measured to determine the relative pose relationship of each three-axis CNC positioner in the global coordinate system, so as to facilitate the precise attitude adjustment of CNC attitude adjustment and positioning structure 3. 3. In the global coordinate system, the coordinate values ​​of the reference hole on the top frame 16 of the X-axis moving mechanism 12 in the stringer precision positioning device 4 are measured by the laser tracker 7 to determine the actual position and attitude of the stringer precision positioning device 4 in the global coordinate system. 4. The composite skin forming mold 5 with skin 2 is transported by AGV transport vehicle 8 to the predetermined position directly below the stringer precision positioning device 4. 5. In the global coordinate system, the coordinate values ​​of the reference holes on the mold template 11 in the composite skin forming mold 5 are measured by the laser tracker 7 to determine the actual position and attitude of the composite skin forming mold 5 in the global coordinate system. 6. Import the theoretical three-dimensional model of the composite skin forming mold 5 into the global coordinate system, so that the position and orientation of the composite skin forming mold 5 are consistent with the actual measurement. Import the theoretical three-dimensional model of the composite stringer 1 after the skin 2 is connected into the global coordinate system, and make the theoretical model of the skin 2 in the accurate position on the theoretical model of the composite skin forming mold 5. At this time, the position and orientation of the stringer 1 in the global coordinate system are the theoretical position and orientation of the stringer 1. Based on the position and orientation data and the actual position and orientation data of the stringer precision positioning device 4 in the global coordinate system, calculate the orientation adjustment data of the CNC orientation adjustment and positioning structure 3 and the X and Y direction movement data of all the stringers 1 corresponding to the stringer precision positioning device 4. 7 The control system controls the CNC attitude adjustment and positioning structure 3 to perform precise attitude adjustment on the stringer precision positioning device 4 according to the attitude adjustment data of the CNC attitude adjustment and positioning structure 3, so that the positioning surface ZY surface of the bidirectional positioning plate 32 in the end bidirectional positioning clamping is parallel to the theoretical center surface of the stringer 1. 8. Place multiple cured T-shaped stringers 1 upside down on the composite stringer placement frame 6, and move them as a whole to the vicinity of the composite skin forming mold 5 below the stringer precision positioning device 4, so that the length direction of the stringers 1 is consistent with the Y direction of the stringer precision positioning device 4. 9. The control system controls the drive mechanism 22 in the X-direction moving mechanism 12 of the stringer precision 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 directly above the first stringer 1. 10. The pneumatic clamping mechanism 33 and the rotary pressing mechanism 34 in the bidirectional positioning and clamping mechanism 14 and the unidirectional positioning and clamping mechanism 15 of the control end are opened; 11. The Z-direction cylinder 30 in the bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 moves, 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 along the Z direction, so that the web surface of the 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 stringer 1 is in contact with the ZX surface of the bidirectional positioning plate 32. 12. The pneumatic clamping mechanism 33 and the rotary pressing mechanism 34 in the bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 at the control end are closed. The pneumatic clamping mechanism 33 clamps the 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 stringer 1 to provide protection. All Z-direction cylinders 30 in the bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 at the control end move synchronously, driving the stringer 1 to move upward and detach from the composite material stringer placement frame 6. 13. Based on the X and Y movement data of the stringer precision positioning device 4 calculated in step 6, control the drive mechanism 22 in the X movement mechanism 12 of the stringer precision positioning device 4 to move the stringer 1 along the X direction. The drive mechanisms 22 in the end bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 move synchronously to move the stringer 1 along the Y direction, so that the first stringer 1 is directly above the theoretical position of the stringer 1, thus achieving the precise positioning of the stringer 1. 14 The rotating pressing mechanism 34 in the bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 opens, and all the Z-axis cylinders 30 move synchronously, driving the stringer 1 to move downward, so that the stringer 1 and the skin 2 are connected and fit together. Starting from the first one-way positioning clamping mechanism 15 after the end bidirectional positioning clamping mechanism 14, the pneumatic clamping mechanism 33 in the one-way positioning clamping mechanism 15 is opened, and the Z-axis cylinder 30 moves upward, causing the one-way positioning plate 35, the pneumatic clamping mechanism 33, and the rotary pressing mechanism 34 to disengage from the stringer 1. The pneumatic rotating mechanism 42 in the rotary pressing mechanism 34 moves, causing the pressing roller 43 to close. The Z-axis cylinder 30 moves downward, causing the pressing roller 43 in the rotary pressing mechanism 34 to press against the surface of the stringer 1. The drive device in the one-way positioning clamping mechanism 15 moves, driving the entire one-way positioning clamping mechanism 15 to move along the Y direction to the vicinity of the next one-way positioning clamping mechanism 15, so that this part of the stringer 1 is tightly fitted with the skin 2. The remaining one-way positioning clamping mechanisms 15 are controlled in sequence to complete the above actions, so that all parts of the entire stringer 1 are tightly fitted with the skin 2. When the pneumatic clamping mechanism 33 and the rotary pressing mechanism 34 in the bidirectional positioning clamping mechanism 14 and the unidirectional positioning clamping mechanism 15 of the control end are opened, all the Z-axis cylinders 30 move upward synchronously, so that the stringer precision positioning device 4 is separated from the stringer 1. 17. Repeat steps 9 to 16 in sequence to precisely position all stringers 1 and fit them tightly with the skin 2, so as to achieve precise docking of the wing panel stringers 1 and the skin 2.

[0024] The embodiments of the present invention employ a set of devices and methods to achieve precise docking of various composite material wing panel stringer skins. The actual spatial orientation of the skin is determined by the composite material skin forming mold, and then the theoretical spatial orientation of the stringer is calculated. The CNC attitude adjustment and positioning structure adjusts the attitude of the stringer to be docked. The stringer precision positioning device grabs and positions the stringer and moves it precisely along the X and Y directions. Finally, the stringer is precisely positioned and pressed onto the composite material skin, achieving precise docking of the composite material wing panel stringer skin.

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

Claims

1. A precision docking device for the stringer skin of an airfoil panel, characterized in that, The docking device includes: The numerical control attitude adjustment and positioning structure contains multiple three-axis numerical control positioners distributed in a matrix, and each three-axis numerical control positioner moves precisely in the X, Y and Z directions; The stringer precision positioning device is placed above the CNC attitude adjustment and positioning structure, which precisely adjusts its position and attitude. The composite skin forming mold is located directly below the stringer precision positioning device and is used to position and fix the composite material skin. The composite material skin is positioned and fixed on the composite material skin forming mold, and the stringer is positioned and fixed on the stringer precision positioning device. The control system controls multiple three-axis CNC positioners in the CNC attitude adjustment and positioning structure to move in coordination, and precisely adjust the spatial attitude of the stringer precision positioning device so that the stringer center plane 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 in the theoretical position on the skin, realizing the precise docking of the composite material stringer and the skin. The stringer precision positioning device includes an X-axis moving mechanism, a Y-axis moving mechanism, a bidirectional end positioning clamping mechanism, and a unidirectional positioning clamping mechanism. The X-axis moving mechanism is placed above the CNC attitude adjustment and positioning structure and performs attitude adjustment under the drive of the CNC attitude adjustment and positioning structure. The Y-axis moving mechanism is installed directly below the X-axis moving mechanism and moves precisely along the X-axis under the drive of the X-axis moving mechanism. The bidirectional end positioning clamping mechanism is installed directly below one end of the Y-axis moving mechanism and moves precisely along the Y-axis. Multiple unidirectional positioning clamping mechanisms are arranged in sequence and evenly below the Y-axis moving mechanism, located at the rear of the bidirectional end positioning clamping mechanism. The aforementioned bidirectional positioning and clamping mechanism includes a movable base, a drive mechanism, a Z-axis guide rail, a sliding box, a Z-axis cylinder, a fixed base, a bidirectional positioning plate, a pneumatic clamping mechanism, and a rotary pressing mechanism. The pneumatic clamping mechanism is mounted on the bidirectional positioning plate to clamp the product on the ZY surface, and two symmetrical rotary pressing mechanisms are mounted opposite each other on the outer side of the sliding box at the Z-axis guide rail. The unidirectional positioning and clamping mechanism includes a movable base, a drive mechanism, a Z-guide rail, a sliding box, a Z-axis cylinder, a fixed base, a unidirectional positioning plate, a pneumatic clamping mechanism, and a rotary pressing mechanism. The pneumatic clamping mechanism is installed on the unidirectional positioning plate to clamp the product on the positioning surface. Two symmetrical rotary pressing mechanisms are installed opposite each other on the outer side of the sliding box at the Z-guide rail.

2. The precise docking device for the stringer skin of an airfoil panel according to claim 1, characterized in that, The composite skin forming mold includes a support column, a mold frame, and a mold template. The support column is a cuboid column structure, and the mold frame is a "well" box-shaped structure. Multiple support columns are evenly installed on its lower surface, and its upper surface is consistent with the outer shape of the skin. The mold template is a curved plate structure of equal thickness, welded to the upper surface of the mold frame, and has multiple reference holes around its circumference. The coordinate values ​​of the reference holes are engraved near the hole positions.

3. The precise docking device for the stringer skin of an airfoil panel according to claim 2, characterized in that, The X-axis moving mechanism includes a top frame, ball heads, X-axis guide rails, X-axis racks, X-axis moving plates, X-axis grating rulers, and drive mechanisms. The top frame is a truss structure with multiple reference holes around its circumference. 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 around its circumference. Each ball head has a precise positional relationship with a reference hole and precisely cooperates with the three-axis CNC positioner in the corresponding CNC attitude adjustment and positioning structure. Multiple X-axis guide rails are installed parallel to each other along the X-axis on the lower surface of the top frame. Multiple X-axis racks are installed parallel to the X-axis guide rails on the lower surface of the top frame. Multiple X-axis moving plates are fixed to the sliders of the X-axis guide rails. Multiple X-axis grating rulers are installed parallel to the X-axis guide rails between the two X-axis guide rails on the lower surface of the top frame. The sliding head of the X-axis grating ruler is connected to the X-axis moving plate. Multiple drive mechanisms are installed on multiple X-axis moving plates and precisely mesh with multiple X-axis racks, driving the multiple X-axis moving plates to move precisely along the X-axis guide rails.

4. The precise docking device for the stringer skin of an airfoil panel according to claim 2, characterized in that, The Y-axis moving mechanism includes a moving crossbeam, Y-axis guide rails, a Y-axis rack, and a Y-axis grating ruler. The moving crossbeam is a rectangular beam structure with multiple fixed plates on its upper surface, which are respectively connected to multiple X-axis moving plates on the X-axis moving mechanism. Two Y-axis guide rails are fixed parallel to each other on the lower surface of the moving crossbeam and perpendicular to the X-axis guide rails. Each Y-axis guide rail has multiple sliders. The Y-axis rack is installed parallel to the Y-axis guide rails 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 rails on one side of the moving crossbeam.

5. The precise docking device for the stringer skin of an airfoil panel according to claim 2, characterized in that, The movable base is a T-shaped plate welded structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y-guide rail and connected to the sliding head of the Y-axis grating ruler. The drive mechanism is installed on the lower surface of the horizontal fixed plate of the movable base and precisely meshes with the Y-axis rack, driving the movable base to move precisely along the Y-axis. Two Z-guide rails are installed parallel to each other on the side of the vertical fixed plate of the movable base, perpendicular to the X-guide rail and Y-guide rail respectively. The sliding box is a hollow cuboid structure, with one inner side fixed to the upper surface of the slider of the Z-guide rail. The Z-axis cylinder is installed between the two Z-guide rails on the side of the movable base through a fixed seat, parallel to the Z-guide rail. The cylinder extension rod is connected to the sliding box. The bidirectional positioning plate is a Z-shaped plate structure with two mutually perpendicular positioning surfaces, which are fixed to the outer side of the sliding box opposite to the Z-guide rail. The two mutually perpendicular positioning surfaces are parallel to the ZX plane and ZY plane respectively.

6. The precise docking device for the stringer skin of an airfoil panel according to claim 5, characterized in that, The movable base is a T-shaped plate welded structure. The upper surface of the horizontal fixed plate is fixed to the slider of the Y-guide rail. The drive mechanism is installed on the lower surface of the horizontal fixed plate of the movable base and precisely meshes with the Y-axis rack, driving the movable base to move along the Y-axis. Two Z-guide rails are installed parallel to each other on the side of the vertical fixed plate of the movable base, perpendicular to the X-guide rail and Y-guide rail respectively. The sliding box is a hollow cuboid structure, with one inner side fixed to the upper surface of the slider of the Z-guide rail. The Z-axis cylinder is installed between the two Z-guide rails on the side of the movable base through a fixed seat, parallel to the Z-guide rail. The cylinder extension rod is connected to the sliding box. The unidirectional positioning plate is an L-shaped plate structure with a positioning surface, which is fixed to the outer side of the sliding box opposite to the Z-guide rail. The positioning surface is coplanar with the positioning surface on the bidirectional positioning plate that is parallel to the ZY plane.

7. A precise docking device for wing panel stringer skin according to claim 5, characterized in that, The rotary clamping mechanism includes a base plate, a clamping guide rail, a stop, a clamping seat, a guide pin, a clamping spring, a pneumatic rotary 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 stop is a T-shaped plate welded structure with a round hole 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, with one side plate fixed to the slider of the clamping guide rail. The guide pin passes through the round hole on the stop and is fixed to the upper end of the clamping seat. The clamping spring is installed on the guide pin and is located between the stop and the clamping seat. The pneumatic rotary mechanism is a cylinder-driven rotary mechanism, which is installed on the other side plate of the clamping seat. The clamping roller is installed at the end of the pneumatic rotary mechanism and rotates 90 degrees around the rotation axis under the drive of the pneumatic rotary mechanism.

8. A method for using a precision docking device for the stringer skin of an airfoil, characterized in that, The method is implemented using the docking device as described in any one of claims 1-7, and the method further includes a composite material stringer, a laser tracker, and an AGV transport vehicle; The method includes the following steps: S1. A global coordinate system is established by using a laser tracker, and the coordinate values ​​of the reference holes on each three-axis CNC positioner in the CNC attitude adjustment and positioning structure are measured to determine the relative pose relationship of each three-axis CNC positioner in the global coordinate system, which facilitates the precise attitude adjustment of the CNC attitude adjustment and positioning structure. S2, In the global coordinate system, the coordinate values ​​of the reference holes on the top frame of the X-axis moving mechanism in the stringer precision positioning device are measured by a laser tracker to determine the actual position and attitude of the stringer precision positioning device in the global coordinate system; S3, the composite skin forming mold with skin is transported to the predetermined position directly below the stringer precision positioning device by AGV transport vehicle; S4. 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 orientation of the composite skin forming mold in the global coordinate system. S5. Import the theoretical 3D model of the composite skin forming mold into the global coordinate system to make the position and orientation of the composite skin forming mold consistent with the actual measurement. Import the theoretical 3D model of the composite stringer skin after docking into the global coordinate system and make the skin theoretical model in the accurate position on the composite skin forming mold theoretical model. At this time, the position and orientation of the stringer in the global coordinate system are the theoretical position and orientation of the stringer. Based on the position and orientation data and the actual position and orientation data of the stringer precision positioning device in the global coordinate system, calculate the orientation adjustment data of the CNC orientation adjustment and positioning structure and the X and Y direction movement data of the stringer precision positioning device corresponding to all strings. S6, the control system controls the CNC attitude adjustment and positioning structure to precisely adjust the attitude of the stringer precision positioning device according to the attitude adjustment data of the CNC attitude adjustment and positioning structure, so that the positioning surface ZY surface of the bidirectional positioning plate in the end bidirectional positioning clamping is parallel to the theoretical center surface of the stringer. S7. Place multiple cured T-shaped stringers upside down on the composite stringer placement rack and move them as a whole to the vicinity of the composite skin forming mold below the stringer precision positioning device, so that the length direction of the stringers is consistent with the Y direction of the stringer precision positioning device. S8, the control system controls the drive mechanism in the X-direction moving mechanism of the stringer precision 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 directly above the first stringer. S9, the pneumatic clamping mechanism and rotary pressing mechanism in the bidirectional positioning clamping mechanism and unidirectional positioning clamping mechanism of the control end are opened; S10 controls the movement of the Z-direction cylinder in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism at the control end, which drives the bidirectional positioning plate, the unidirectional positioning plate, the pneumatic clamping mechanism, and the rotary pressing mechanism to move downward along the Z direction, so that the web surface of the long stringer is in contact with the ZY surface of the bidirectional positioning plate and the unidirectional positioning plate, and the end of the long stringer is in contact with the ZX surface of the bidirectional positioning plate. S11, the pneumatic clamping mechanism and rotary pressing mechanism in the bidirectional positioning clamping mechanism and unidirectional positioning clamping mechanism at the control end are closed. The pneumatic clamping mechanism clamps the stringer to the ZY positioning surface of the bidirectional positioning plate and the unidirectional positioning plate. The pressing roller of the rotary pressing mechanism is located below the stringer for protection. All Z-direction cylinders in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism at the control end move synchronously, driving the stringer to move upward and detach from the composite material stringer placement frame. S12, based on the X and Y movement data of the stringer precision positioning device calculated in step 6, control the drive mechanism in the X-direction movement mechanism of the stringer precision positioning device to move the stringer along the X direction, and the drive mechanisms in the end bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism move synchronously to move the stringer along the Y direction, so that the first stringer is directly above the theoretical position of the stringer, and the stringer is precisely positioned. S13, the rotary pressing mechanism pressing rollers in the bidirectional positioning clamping mechanism and the unidirectional positioning clamping mechanism at the control end open, all Z-axis cylinders move synchronously, driving the stringer to move downward, so that the stringer and the skin are aligned and fit together. S14, starting from the first one-way positioning clamping mechanism after the end bidirectional positioning clamping mechanism, the pneumatic clamping mechanism in the one-way positioning clamping mechanism is opened, and the Z-axis cylinder moves upward, causing the one-way positioning plate, pneumatic clamping mechanism, and rotary pressing mechanism to disengage from the stringer. The pneumatic rotating mechanism in the rotary pressing mechanism moves, causing the pressing roller to close. The Z-axis cylinder moves downward, causing the pressing roller in the rotary pressing mechanism to press against the surface of the stringer. The drive device in the one-way positioning clamping mechanism moves, driving the entire one-way positioning clamping mechanism to move along the Y direction until it contacts the next one-way positioning clamping mechanism, so that this part of the stringer is tightly fitted with the skin. The remaining one-way positioning clamping mechanisms are controlled in sequence to complete the above actions, so that all parts of the entire stringer are tightly fitted with the skin. S15, the pneumatic clamping mechanism and rotary pressing mechanism in the bidirectional positioning clamping mechanism and unidirectional positioning clamping mechanism of the control end are opened, and all Z-axis cylinders move upward synchronously, so that the stringer precision positioning device is disengaged from the stringer. S16, repeat S8 to S15 in sequence to precisely position all stringers and fit them tightly with the skin, so as to achieve precise docking of the wing panel stringers and the skin.

Images