Automatic clamping and cutting equipment and automatic clamping and cutting method for stringer

Abstract

The invention provides automatic clamping and cutting equipment and an automatic clamping and cutting method for a stringer. The posture that a web is transversely placed is adopted. The equipment comprises a clamping and positioning workbench, and a first end positioning mechanism, a plurality of adsorption fixing mechanisms and a plurality of swing arm correcting mechanisms are arranged on the clamping and positioning workbench. In the positioning and correcting process, a web is transversely placed when a blank is positioned, and a stringer is corrected from the two sides through positioning swing arms. And during positioning, the blank is tightly sucked and positioned from the lower end face of the web by vacuum negative pressure. In this way, the upper side edge and the lower side edge of the stringer blank are directly exposed on the two sides, after one-time positioning, clamping and correcting action, the four ends of the blank can be directly machined through a cutting tool, the clamping frequency is reduced, and the machining efficiency and the machining precision are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of workpiece processing technology, and in particular to an automated clamping and cutting device and an automated clamping and cutting method for long stringers. Background Technology

[0002] A stringer is a structural component in aerospace and naval engineering. Through its elongated design, the stringer provides structural support and stability. In aerospace engineering, a stringer refers to a longitudinal structural member extending along the length of an aircraft fuselage or wing. Through its interaction with the skin, it effectively maintains the aircraft's shape and prevents deformation caused by aerodynamic pressure. In the aircraft fuselage, the stringer, skin, and bulkhead together form a semi-monocoque structure, bearing the bending and torsional loads of the fuselage. In the aircraft wing, the stringer, ribs, and skin form a wingbox structure, transferring aerodynamic loads to the spars.

[0003] like Figure 2 As shown, in the existing I-shaped aircraft stringer design, the pre-prepared stringer blanks undergo shrinkage and deformation during demolding due to material properties, resulting in problems such as warping and bending along the length direction. When finishing the stringer blanks and cutting them into stringers, it is necessary to clamp the blanks and precisely position and cut each of the four transverse ends (upper and lower side edges) of the I-shape. Existing stringer clamping and cutting equipment places the stringer blanks flat during clamping and positioning, with the transverse parts (side plates) flat and the vertical parts vertical. The clamping and positioning positions are typically achieved by simultaneously clamping the vertical parts (webs) of the I-shape from opposite sides, and then using the cutting equipment to cut the transverse ends above the vertical parts. After cutting, the stringer blanks need to be flipped so that the uncut transverse parts at the bottom are flipped to the top, repositioned, clamped, and then cut again. This positioning and cutting process requires secondary positioning and clamping, and secondary disassembly and positioning, which consumes a lot of manual labor and increases clamping errors, affecting cutting accuracy.

[0004] Meanwhile, during the clamping and positioning process of existing long stringer blanks, a positioning pin needs to be designed at the first end of the blank to position it along its length. After the blank is fixed in position, the positioning pin needs to be removed before the cutting operation to avoid interfering with the cutting process. This positioning and disassembly at this end also requires manual labor. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: in order to overcome the shortcomings of the prior art, the present invention provides an automated clamping and cutting device and an automated clamping and cutting method for stringers, which can conveniently and quickly position and correct stringer blanks, and complete the cutting of stringers after correcting the blanks. Only one clamping is required in the correction and cutting operations, which effectively reduces the processing errors caused by multiple clamping, simplifies the processing process, and effectively improves processing efficiency and processing accuracy.

[0006] The technical scheme adopted by the present application to solve its technical problems is: a long string automatic clamping cutting device for correcting and cutting long string blanks, one end of the long string blank is a first end and the other end is a second end, the device comprises a clamping positioning workbench, the clamping positioning workbench is provided with: a first end positioning mechanism fixed on the surface of the clamping positioning workbench for positioning and fixing the web of the first end of the long string blank; a plurality of adsorption fixing mechanisms for supporting and adsorbing the long string blank, the web of the long string blank is placed transversely, and the lower end surface of the web is supported and positioned by the adsorption fixing mechanism; a plurality of swing arm correction mechanisms for respectively abutting against and correcting the side plates from the outside of the side plates of the long string blank, the swing arm correction mechanism comprises a swing arm correction seat, a rotary swing arm is rotatably connected to the swing arm correction seat, the rotary swing arm is provided with a positioning rod, the side plates of the long string blank are arranged at both ends of the web, and the rotary swing arm drives the positioning rod to rotate and abut against the outer side surface of the corresponding side plate from both sides of the length direction of the long string.

[0007] In the above scheme, the adsorption fixing mechanism for adsorbing the web of the long string is designed relative to the original vertical placement posture of the web of the long string, and when the web is adsorbed, the swing arm correction mechanism is used to apply pressure to the side plates of the long string from both sides for correction, the long string is corrected, and then the rotary swing arm of the swing arm correction mechanism is rotated and withdrawn from the side of the side plate to avoid interference with subsequent tool cutting. After the positioning and correction of the long string blank are completed, the long string blank can be cut at four ends as needed without the need for secondary clamping, which can effectively simplify the cutting process, improve the processing efficiency and reduce the clamping error, thereby improving the processing precision.

[0008] Further, the swing arm correction seat comprises a swing arm base and a rotary air cylinder, the swing arm base is fixedly arranged on the surface of the clamping positioning workbench, the rotary air cylinder is arranged on the swing arm base, one end of the rotary swing arm is fixed with the output end of the rotary air cylinder and is driven to rotate by the rotary air cylinder, and the positioning rod is positioned at the other end of the rotary swing arm. During the correction operation, the rotary air cylinder drives the rotary swing arm to rotate, so that the positioning rod abuts against the end surface of the side plate of the long string blank and applies pressure to the side plates from both sides of the long string, thereby completing the correction of the long string blank.

[0009] Further, an adjusting hole through which the positioning rod penetrates is formed in the end of the rotary swing arm away from the rotary air cylinder, and the rotary swing arm further has a quick handle for axially positioning the positioning rod corresponding to the adjusting hole. The positioning rod can be adjusted in position relative to the adjusting hole, and after adjustment, the quick handle is used for positioning and locking, so as to facilitate fine adjustment of the correction amplitude of each swing arm correction mechanism.

[0010] Further, the clamping positioning workbench surface is also provided with a second end moving positioning mechanism; the first end positioning mechanism is arranged at the first end of the longeron length direction and has an end positioning device connected with the first end of the longeron blank; the second end moving positioning mechanism is slidingly arranged at the second end of the longeron length direction and includes a sliding adjustment mechanism and an end positioning device arranged on the sliding adjustment mechanism, which is connected with the second end of the longeron blank.

[0011] Preferably, the webs of the first end and the second end of the longeron blank are both provided with positioning holes, the end positioning device includes a positioning support, a lifting cylinder and a positioning column, the lifting cylinder is arranged on the positioning support and the output end is in transmission connection with the positioning column, the positioning support is provided with a graphite guide copper bushing, and the first end positioning column is in guiding cooperation with the graphite guide copper bushing; the positioning support of the first end positioning mechanism is fixedly arranged on the clamping positioning workbench surface, the positioning column of the first end positioning mechanism is in matching insertion with the positioning hole of the first end of the longeron web, and the positioning support of the second end positioning mechanism is arranged on the sliding adjustment mechanism, and the positioning column of the second end positioning mechanism is in matching insertion with the positioning hole of the second end of the longeron web.

[0012] Preferably, the sliding adjustment mechanism includes a linear guide rail, a guide rail clamp and a sliding block, the linear guide rail is arranged on the clamping positioning workbench surface and located at the second end of the longeron and parallel to the longeron length direction, the sliding block is in sliding cooperation with the linear guide rail and is controlled and positioned by the guide rail clamp, and the positioning support of the second end positioning mechanism is fixed on the sliding block. Through the cooperation of the linear guide rail and the sliding block, the positioning column of the second end positioning mechanism can be moved to the corresponding position according to the longeron correction position, so that the matching insertion with the positioning hole of the second end is facilitated, and the overall positioning of the longeron blank is completed, thereby providing accurate positioning for the final positioning and adsorption of the adsorption fixing mechanism.

[0013] Further, in the web transverse positioning of the longeron blank, the adsorption fixing mechanism includes an adsorption fixing seat and a polyurethane adsorption hole plate, the adsorption fixing seat is fixed on the clamping positioning workbench surface, the surface of the adsorption fixing seat is provided with adsorption grooves in which the polyurethane adsorption hole plate is embedded, the adsorption grooves are in pipeline communication with a vacuum negative pressure mechanism, and each adsorption groove is provided with a branch independent electromagnetic valve for independently controlling the adsorption at the adsorption groove.

[0014] Further, the stringer automatic clamping cutting device has a cutting mechanism, the cutting mechanism comprises guide rails, robots and spindle cutting modules, the guide rails are arranged on both sides of the clamping positioning workbench along the length direction of the stringer blank, and the guide rails on each side are provided with a robot moving along the guide rail; the spindle cutting module is arranged on the robot and comprises a spindle fixing block, an electric spindle and a tool, the spindle fixing block is fixed on the robot, the electric spindle is assembled with the tool at the front end and is fixed on the spindle fixing block, and a dust suction pipeline is arranged at the front end of the electric spindle corresponding to the position of the tool.

[0015] A stringer automatic clamping cutting method, in the clamping, correcting and cutting process of the stringer blank, the posture of the stringer blank is placed with the web horizontally and the side plates vertically.

[0016] Different from the existing vertical placement of the web, the posture of the horizontal placement of the web can facilitate the correction of the stringer from the outside of the side plate, and can also effectively position and fix the stringer, so that the four ends of the side plate of the stringer are exposed, and the cutting is not interfered by the positioning and correcting mechanism.

[0017] Further, the two ends of the stringer blank are a first end and a second end, and the web of the first end and the second end is provided with a positioning hole for positioning the web; after the first end of the stringer blank is positioned through the positioning hole, the web is vacuum adsorbed by the adsorption fixing mechanism, the side plates are corrected by the opposite pressure of the swing arm correcting mechanism, the second end of the stringer blank is positioned through the positioning hole, the web is completely fixed by the vacuum adsorption of the adsorption fixing mechanism, the swing arm correcting mechanism on both sides is withdrawn, the clamping and correction of the stringer blank are completed, the four side ends of the side plate of the stringer blank are respectively cut and processed by the cutting mechanism, and finally the first end and the second end of the stringer skin are cut off, and the cutting of the stringer is completed.

[0018] The stringer automatic clamping cutting device and the automatic clamping cutting method provided by the application utilize the clamping workbench to position and correct the blank. In the correction process, the web is placed horizontally during positioning of the blank, and the stringer is corrected from both sides by using the positioning swing arm. During positioning, the blank is positioned by vacuum suction from the lower end surface of the web. In this way, the upper edge and the lower edge of the stringer blank are directly exposed on both sides. After one positioning, clamping and correcting operation, the four ends of the blank can be directly machined by using the cutting tool, the clamping frequency is reduced, and the machining efficiency and machining precision are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] The application will be further described below in combination with the drawings and examples.

[0020] Figure 1 It is a structural schematic diagram of an embodiment of the application.

[0021] Figure 2 It is a schematic diagram of the application for correcting the stringer blank (the solid line is before correction, and the dashed line is after correction).

[0022] Figure 3 Figure 1 is a schematic diagram of the swing arm correction mechanism in an embodiment of the present application.

[0023] Figure 4 Figure 2 is a schematic diagram of the end positioning device in an embodiment of the present application.

[0024] Figure 5 Figure 3 is a schematic diagram of the second end moving positioning mechanism in an embodiment of the present application.

[0025] Figure 6 Figure 4 is a schematic diagram of the adsorption fixing mechanism in an embodiment of the present application.

[0026] Figure 7 Figure 5 is a schematic diagram of step 1 in the machining action of the device provided by the present application.

[0027] Figure 8 Figure 6 is a schematic diagram of step 2 in the machining action of the device provided by the present application.

[0028] Figure 9 Figure 7 is a schematic diagram of step 3 in the machining action of the device provided by the present application.

[0029] Figure 10 Figure 8 is a schematic diagram of step 4 in the machining action of the device provided by the present application.

[0030] Figure 11 Figure 9 is a schematic diagram of step 5 in the machining action of the device provided by the present application.

[0031] Figure 12 Figure 10 is a schematic diagram of step 6 in the machining action of the device provided by the present application.

[0032] Figure 13 Figure 11 is a schematic diagram of the device provided by the present application when it is provided with a cutting mechanism.

[0033] Figure 14 Figure 12 is a sectional view of the long string blank at the position of the positioning hole in the present application.

[0034] Figure 15 Figure 13 is a perspective view of the device provided by the present application in one direction after the long string blank is removed.

[0035] Figure 16 Figure 14 is a perspective view of the device provided by the present application in another direction after the long string blank is removed.

[0036] Fig. 1-1, dust suction pipe 1-2, cutter 1-3, electric spindle 1-4, robot 1-5, seventh axis guide rail 2, swing arm correcting mechanism 2-1, quick handle 2-2, positioning rod 2-3, rotary swing arm 2-4, swing arm base 2-5, rotary cylinder 3, adsorption fixing mechanism 3-1, polyurethane adsorption hole plate 3-2, adsorption fixing seat 3-3, branch independent electromagnetic valve 4-A, second end moving positioning mechanism 4-B, first end positioning mechanism 4-1, positioning column 4-2, graphite guide copper sleeve 4-3, positioning sleeve 4-4, height adjustment plate 4-5, sliding groove 4-6, lifting cylinder 4-7, positioning support 4-8, linear guide rail 4-9, guide rail clamp 4-10, sliding block 5, clamped positioning workbench 6, longeron blank 6-A, second end 6-B, first end 6-1, web plate 6-2, side plate 6-3, positioning hole. DETAILED DESCRIPTION

[0037] The application will now be described in further detail with reference to the drawings. These drawings show only the essential features of the application and are not to scale. The drawings are schematic representations only of the basic structure of the application and therefore only show the features relevant to the application. Directions and references (e.g. up, down, left, right, etc.) can be used only to aid the description of features in the drawings. The following detailed description is therefore not to be taken in a limiting sense and the scope of the subject matter sought to be protected is defined only by the claims that follow this detailed description and their equivalents.

[0038] The application provides a method for automatic clamping and cutting of a longeron. The method is used to cut the four ends of the side plate 6-2 of a I-shaped longeron blank 6. The two ends of the longeron blank 6 in the length direction, one end is the first end 6-B, the other end is the second end 6-A. After machining and cutting the four ends of the side plate 6-2, the first end 6-B and the second end 6-A also need to be bevel cut and removed.

[0039] Different from the existing vertical placement of the web plate 6-1, in the method provided in the present application, the stringer blank 6 is placed horizontally during clamping, correction and cutting. The two side plates 6-2 are placed vertically. In this way, the horizontal placement of the web plate 6-1 can effectively complete the support and fixation of the stringer blank 6 by using the plane of the web plate 6-1 as a positioning surface and cooperating with the vacuum suction mechanism. On the other hand, the horizontal placement of the web plate 6-1 corresponds to the vertical posture of the side plate 6-2. At this time, the outer edge of the side plate 6-2, i.e., the four ends of the stringer, are located on both sides of the web plate 6-1 for positioning and support. The suction mechanism supporting the web plate 6-1 will not interfere with the cutting tool. Therefore, after the stringer is positioned and corrected, the four outer edges can be clamped and cut at one time without the need for turning over and secondary clamping. On this basis, the pressure applied to the stringer blank 6 from the outside of the side plate 6-2 can correct and reset the stringer blank 6 deformed during demolding, facilitating accurate cutting.

[0040] On this basis, the first end 6-B and the second end 6-A of the stringer blank 6 are provided with positioning holes 6-3 for positioning the web plate 6-1. After the first end 6-B of the stringer blank 6 is positioned through the positioning hole 6-3, the web plate 6-1 is vacuum-sucked by the suction fixation mechanism 3, the two side plates 6-2 are corrected by the opposite pressure of the swing arm correction mechanism 2, the second end 6-A of the stringer blank 6 is positioned through the positioning hole 6-3, the web plate 6-1 is completely fixed by the suction fixation mechanism 3, and the swing arm correction mechanism 2 is removed, thereby completing the clamping and correction of the stringer blank 6. The cutting mechanism cuts the four side ends of the side plate 6-2 of the stringer blank 6 respectively, and finally cuts off the first end 6-B and the second end 6-A of the stringer skin, thereby completing the cutting of the stringer.

[0041] It should be noted that the clamping, correction and cutting posture of the horizontal placement of the web plate 6-1 is based on the positioning and fixation of the side plate 6-2 at both ends of the web plate 6-1, i.e., the position and direction between the side plate 6-2 and the web plate 6-1 are fixed. Pushing any position of the side plate 6-2 or the web plate 6-1 is the overall position correction and adjustment of the stringer. Therefore, after the web plate 6-1 is horizontally placed and roughly positioned, the correction of the stringer blank 6 can be realized by applying pressure to the two side plates 6-2. After the web plate 6-1 is completely positioned by vacuum suction, the correction force applied to the side plate 6-2 can be removed. At this time, the web plate 6-1 is completely positioned, and the corrected stringer blank 6 defaults to the posture after correction. During the cutting process, the force generated by the cutting tool 1-2 is not enough to overcome the vacuum suction force of the web plate 6-1 to cause movement. In actual processing, after the cut stringer is removed, it will still deform without external pressure, but the stringer still needs to be assembled with the skin in the subsequent process, which can overcome this deformation. Therefore, the accuracy during cutting can be ensured.

[0042] On the basis of the above method, the present application provides a long string automatic clamping cutting device as shown in Figure 1 and Figure 13 The device is an embodiment of the present application. The device is designed based on the above machining process and is used for straightening and cutting the long string blank 6. The workpiece for cutting is the I-shaped long string blank 6. The long string blank 6 includes a web 6-1 and side plates 6-2 integrally formed at both ends of the web 6-1. Of the two ends of the long string blank 6, one end is a first end 6-B and the other end is a second end 6-A. The web 6-1 of the first end 6-B and the web 6-1 of the second end 6-A are both provided with positioning holes 6-3 for positioning. The device needs to cut the end of the side plate 6-2 as needed. At the same time, according to the machining requirements of the process, after cutting the four ends of the side plate 6-2, the first end 6-B needs to be bevel cut.

[0043] Specifically, the device includes a clamping and positioning workbench 5 and a cutting mechanism. The clamping and positioning workbench 5 is used for positioning and straightening the long string blank 6. The cutting mechanism is arranged on both sides of the clamping and positioning workbench 5 along the length direction of the long string and is used for cutting the clamped long string blank 6.

[0044] As shown in Figure 1 , the clamping and positioning workbench 5 is provided with a plurality of adsorption fixing mechanisms 3 arranged at intervals along the length direction of the long string (from the first end 6-B to the second end 6-A). The web 6-1 of the long string blank 6 is placed transversely and adsorbed and fixed on the upper end face of the adsorption fixing mechanism 3. Corresponding to the two sides of the adsorption fixing mechanism 3, there are staggered colloid distribution swing arm straightening mechanisms 2. The straightening swing arm mechanism includes a swing arm straightening seat, a rotary swing arm 2-3 rotatably connected to the swing arm straightening seat, and a positioning rod 2-2 provided on the rotary swing arm 2-3. The side plates 6-2 of the long string blank 6 are arranged at both ends of the web 6-1. The rotary swing arm 2-3 drives the positioning rod 2-2 to rotate and abuts against the outer side of the side plate 6-2 on the corresponding side from both sides of the length direction of the long string.

[0045] As shown in Figure 3 , the swing arm straightening seat includes a swing arm base 2-4 and a rotary air cylinder 2-5. The swing arm base 2-4 is fixedly arranged on the surface of the clamping and positioning workbench 5. The rotary air cylinder 2-5 is arranged on the swing arm base 2-4. One end of the rotary swing arm 2-3 is fixed to the output end of the rotary air cylinder 2-5 and is driven to rotate by the rotary air cylinder 2-5. The positioning rod 2-2 is positioned on the other end of the rotary swing arm 2-3.

[0046] In actual design, the position of the positioning rod 2-2 is adjustable relative to the rotating swing arm 2-3, the end of the rotating swing arm 2-3 away from the rotating cylinder 2-5 is provided with an adjusting hole for the positioning rod 2-2 to penetrate through, and the rotating swing arm 2-3 is further provided with a quick handle 2-1 for axially positioning the positioning rod 2-2 corresponding to the adjusting hole. The positioning rod 2-2 can be adjusted in position relative to the adjusting hole, and after adjustment, the quick handle 2-1 is used for positioning and locking, so as to facilitate fine adjustment of the correction range of each swing arm correction mechanism 2.

[0047] Therefore, during the correction operation, the rotating cylinder 2-5 drives the rotating swing arm 2-3 to rotate, so that the positioning rod 2-2 abuts against the end surface of the side plate 6-2 of the longeron blank 6 and exerts pressure on the side plate 6-2 from both sides of the longeron, thereby completing the correction of the longeron blank 6.

[0048] Before and after correction, the web plate 6-1 needs to be effectively supported and positioned in the transverse direction by the adsorption fixing mechanism 3. Specifically, as shown in Figure 6 The adsorption fixing mechanism 3 includes an adsorption fixing seat 3-2 and a polyurethane adsorption hole plate 3-1. The adsorption fixing seat 3-2 is fixed on the surface of the clamping and positioning workbench 5, and the surface of the adsorption fixing seat 3-2 is provided with an adsorption groove for embedding and cooperating with the polyurethane adsorption hole plate 3-1. The adsorption groove is connected with a vacuum negative pressure mechanism in a pipeline, and each adsorption groove and the vacuum negative pressure mechanism are provided with a branch independent electromagnetic valve 3-3 for independently controlling adsorption at the adsorption groove. The branch independent electromagnetic valve 3-3 controls the corresponding adsorption fixing mechanism 3, and provides independent control for effectively positioning and supporting and fixing the web plate 6-1 of each adsorption fixing mechanism 3.

[0049] On the basis of the above positioning and support and correction, the precise positioning of the web plate 6-1 in the length direction is achieved by the first end positioning mechanism 4-B and the second end 6-A moving positioning mechanism 4-A. The first end positioning mechanism 4-B is arranged on the surface of the clamping and positioning workbench 5 and located at the first end 6-B in the length direction of the longeron, and includes an end positioning device connected with the first end 6-B of the longeron blank 6. The second end 6-A moving positioning mechanism 4-A is slidingly arranged on the surface of the clamping and positioning workbench 5 and located at the second end 6-A in the length direction of the longeron, and includes a sliding adjustment mechanism and an end positioning device arranged on the sliding adjustment mechanism, which is connected with the second end 6-A of the longeron blank 6.

[0050] The end positioning device in the first end positioning mechanism 4-B and the second end 6-A positioning mechanism can adopt the same structure. According to the different positions and functions, the end positioning device of the first end positioning mechanism 4-B is fixed in position and is directly fixed on the clamping positioning workbench 5. The second end 6-A moving positioning mechanism 4-A can be adjusted according to the correction and is arranged on the sliding adjustment mechanism. In actual positioning design, the first end positioning mechanism 4-B is usually the main positioning point of the stringer blank 6 in the axial direction. Therefore, a group of first end positioning mechanisms 4-B are designed at the first end 6-B, and a group or two groups of second end positioning mechanisms 6-A are designed at the second end 6-A of the stringer blank 6. The end positioning point needs to be connected after correction. Figure 1

[0051] Specifically, as shown in Figure 4 , the end positioning device includes a positioning support 4-7, a lifting cylinder 4-6 and a positioning column 4-1. The lifting cylinder 4-6 is arranged on the positioning support 4-7 and is in transmission connection with the output end of the positioning column 4-1. A graphite guide copper sleeve 4-2 is arranged on the positioning support 4-7, and the first end 6-B positioning column 4-1 is in guiding cooperation with the graphite guide copper sleeve 4-2. In actual design, a sliding groove 4-5 can be designed on the positioning support 4-7, a height adjusting plate 4-4 is slidably arranged in the sliding groove 4-5, the output end of the lifting cylinder 4-6 is fixed with the height adjusting plate 4-4, and the positioning column 4-1 is fixed on the upper end of the height adjusting plate 4-4. A hole is formed in the upper end face of the positioning support 4-7 for the positioning column 4-1 to extend out of the hole. A graphite guide copper sleeve 4-2 is fixedly arranged above the hole, and the graphite guide copper sleeve 4-2 provides effective lubrication and guidance. In actual assembly, the graphite guide copper sleeve 4-2 is positioned and arranged on the upper end face of the positioning support 4-7 by a positioning sleeve 4-3. After the positioning column 4-1 penetrates through the hole of the positioning support 4-7, it continues to extend upwards through the graphite guide copper sleeve 4-2, and after extending out, it is embedded and cooperated with the corresponding positioning hole 6-3 of the stringer blank 6.

[0052] As shown in Figure 5 , the sliding adjustment mechanism includes a linear guide rail 4-8, a guide rail clamp 4-9 and a sliding block 4-10. The linear guide rail 4-8 is arranged on the surface of the clamping positioning workbench 5 and is parallel to the length direction of the stringer. The sliding block 4-10 is in sliding cooperation with the linear guide rail 4-8 and is controlled and positioned by the guide rail clamp 4-9. The positioning support 4-7 of the second end 6-A positioning mechanism is fixed on the sliding block 4-10.

[0053] ​The positioning support 4-7 of the first end positioning mechanism 4-B is fixedly arranged on the surface of the clamping positioning workbench 5, and the positioning column 4-1 of the first end positioning mechanism 4-B is inserted into the positioning hole 6-3 of the first end 6-B of the stringer web plate 6-1. The positioning support 4-7 of the second end 6-A positioning mechanism is arranged on the sliding adjusting mechanism, and the positioning column 4-1 of the second end 6-A positioning mechanism is inserted into the positioning hole 6-3 of the second end 6-A of the stringer web plate 6-1. Through the cooperation of the linear guide rail 4-8 and the sliding block 4-10, the positioning column 4-1 of the second end 6-A positioning mechanism can be moved to the corresponding position according to the correction position of the stringer, so as to be inserted into the positioning hole 6-3 of the second end 6-A, and the overall positioning of the stringer blank 6 is completed, thereby providing accurate positioning for the final positioning and adsorption of the adsorption fixing mechanism 3.

[0054] The first end positioning mechanism 4-B serves as an initial positioning basis, and can be combined with the adsorption fixing mechanism 3 to perform basic positioning. The second end 6-A positioning mechanism adjusts the displacement according to the corrected position, and finally positions the corrected stringer blank 6, so that the adsorption fixing mechanism 3 finally completes the positioning of the blank before cutting.

[0055] After the stringer blank 6 is corrected and fixed, the position is relatively fixed, and at this time, the cutting mechanism can be used to cut and process the four ends of the side plate 6-2 respectively.

[0056] As shown in Figure 13 , the cutting mechanism includes a guide rail, a robot 1-4 and a spindle cutting module. The guide rails are arranged on both sides of the clamping positioning workbench 5 along the length direction of the stringer blank 6, and each side of the guide rail is provided with a robot 1-4 moving along the guide rail. The spindle cutting module is arranged on the robot 1-4 and includes a spindle fixing block, an electric spindle 1-3 and a tool 1-2. The spindle fixing block is fixed on the robot 1-4, the electric spindle 1-3 is assembled with the tool 1-2 at the front end and is fixed on the spindle fixing block, and a dust suction pipeline 1-1 is arranged at the front end of the electric spindle 1-3 corresponding to the position of the tool 1-2, which is used to timely absorb the dust generated during cutting.

[0057] The cutting mechanism can preferably adopt an existing seven-axis robot system, and the seventh-axis guide rail 1-5 is selected as the guide rail. Two sets of seven-axis robot 1-4 systems are arranged on both sides along the length direction of the stringer blank 6. The robot 1-4 is a special processing robot 1-4, the spindle cutting module is installed on the hand of the special processing robot 1-4, the tool magazine is integrated on the robot 1-4, and the tool is changed as needed during the cutting process.

[0058] Processing action process: Step 1, as shown in Figure 7As shown, the long string blank 6 is placed on the end face of the adsorption fixing mechanism 3, and the positioning column 4-1 of the first end positioning mechanism 4-B is lifted into position, which passes through the positioning hole 6-3 of the first end 6-B of the long string, and the long string blank 6 is positioned and placed on the adsorption fixing mechanism 3; Step 2, as shown in Figure 8 As shown, the swing arm correction mechanism 2 on the left side of the long string blank 6 is actuated, the rotary swing arm 2-3 on the left side is rotated into position by the rotary cylinder 2-5, the left positioning rod 2-2 abuts against the side plate 6-2 on the left side of the long string blank 6, and the positioning of the long string blank 6 is adjusted; Step 3, as shown in Figure 9 As shown, the swing arm correction mechanism 2 on the right side of the long string blank 6 is actuated, the rotary swing arm 2-3 on the right side is rotated into position by the rotary cylinder 2-5, the right positioning rod 2-2 abuts against the side plate 6-2 on the right side of the long string blank 6, and the deformation of the long string blank 6 is corrected, and the adsorption fixing mechanism 3 adsorbs and fixes the long string blank 6; Step 4, as shown in Figure 10 As shown, the second end 6-A moving positioning mechanism 4-A is adjusted, the positioning column 4-1 of the second end 6-A moving positioning mechanism 4-A is moved according to the position of the second end 6-A positioning hole 6-3, the positioning column 4-1 of the second end 6-A moving positioning mechanism 4-A is lifted into the second end 6-A positioning hole 6-3, and the guide clamp 4-9 of the second end 6-A moving positioning mechanism 4-A is locked; Step 5, as shown in Figure 11 As shown, the rotary cylinders 2-5 of the swing arm correction mechanisms 2 on both sides are actuated to retreat the rotary swing arms 2-3 on both sides, and the seven-axis robots 1-4 on both sides simultaneously cut the upper and lower edges of the side plates 6-2 of the long string blank 6, and the tool shanks 1-2 are automatically replaced at intervals according to the preset displacement during the cutting process; Step 6, as shown in Figure 12 As shown, after the four end edges of the side plates 6-2 of the long string blank 6 are machined, the positioning columns 4-1 of the first end positioning mechanism 4-B and the second end 6-A moving positioning mechanism 4-A are lowered, and the seven-axis robots 1-4 respectively bevel the first end 6-B and the second end 6-A.

[0059] Therefore, compared with the original vertical placement posture of the longeron web plate 6-1, the longeron automatic clamping and cutting device provided by the embodiment designs the adsorption fixing mechanism 3 for adsorbing the longeron web plate 6-1, and when the web plate 6-1 is adsorbed, the rotating arm correction mechanism 2 is used to apply pressure to the longeron side plate 6-2 from both sides for correction. After the longeron is corrected, the adsorption fixing mechanism 3 is used to complete the fixation of the longeron. Then, the rotating arm 2-3 of the rotating arm correction mechanism 2 is rotated away from the side plate 6-2, avoiding interference with the subsequent cutting. After the positioning and correction of the longeron blank 6 are completed, the longeron blank 6 can be cut at four ends as needed without the need for secondary clamping, which can effectively simplify the cutting process, improve the processing efficiency, reduce the clamping error, and thus improve the processing precision.

[0060] Based on the above ideal embodiments according to the present application, through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. An automated clamping and cutting device for stringers, used for straightening and cutting stringer blanks, wherein one end of the stringer blank is a first end and the other end is a second end, characterized in that: The clamping positioning workbench is provided with: The first end positioning mechanism is fixed on the surface of the clamping positioning workbench and is used for positioning and fixing the web plate at the first end of the longeron blank; The plurality of adsorption fixing mechanisms are used for supporting and adsorbing the longeron blank, the web plate of the longeron blank is placed transversely, and the lower end surface of the web plate is supported and positioned by the adsorption fixing mechanisms; The plurality of swing arm correcting mechanisms are used for abutting against and correcting the side plates from the outside of the side plates of the longeron blank, the swing arm correcting mechanism comprises a swing arm correcting seat, and a rotary swing arm is rotatably connected to the swing arm correcting seat, the swing arm correcting seat is provided with a positioning rod, the side plates of the longeron blank are arranged at two ends of the web plate, and the rotary swing arm drives the positioning rod to rotate and abuts against the outside of the side plate from both sides of the longeron in the length direction.

2. The long web automated clamped cut device of claim 1, wherein: The swing arm correcting seat comprises a swing arm base and a rotary cylinder, the swing arm base is fixedly arranged on the surface of the clamping positioning workbench, the rotary cylinder is arranged on the swing arm base, one end of the rotary swing arm is fixed to the output end of the rotary cylinder and is driven to rotate by the rotary cylinder, and the positioning rod is positioned at the other end of the rotary swing arm.

3. The long web automated clamped cut device of claim 2, wherein: The end of the rotary swing arm away from the rotary cylinder is provided with an adjusting hole through which the positioning rod penetrates, and the rotary swing arm is further provided with a quick handle for axially positioning the positioning rod around the adjusting hole.

4. The long web automated clamped cut device of claim 1, wherein: The surface of the clamping positioning workbench is further provided with a second end moving positioning mechanism, the first end positioning mechanism is arranged at the first end in the length direction of the longeron and is provided with an end positioning device which is positioned and connected to the first end of the longeron blank, and the second end moving positioning mechanism is slidingly arranged at the second end in the length direction of the longeron and comprises a sliding adjusting mechanism and an end positioning device arranged on the sliding adjusting mechanism and positioned and connected to the second end of the longeron blank.

5. The long web automated clamped cut device of claim 4, wherein: The web plates at the first end and the second end of the longeron blank are provided with positioning holes, the end positioning device comprises a positioning support, a lifting cylinder and a positioning column, the lifting cylinder is arranged on the positioning support and is in transmission connection with the positioning column at the output end, the positioning support is provided with a graphite guide copper sleeve, and the first end positioning column is in guide cooperation with the graphite guide copper sleeve, the positioning support of the first end positioning mechanism is fixedly arranged on the surface of the clamping positioning workbench, the positioning column of the first end positioning mechanism is in matched insertion with the positioning hole at the first end of the web plate of the longeron, and the positioning support of the second end positioning mechanism is arranged on the sliding adjusting mechanism.

6. The long web automated clamped cut device of claim 5, wherein: The sliding adjusting mechanism comprises a linear guide rail, a guide rail clamp and a sliding block, the linear guide rail is arranged on the surface of the clamping positioning workbench and is arranged parallel to the length direction of the longeron at the second end of the longeron, the sliding block is in sliding cooperation with the linear guide rail and is controlled and positioned by the guide rail clamp, and the positioning support of the second end positioning mechanism is fixed on the sliding block.

7. The long web automated clamped cut device of claim 1, wherein: The adsorption fixing mechanism comprises an adsorption fixing seat and a polyurethane adsorption hole plate.

8. The long web automated clamped cut device of claim 1, wherein: The cutting mechanism comprises guide rails, robots and spindle cutting modules, the guide rails are arranged on both sides of the clamping positioning workbench along the length direction of the long string blank, each side of the guide rail is provided with a robot moving along the guide rail, the spindle cutting module is arranged on the robot and comprises a spindle fixing block, an electric spindle and a cutter, the spindle fixing block is fixed on the robot, the electric spindle is assembled with the cutter at the front end and is fixed on the spindle fixing block, and a dust suction pipeline is arranged on the front end of the electric spindle corresponding to the position of the cutter.

9. A method of automated fixture cutting of stringers, characterized by: In the clamping, correcting and cutting processes, the long string blank is placed with the web horizontally and the side plates vertically.

10. The method of claim 9, wherein: the long string is automatically clamped and cut. 5 The first end and the second end of the long string blank are respectively provided with positioning holes for positioning the web, the web is vacuum adsorbed by the adsorption fixing mechanism after the first end of the long string blank is positioned through the positioning hole, the side plates are corrected by the swing arm correcting mechanism after being pressed by the swing arm correcting mechanism, the second end of the long string blank is positioned through the positioning hole, the web is completely fixed by the adsorption fixing mechanism, the swing arm correcting mechanism is removed, the clamping and correcting of the long string blank are completed, the four side ends of the side plates of the long string blank are respectively cut by the cutting mechanism, the first end and the second end of the long string blank are finally cut off, and the cutting of the long string is completed.

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