An adaptive positioning and pressing device and method for double-curved wallboards

Abstract

This invention discloses an adaptive positioning and clamping device and method for hyperbolic panels. By integrating four basic degrees of freedom of motion—horizontal lateral movement, vertical lifting, horizontal rotation, and vertical pitch—it constructs a complete spatial posture adjustment capability. This enables precise arrival at the spatial coordinates of any preset point on a complex curved surface and adaptive adjustment to a final posture aligned with the surface normal at that point. This solves the problem of conformal clamping caused by continuous changes in the edge position and angle of hyperbolic panels. Through the coordinated operation of these four degrees of freedom, it achieves complete following and dynamic matching of the panel edge curve shape, accurately responding to changes in curvature distribution, and ensuring stable clamping with adaptive posture at any contour position. This breaks through the structural limitations of traditional fixed or limited adjustment clamping methods, providing a highly adaptable and high-precision positioning and clamping solution for the molding of aerospace composite material components with continuously variable curvature characteristics.

Description

Technical Field

[0001] This invention belongs to the field of composite material component manufacturing technology, and relates to the manufacturing process of hyperbolic curved wall panels with complex curvature, specifically an adaptive positioning and clamping device and method for hyperbolic curved wall panels. Background Technology

[0002] Advanced composite materials, represented by carbon fiber reinforced resin matrix composites, have become key materials for weight reduction and efficiency improvement in modern aerospace structures due to their advantages such as high specific strength, high specific modulus, and strong designability. Composite material panels, especially those forming aerodynamic components such as wings and fuselages, are widely adopting a structure combining integral laminated panels with composite stringers to replace traditional metal skin and reinforcing rib structures.

[0003] Based on their surface geometry, composite laminated panels can be divided into single-curvature panels and double-curvature panels. Double-curvature panels (such as those in the nose, wing-body blending zone, and aft fuselage) have continuously varying surface curvatures, making their manufacturing process extremely complex. During autoclave curing, the prepreg layup flows under increased temperature and pressure, and changes in resin viscosity and layup friction, along with the interaction between the mold and the part due to differences in thermal expansion coefficients, make it difficult to precisely control the tension (i.e., the uniform tightness of the fit against the mold) at the edges or in specific areas of the double-curvature panel. Existing technologies typically use molds with fixed curvatures and simple edge clamps for clamping, which has the following inherent drawbacks: 1. Poor adaptability: A set of fixed fixtures can only serve a single product with a specific curvature and size, and cannot adapt to the needs of product modification or small-batch, multi-variety production, resulting in high tooling costs and large storage space.

[0004] 2. Uneven tension: For wall panels with continuously changing curvature, the fixing fixtures are unable to provide clamping force that changes with the shape, which can easily lead to insufficient pressure in local areas (resulting in bridging and resin overload) or excessive pressure (resulting in fiber twisting and thickness deviation), affecting the molding quality and performance consistency of the components.

[0005] 3. Insufficient adjustment capability: Traditional fixtures lack online, dynamic, precise angle and position adjustment functions, making it impossible to fine-tune and compensate for the local curvature of the panel during assembly or preforming stages, resulting in low tolerance for process fluctuations.

[0006] Therefore, there is an urgent need in this field for an adaptive positioning and tensioning device with multi-parameter and programmable adjustment capabilities to solve the bottleneck problem of high-quality and low-cost molding and manufacturing of hyperbolic composite wall panels. Summary of the Invention

[0007] To address the technical problems existing in the background art, this invention proposes an adaptive positioning and clamping device and method for hyperbolic wall panels, which integrates multiple degrees of freedom of motion and breaks through the structural limitations of traditional fixed or limited adjustment clamping methods. It provides a highly adaptable and high-precision positioning and clamping solution for the molding of aerospace composite material components with continuous variable curvature characteristics.

[0008] The objective of this invention can be achieved through the following technical solutions: An adaptive positioning and clamping device for a hyperbolic wall panel includes: a support frame, a positioning and moving platform, and an adaptive clamping terminal. The positioning and moving platform is fixedly installed on the base plate of the support frame, and the adaptive clamping terminal is movably disposed on the positioning and moving platform to move laterally or longitudinally to a preset working position in the two-dimensional plane where the positioning and moving platform is located, and to perform a clamping operation on the wall panel placed parallel above the positioning and moving platform. The adaptive clamping terminal has a multi-degree-of-freedom adjustment structure to adjust the working posture of the adaptive clamping terminal so that it matches the curvature of the curved surface area of ​​the wall panel to be clamped when clamping the wall panel.

[0009] Furthermore, the positioning mobile platform includes: a first linear guide rail, a second linear guide rail, a first linear drive mechanism, and a second linear drive mechanism. The first linear guide rail is fixedly mounted on the base plate of the support frame. A first sliding seat is slidably mounted on the first linear guide rail. The first linear drive mechanism drives and connects to the first sliding seat to drive the first sliding seat to slide along the first linear guide rail. The second linear guide rail is vertically mounted on the first linear guide rail through the first sliding seat. A second sliding seat is slidably mounted on the second linear guide rail. The second linear drive mechanism drives and connects to the second sliding seat to drive the second sliding seat to slide along the second linear guide rail. An adaptive pressing terminal is mounted on the second sliding seat.

[0010] Furthermore, two sets of first linear guides are arranged in parallel, and the first sliding seats on the two sets of first linear guides are connected by connecting plates. Two sets of second linear guides are arranged accordingly, and the two sets of second linear guides are respectively set on two connecting plates. Two sets of first linear drive mechanisms are arranged accordingly, and the output ends of the two sets of first linear drive mechanisms are respectively connected to the two connecting plates. Each set of second linear guides is provided with one or two second sliding seats, and the second linear drive mechanism is arranged corresponding to the second sliding seat. The output end of the second linear drive mechanism is connected to the corresponding second sliding seat.

[0011] Furthermore, the adaptive clamping terminal includes: a first normal force application mechanism and a main pressure plate. The first normal force application mechanism drives the main pressure plate to move along its normal direction. A flexible pad is attached to the working surface of the main pressure plate.

[0012] Furthermore, a first rotary drive mechanism is provided between the first normal force application mechanism and the second sliding seat. The first rotary drive mechanism is fixedly installed on the second sliding seat, and the output shaft of the first rotary drive mechanism is connected to the first normal force application mechanism to drive the main pressure plate to rotate in the horizontal plane.

[0013] Furthermore, the output end of the first normal force application mechanism is connected to a U-shaped angle adjustment seat, and a hinge shaft is rotatably connected to the angle adjustment seat. The main pressure plate is fixedly installed on the hinge shaft through an ear plate. A second rotary drive mechanism is provided on one side of the angle adjustment seat. The output shaft of the second rotary drive mechanism is connected to the hinge shaft to drive the main pressure plate to rotate around the hinge shaft in the vertical plane.

[0014] Furthermore, an auxiliary force-applying terminal is installed on the top plate of the support frame. The auxiliary force-applying terminal is arranged opposite to the adaptive clamping terminal to provide additional clamping force to the wall panel placed on the adaptive clamping terminal.

[0015] Furthermore, the auxiliary force application terminal includes: a second normal force application mechanism and a flexible pressure head. The second normal force application mechanism is fixedly installed on the top plate of the support frame, and the flexible pressure head is connected to the output end of the second normal force application mechanism so as to move along its normal direction under the drive of the second normal force application mechanism.

[0016] An adaptive positioning and clamping method for hyperboloid wall panels, employing the adaptive positioning and clamping device described above, includes the following steps: Receive the three-dimensional geometric data of the target panel and obtain the surface model of the area of ​​the target panel to be compressed; Plan the working position and posture of the adaptive pressing terminal; Control each linear drive mechanism to work together to move the adaptive clamping terminal to the target working position; Control each rotary drive mechanism to perform in coordination and adjust the adaptive clamping terminal to the target working posture; Control the coordinated execution of each normal force-applying mechanism to ensure that the adaptive clamping terminal and the auxiliary force-applying terminal clamp the target wall panel.

[0017] Furthermore, the adaptive positioning and clamping device also includes: a control terminal, which receives the three-dimensional geometric data of the target wall panel and plans the working position and working posture of the adaptive clamping terminal. The control terminal controls and connects each linear drive mechanism, rotary drive mechanism and normal force application mechanism to inversely convert the working position and working posture into motion commands for each drive mechanism and control each drive mechanism to execute in coordination.

[0018] The beneficial effects of this invention are as follows: The adaptive positioning and clamping device and method for hyperbolic wall panels provided in this application integrate four basic degrees of freedom of motion: horizontal lateral movement, vertical lifting, horizontal rotation, and vertical pitch. This establishes a complete spatial posture adjustment capability, enabling precise arrival at the spatial coordinates of any preset point on a complex curved surface and adaptive adjustment to the final posture aligned with the surface normal at that point. This solves the problem of conformal clamping caused by continuous changes in the edge position and angle of the hyperbolic wall panel, significantly broadening the device's adaptability to complex curved surface geometry and its process control window. Through the coordinated operation of these four degrees of freedom, complete following and dynamic matching of the edge curve shape of the wall panel is achieved. It can accurately respond to changes in curvature distribution, ensuring stable clamping with adaptive posture at any contour position. This breaks through the structural limitations of traditional fixed or limited adjustment clamping methods, providing a highly adaptable and high-precision positioning and clamping solution for the molding of aerospace composite material components with continuously variable curvature characteristics, significantly improving the reliability and stability of complex curved surface molding processes. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of the present invention.

[0020] Figure 2 This is a cross-sectional view of the present invention.

[0021] Figure 3 This is a three-dimensional schematic diagram of the positioning mobile platform of the present invention.

[0022] Figure 4 This is a schematic diagram of the installation of the adaptive clamping terminal of the present invention.

[0023] Figure 5 This is a disassembly diagram of the adaptive clamping terminal of the present invention.

[0024] Figure 6 This is a three-dimensional schematic diagram of the auxiliary force application terminal of the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figures 1-2As shown, this invention provides an adaptive positioning and clamping device for a hyperbolic wall panel, comprising: a support frame 1, a positioning and moving platform 2, an adaptive clamping terminal 3, and an auxiliary force-applying terminal 4. The positioning and moving platform 2 is fixedly mounted on the support frame 1. The adaptive clamping terminal 3 is movably mounted on the positioning and moving platform 2, allowing it to move laterally or longitudinally within the two-dimensional plane of the positioning and moving platform 2 to a preset working position, clamping the wall panel 5 placed parallel to the positioning and moving platform 2 from bottom to top. The auxiliary force-applying terminal 4 is positioned opposite the adaptive clamping terminal 3 and is fixedly mounted on the support frame 1, providing additional clamping force to the wall panel 5 placed on the adaptive clamping terminal 3 from top to bottom. The adaptive clamping terminal 3 has a multi-degree-of-freedom adjustment structure to adjust to a posture that matches the curvature of the wall panel 5, clamping the wall panel 5. This allows the adaptive clamping terminal 3 to be precisely positioned in the plane and possess multi-degree-of-freedom posture adjustment capabilities, achieving adaptive fitting and clamping of the curved edge surface of the wall panel 5.

[0027] The support frame 1 forms the rigid foundation and installation platform for the entire device. The support frame 1 is typically constructed from welded steel profiles or spliced ​​high-strength aluminum alloy profiles, and includes a base plate, a top plate, and columns connecting the two. The base plate supports the positioning and moving platform 2, while the top plate is used to install the auxiliary force application terminal 4. The rigid design of the support frame 1 ensures minimal overall deformation of the device during the clamping process, providing a stable reference for all moving parts. This is the foundation for achieving high-precision positioning and clamping.

[0028] The positioning mobile platform 2 is fixedly installed on the base plate of the support frame 1. It is used to drive the adaptive pressing terminal 3 to perform large-range, high-precision positioning in a two-dimensional horizontal plane, so that it can quickly reach the area to be pressed at the edge of the wall panel 5.

[0029] like Figure 3As shown, the positioning and moving platform 2 includes a first linear guide rail 21, a second linear guide rail 22, a first linear drive mechanism 23, a second linear drive mechanism 24, a first sliding seat 25, and a second sliding seat 26. The first linear guide rail 21 is directly fixed to the base plate of the support frame 1. The first sliding seat 25 is slidably engaged with the first linear guide rail 21. The first linear drive mechanism 23 is drivenly connected to the first sliding seat 25, and is used to drive the first sliding seat 25 to move precisely along the first linear guide rail 21 (defined as the X direction). The second linear guide rail 22 is mounted vertically (defined as the Y direction) above the first linear guide rail 21 through the first sliding seat 25. The second sliding seat 26 is slidably engaged with the second linear guide rail 22. The second linear drive mechanism 24 is drivenly connected to the second sliding seat 26, and is used to drive the second sliding seat 26 to move precisely along the second linear guide rail 22. Through the above-mentioned "cross slide" structure, the adaptive pressing terminal 3 fixed on the second sliding seat 26 can reach any specified coordinate position in the XY plane, realizing macroscopic and rapid positioning of the pressing working point, covering the entire projection area of ​​the edge of the wall panel 5.

[0030] Preferably, to improve the rigidity and stability of the motion platform, two sets of first linear guide rails 21 are arranged in parallel. Two opposing first sliding seats 25 on the two sets of first linear guide rails 21 are fixedly connected by a rigid connecting plate 27, forming an integral sliding pair. Correspondingly, two sets of first linear drive mechanisms 23 are also provided, with the output ends of the two sets of first linear drive mechanisms 23 respectively connected to the two connecting plates 27 to achieve synchronous drive, effectively avoiding jamming or asynchrony problems that may occur with single-sided drive, and ensuring smooth and precise movement. Correspondingly, two sets of second linear guide rails 22 are also provided, respectively fixedly installed on the two connecting plates 27. One or more second sliding seats 26 can be independently provided on each set of second linear guide rails 22. Second linear drive mechanisms 24 are correspondingly provided with the second sliding seats 26, with the output end of the second linear drive mechanism 24 connected to the corresponding second sliding seat 26 to independently drive each second sliding seat 26. This allows multiple adaptive pressing terminals 3 to move independently in the Y direction, thus enabling more flexible adaptation to the irregular contours of the wall panel 5 edge and achieving multi-point coordinated pressing.

[0031] The adaptive pressing terminal 3 is movably set on the second sliding seat 26 of the positioning and moving platform 2. After reaching the target position on the plane, it can adjust its structure through its own multi-degree-of-freedom so that the pressing surface finally matches the spatial position and normal attitude of the local curved surface of the wall panel 5.

[0032] like Figures 4-5As shown, the adaptive clamping terminal 3 includes: a first normal force application mechanism 31 and a main pressure plate 32. The first normal force application mechanism 31 is mounted on the second sliding seat 26. The first normal force application mechanism 31 drives the main pressure plate 32 to move along its normal direction, providing a final clamping force perpendicular to the surface of the wall panel 5. A flexible pad 33 is attached to the working surface of the main pressure plate 32 facing the wall panel 5. The flexible pad 33 is made of a high-temperature resistant material (silicone rubber or polyurethane) with a certain degree of compressive elasticity to avoid rigid contact damage to the surface of the composite material. It can also compensate for minor deviations in posture alignment through its own slight deformation, making the pressure distribution more uniform. It can also increase friction to prevent slippage during clamping.

[0033] To achieve adaptive posture adjustment, a first rotary drive mechanism 34 is provided between the first normal force application mechanism 31 and the second sliding seat 26. The first rotary drive mechanism 34 is fixedly installed on the second sliding seat 26, and the output shaft of the first rotary drive mechanism 34 is connected to the first normal force application mechanism 31. By controlling the rotation of the first rotary drive mechanism 34, the entire first normal force application mechanism 31, together with the main pressure plate 32, can be driven to rotate around the vertical axis (Z-axis) in the horizontal plane. This is used to adjust the long side direction of the main pressure plate 32 so that it is consistent with the tangent direction of the edge of the wall panel 5 at the corresponding pressing point. This is the first step to achieve smooth and conformal pressing.

[0034] A U-shaped angle adjustment seat 35 is connected to the output end of the first normal force application mechanism 31. The main pressure plate 32 is fixed to a hinge shaft via an ear plate 36 on its back. The two ends of the hinge shaft are rotatably supported on the two side plates of the angle adjustment seat 35. A second rotary drive mechanism 37 is provided on one side of the angle adjustment seat 35. The output shaft of the second rotary drive mechanism 37 is connected to the hinge shaft via a coupling or directly. By controlling the rotation of the second rotary drive mechanism 37, the hinge shaft can be driven to rotate, thereby causing the main pressure plate 32 to rotate around the hinge shaft in the vertical plane, realizing the adjustment of the pitch angle. This ensures that the working plane of the main pressure plate 32, which is covered with a flexible pad 33, is perpendicular to the normal direction of the curved surface of the wall panel 5 at the corresponding pressing point, thus ensuring that the pressing is a surface contact rather than a line contact or point contact, greatly improving the effectiveness and uniformity of the pressing.

[0035] In summary, the adaptive pressing terminal 3, through the first rotary drive mechanism 34 and the second rotary drive mechanism 37, endows the main pressing plate 32 with two rotational degrees of freedom: rotation in the horizontal plane and pitch in the vertical plane. Combined with the two translational degrees of freedom (X and Y) provided by the positioning and moving platform 2, and the Z-axis pressing motion provided by the first normal force application mechanism 31, the flexible pad 33 ultimately possesses complete spatial posture adjustment capabilities, enabling it to accurately adapt to any complex spatial coordinates and normal posture of the edge of the hyperbolic wall panel 5.

[0036] To enhance control over the overall shape of the wall panel 5, especially to prevent springback or warping in the middle or areas of abrupt curvature change in the wall panel 5, an auxiliary force-applying terminal 4 is installed on the top plate of the support frame 1. The auxiliary force-applying terminal 4 is positioned opposite to the adaptive clamping terminal 3 below to apply additional, independently controllable clamping force to the wall panel 5 from above.

[0037] like Figure 6 As shown, the auxiliary force-applying terminal 4 includes a second normal force-applying mechanism 41 and a flexible pressure head 42. The second normal force-applying mechanism 41 is fixedly installed on the top plate, and the flexible pressure head 42 is fixedly installed on the output end of the second normal force-applying mechanism 41. Driven by the second normal force-applying mechanism 41, it moves along its normal direction, forming a clamping or locally reinforced pressing effect on the wall panel 5. In conjunction with the adaptive pressing terminal 3 at the edge, it constitutes a complete and graded controllable pressing strategy, further ensuring the shape accuracy of the complex wall panel 5 during the curing process. The flexible pressure head 42 is also made of a high-temperature resistant elastomer.

[0038] In this specific embodiment, both the first linear guide rail 21 and the second linear guide rail 22 are high-precision linear slide rails, the first linear drive mechanism 23, the second linear drive mechanism 24, the first normal force application mechanism 31 and the second normal force application mechanism 41 are servo electric cylinders, precision hydraulic cylinders or precision air cylinders, and the first rotary drive mechanism 34 and the second rotary drive mechanism 37 are servo motors or stepper motors.

[0039] This device also includes a control terminal (industrial computer or PLC control system). The control terminal is responsible for receiving the three-dimensional CAD geometric data of the target wall panel 5 and performing intelligent motion planning based on this data. Its working principle is as follows: The control terminal first receives the three-dimensional geometric data of the target wall panel 5 and obtains the surface model of the area to be pressed on the target wall panel 5; then, it extracts the pressing path of the edge of the wall panel 5 from the model and discretizes it into a series of target points, each of which contains three-dimensional coordinates and surface normal vectors; subsequently, based on these target point information, it uses a preset path planning algorithm to calculate the target working position (X, Y coordinates) and target working posture (horizontal rotation angle, pitch angle) that each adaptive pressing terminal 3 needs to reach; finally, through inverse kinematics calculation, it converts these position and posture parameters into specific motion commands (pulse count, rotation angle, etc.) for each linear drive mechanism (23, 24), normal pressure mechanism (31, 41), and rotary drive mechanism (34, 37), and coordinates them to execute sequentially or synchronously. This closed-loop control process based on digital models enables the automatic and precise conversion from design data to physical clamping actions.

[0040] Based on the above-described device, this application also provides an adaptive positioning and clamping method for a hyperboloid panel, comprising the following steps: S1. Data Reception and Processing: The control terminal receives the three-dimensional geometric data of the target wall panel and obtains the surface model of the area to be pressed on the target wall panel through a geometric processing algorithm, including the three-dimensional spatial coordinates of a series of target pressing points and the surface unit normal vector at that point.

[0041] S2. Motion Path and Attitude Planning: Based on the information obtained in step S1, the control terminal plans the motion path of each adaptive clamping terminal 3. Specifically, for each adaptive clamping terminal 3, it plans the target working position it needs to move to (i.e., the X, Y plane coordinates of the target point) and the target working attitude it needs to adjust to (i.e., the horizontal rotation angle and pitch angle required for the surface normal of its main pressure plate 32 to be parallel to the surface normal of the target point).

[0042] S3. Planar Precise Positioning: The control terminal drives the first linear drive mechanism 23 and the second linear drive mechanism 24 to work together to move each adaptive pressing terminal 3 along the X and Y directions, precisely positioning it directly below its corresponding target working position.

[0043] S4. Spatial Attitude Adaptive Adjustment: After planar positioning is completed, the control terminal sequentially or synchronously drives the first rotary drive mechanism 34 and the second rotary drive mechanism 37 of each adaptive clamping terminal 3. First, the first rotary drive mechanism 34 actuates, causing the main pressure plate 32 to rotate to the target azimuth angle in the horizontal plane; subsequently, the second rotary drive mechanism 37 actuates, causing the main pressure plate 32 to pitch to the target pitch angle in the vertical plane. After this step, the spatial attitude of the main pressure plate 32 and its flexible pad 33 of each terminal has been adjusted to a state that is completely adapted to the theoretical attitude of the curved surface of the wall panel at the target point.

[0044] S5. Coordinated Normal Compression Execution: The control terminal controls the coordinated action of the first normal force application mechanism 31 of all adaptive compression terminals 3 and the second normal force application mechanism 41 of the auxiliary force application terminal 4. Each mechanism drives its pressure head (main pressure plate 32 or flexible pressure head 42) to press the wall panel 5 from different directions with a preset force or displacement. At this time, since the posture has been precisely aligned in advance, the flexible pad 33 can uniformly press the edge of the wall panel with the maximum contact area, achieving a perfect conformal fit.

[0045] Throughout the entire pressing process or the subsequent autoclave curing process, the control terminal can also dynamically fine-tune the parameters of each drive mechanism according to the preset "pressure-temperature-time" process curve, or through real-time feedback from force sensors and displacement sensors, in order to compensate for the deformation of the material after heating and realize online optimization of the process.

[0046] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. An adaptive positioning and clamping device for a hyperboloid wall panel, characterized in that, include: The support frame (1), the positioning moving platform (2), and the adaptive pressing terminal (3) are fixedly installed on the base plate of the support frame (1). The adaptive pressing terminal (3) is movably set on the positioning moving platform (2) so that it can move laterally or longitudinally to the preset working position in the two-dimensional plane where the positioning moving platform (2) is located, and perform a pressing operation on the wall panel (5) placed parallel above the positioning moving platform (2). The adaptive pressing terminal (3) has a multi-degree-of-freedom adjustment structure to adjust the working posture of the adaptive pressing terminal (3) so that it matches the curvature of the surface of the wall panel (5) to be pressed when pressing the wall panel (5).

2. The apparatus according to claim 1, characterized in that, The positioning mobile platform (2) includes: a first linear guide rail (21), a second linear guide rail (22), a first linear drive mechanism (23), and a second linear drive mechanism (24). The first linear guide rail (21) is fixedly installed on the base plate of the support frame (1). A first sliding seat (25) is slidably installed on the first linear guide rail (21). The first linear drive mechanism (23) drives and connects to the first sliding seat (25) to drive the first sliding seat (25) to slide along the first linear guide rail (21). The second linear guide rail (22) is vertically installed on the first linear guide rail (21) through the first sliding seat (25). A second sliding seat (26) is slidably installed on the second linear guide rail (22). The second linear drive mechanism (24) drives and connects to the second sliding seat (26) to drive the second sliding seat (26) to slide along the second linear guide rail (22). An adaptive pressing terminal (3) is installed on the second sliding seat (26).

3. The apparatus according to claim 2, characterized in that, Two sets of first linear guide rails (21) are arranged in parallel. The first sliding seats (25) on the two sets of first linear guide rails (21) are connected by connecting plates (27). Two sets of second linear guide rails (22) are arranged accordingly. The two sets of second linear guide rails (22) are respectively arranged on two connecting plates (27). Two sets of first linear drive mechanisms (23) are arranged accordingly. The output ends of the two sets of first linear drive mechanisms (23) are respectively connected to the two connecting plates (27). Each set of second linear guide rails (22) is provided with one or two second sliding seats (26). The second linear drive mechanism (24) is arranged correspondingly to the second sliding seats (26). The output end of the second linear drive mechanism (24) is connected to the corresponding second sliding seat (26).

4. The apparatus according to claim 1, characterized in that, The adaptive clamping terminal (3) includes: a first normal force application mechanism (31) and a main pressure plate (32). The first normal force application mechanism (31) drives the main pressure plate (32) to move along its normal direction. A flexible pad (33) is attached to the working surface of the main pressure plate (32).

5. The apparatus according to claim 4, characterized in that, A first rotary drive mechanism (34) is provided between the first normal force application mechanism (31) and the second sliding seat (26). The first rotary drive mechanism (34) is fixedly installed on the second sliding seat (26). The output shaft of the first rotary drive mechanism (34) is connected to the first normal force application mechanism (31) to drive the main pressure plate (32) to rotate in the horizontal plane.

6. The apparatus according to claim 5, characterized in that, The output end of the first normal force application mechanism (31) is connected to a U-shaped angle adjustment seat (35). A hinge shaft is rotatably connected to the angle adjustment seat (35). The main pressure plate (32) is fixedly installed on the hinge shaft through the ear plate (36). A second rotary drive mechanism (37) is provided on one side of the angle adjustment seat (35). The output shaft of the second rotary drive mechanism (37) is connected to the hinge shaft to drive the main pressure plate (32) to rotate around the hinge shaft in the vertical plane.

7. The apparatus according to claim 1, characterized in that, An auxiliary force-applying terminal (4) is installed on the top plate of the support frame (1). The auxiliary force-applying terminal (4) is arranged opposite to the adaptive clamping terminal (3) to provide additional clamping force to the wall panel (5) placed on the adaptive clamping terminal (3).

8. The apparatus according to claim 7, characterized in that, The auxiliary force application terminal (4) includes: a second normal force application mechanism (41) and a flexible pressure head (42). The second normal force application mechanism (41) is fixedly installed on the top plate of the support frame (1), and the flexible pressure head (42) is connected to the output end of the second normal force application mechanism (41) so as to move along its normal direction under the drive of the second normal force application mechanism (41).

9. An adaptive positioning and clamping method for a hyperboloid panel, characterized in that, The adaptive positioning and clamping device as described in any one of claims 1-8 includes the following steps: Receive the three-dimensional geometric data of the target panel and obtain the surface model of the area of ​​the target panel to be compressed; Plan the working position and posture of the adaptive pressing terminal; Control each linear drive mechanism to work together to move the adaptive clamping terminal to the target working position; Control each rotary drive mechanism to perform in coordination and adjust the adaptive clamping terminal to the target working posture; Control the coordinated execution of each normal force-applying mechanism to ensure that the adaptive clamping terminal and the auxiliary force-applying terminal clamp the target wall panel.

10. The method according to claim 9, characterized in that, The adaptive positioning and clamping device also includes: a control terminal, which receives the three-dimensional geometric data of the target wall panel and plans the working position and working posture of the adaptive clamping terminal. The control terminal controls and connects each linear drive mechanism, rotary drive mechanism and normal force application mechanism to convert the working position and working posture into motion commands for each drive mechanism and control each drive mechanism to execute in coordination.

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