CN113619136A

CN113619136A - Large composite material T-shaped stringer rotary butt joint device and using method

Info

Publication number: CN113619136A
Application number: CN202110855372.2A
Authority: CN
Inventors: 闫喜强; 王伟华; 杜柯; 杨宝华; 张晋
Original assignee: AVIC Xian Aircraft Industry Group Co Ltd
Current assignee: AVIC Xian Aircraft Industry Group Co Ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-11-09
Anticipated expiration: 2041-07-27
Also published as: CN113619136B

Abstract

The invention provides a large-scale composite material T-shaped stringer rotary butt joint device and a using method thereof. The device comprises a large-size enclosing frame overturning and lifting device, an in-frame crane, a flexible butt joint overturning device, a multifunctional flexible positioning tool and an AGV. The method comprises the steps that rigid fixing or flexible connection is carried out on the T-shaped stringer and the stringer forming die of the composite material through a flexible butt-joint turnover device, and the switching of rigid and flexible connection states of the T-shaped stringer and the stringer forming die of the composite material is realized; the composite material T-shaped stringer and the stringer forming die are rotated by 180 degrees through the large-size enclosing frame overturning and lifting device, and are flexibly butted with the skin and the skin forming die, and finally the precise butt joint of the composite material T-shaped stringer and the skin is realized.

Description

Large composite material T-shaped stringer rotary butt joint device and using method

Technical Field

The application relates to the technical field of composite material wallboard manufacturing, in particular to a large-scale composite material T-shaped stringer rotating butt joint device and a using method.

Background

The application part of the composite material on the airplane gradually develops from a non-bearing part and a secondary bearing part to a main bearing part, and develops towards large-scale and integration. The large-scale composite material T-shaped reinforced wall plate is mainly used for wing wall plates, fuselage wall plates, horizontal tail wall plates and vertical tail wall plates of airplanes, is mainly manufactured by a co-cementing process method during production and manufacturing, and is exploring a co-curing manufacturing process with higher manufacturing efficiency, lower cost and better quality. When the large-scale composite material T-shaped reinforced wallboard is manufactured by adopting a co-curing process method, two wet-state composite material L-shaped stringers are accurately combined into one wet-state composite material T-shaped stringer, then a group of wet-state composite material T-shaped stringers are positioned, fixed and rotated, and are accurately butted with a wet-state composite material skin to form the wet-state large-scale composite material T-shaped reinforced wallboard, and finally the solid-state large-scale composite material T-shaped reinforced wallboard is formed through a curing process. In practical application, in order to ensure the quality of the large composite material T-shaped stringer, the large composite material T-shaped stringer needs to be subjected to stable rigid rotation, and in order to ensure the butt joint precision of the large composite material T-shaped stringer and the skin, the large composite material T-shaped stringer and the skin need to be subjected to flexible butt joint, so that the connection state of the large composite material T-shaped stringer needs to be switched between rigid connection and flexible connection for many times in the whole process, and the large composite material T-shaped stringer is difficult to rotate and butt joint. At present, the rotary butt joint device for the large-scale composite material T-shaped stringer and the use method thereof are less researched, have lower levels and no application example, and seriously delay the whole co-curing forming manufacturing process of the large-scale composite material T-shaped stiffened wall plate. Therefore, in order to meet the production requirement, a large composite material T-shaped stringer rotary butt joint device and a using method thereof need to be researched.

Disclosure of Invention

In order to solve the problems, the invention provides a large composite material T-shaped stringer rotating butt joint device and a using method thereof.

A large-scale composite material T-shaped stringer rotary butt joint device structurally comprises a large-size enclosing frame overturning and lifting device, an in-frame crane, a flexible butt joint and overturning device, a multifunctional flexible positioning tool and an AGV transport vehicle, wherein the large-size enclosing frame overturning and lifting device comprises a group of fixed stand columns symmetrically arranged on the ground, two identical lifting devices, two identical lifting platforms, a swinging mechanism, a swinging sliding mechanism and two identical rotating devices, the two identical lifting devices are arranged on opposite side surfaces of the two fixed stand columns, the lifting directions are parallel to each other and are in the vertical direction, the side surfaces of the two lifting platforms are respectively fixed with the two groups of lifting devices and can vertically move under the driving of the lifting devices, the swinging mechanism and the swinging sliding mechanism are respectively arranged on the upper surfaces of the two lifting platforms, and the rotating axes of the swinging mechanism and the swinging sliding mechanism are parallel, two sets of rotary device are fixed in respectively relatively on swing mechanism and the swing glide machanism, and the axis of rotation is coaxial, the interior crane of frame spanes in the top of a set of fixed stand, flexible butt joint turning device both ends are connected with two rotary device respectively, multi-functional flexible location frock is installed inside flexible butt joint turning device, the long purlin of T type and the long purlin forming die of a plurality of differences fix a position and fix at multi-functional flexible location frock upper surface, elevating gear and rotary device drive flexible butt joint turning device, multi-functional flexible location frock and the long purlin of T type and long purlin forming die remove appointed butt joint position and overturn, the AGV transport vechicle transports skin and skin forming die to appointed butt joint position, finally realize the butt joint of T type purlin and skin.

The flexible butt-joint turning device comprises an outer frame, an inner frame, a sling mechanism, a V-shaped locking device and a latch hook mechanism, wherein the outer frame is a rectangular hollow frame, the middle parts of two ends of the outer frame are respectively connected with a rotating device on a fixed upright post, the rotating device can drive the outer frame to rotate around the central line of the outer frame, the inner frame is of a rectangular frame structure, a multifunctional flexible positioning tool is arranged in the inner frame, a plurality of groups of V-shaped locking devices are arranged on the inner side of the outer frame along the length direction of the outer frame and are matched with a plurality of groups of latch hook mechanisms arranged on the outer side of the inner frame for use, so that the outer frame can be fixed and released to the inner frame, the V-shaped locking devices comprise a U-shaped fixing frame, servo electric cylinders, guide rails and V-shaped inserting blocks, the U-shaped fixing frame is of a U-shaped structure, the U-shaped fixing frame is arranged on the inner side of the outer frame, the servo electric cylinders are arranged in the U-shaped fixing frame, two rows of guide rails are arranged on the upper surfaces on two sides of the U-shaped fixing frame in parallel with each other, the V-shaped insert block is of a block structure with a V-shaped notch at the front end, the lower surface of the front end is an inclined plane with a certain angle, two sides of the upper surface of the V-shaped insert block are connected with the tracks of the two guide rails, the middle part of the V-shaped insert block is connected with the servo electric cylinder, and the servo electric cylinder can drive the V-shaped insert block to reciprocate along the guide rails; the lock hook mechanism comprises a guide block and a bolt roller bearing, the guide block is of a rectangular block structure and is arranged on the outer side of the inner frame, inclined planes with a certain angle are arranged on two sides of the upper surface of the guide block, the inclined planes can be attached to the inclined planes on the lower surface of the front end of a V-shaped insert block in the V-shaped locking device, and a plurality of groups of bolt roller bearings are arranged in the middle of the upper surface of the guide block in a V-shaped mode with a certain angle and can be matched with a V-shaped notch on the front end of the V-shaped insert block in the V-shaped locking device; the utility model discloses a hoist cable mechanism, including frame, fixing base, fixing chain, the fixing base of multiunit hoist cable mechanism equipartition inside casing, the fixing base is fixed with the frame, the fixing base is fixed with the inside casing outside a week, the corresponding position department at the inside of frame a week is fixed to another, the chain is the certain hoop chain of length, both ends are passed through the fixed pin and are connected with the fixing base of fixing the corresponding position department on inside casing and frame respectively.

A use method of a large composite material T-shaped stringer rotating butt joint device comprises the following steps:

1, transporting a plurality of T-shaped stringers and stringer forming molds to a designated position near a large composite material T-shaped stringer rotary butt joint device;

2, rigidly locking the V-shaped locking device on the outer frame and the locking hook mechanism on the inner frame to ensure that the flexible butt joint turnover device and the multifunctional flexible positioning tool are in a rigid connection state;

3, the lifting device and the rotating device are driven to drive the flexible butt-joint turnover device and the multifunctional flexible positioning tool to rotate to 0 degree, namely, the T-shaped stringer and the stringer forming die on the multifunctional flexible positioning tool are installed upwards, and the multifunctional flexible positioning tool descends to the lowest position, so that the T-shaped stringer and the stringer forming die can be conveniently installed on an upper frame;

4, sequentially placing a plurality of different T-shaped stringers and stringer forming dies on the multifunctional flexible positioning tool by using an internal crane, positioning, fixing and pressing each T-shaped stringer and stringer forming die, and splicing the T-shaped stringers and stringer forming dies into a whole;

5 driving the lifting device and the rotating device to drive the flexible butt-joint turnover device, the multifunctional flexible positioning tool and the T-shaped stringer and stringer forming die to ascend to a certain height, rotating the flexible butt-joint turnover device, the multifunctional flexible positioning tool and the T-shaped stringer and stringer forming die 180 degrees to enable the installation surface of the T-shaped stringer and stringer forming die to be downward, and then moving the flexible butt-joint turnover device, the multifunctional flexible positioning tool and the T-shaped stringer and stringer forming die downward to a butt-joint position;

6, transporting the corresponding skin and the skin forming die to a butt joint position under the multifunctional flexible positioning tool through an AGV (automatic guided vehicle), and withdrawing the AGV;

7, releasing the V-shaped locking device, and enabling the flexible butt joint turnover device to be connected with the multifunctional flexible positioning tool only through a sling mechanism, so that the inner frame and the multifunctional flexible positioning tool inside the inner frame are in a hoisting floating state; the lifting device moves to drive the inner frame and the multifunctional flexible positioning tool to move downwards, and the positioning device on the multifunctional flexible positioning tool is accurately matched with the positioning cone and the positioning flat cone on the skin forming die, so that the T-shaped stringer is accurately butted with the skin.

Has the advantages that: the invention provides a large-scale composite material T-shaped stringer rotary butt joint device and a using method thereof. The method is characterized in that rigid fixation or flexible connection is carried out on the composite material T-shaped stringer and the stringer forming die through the flexible butt-joint turnover device, rigid rotation and flexible butt joint with the skin and the skin forming die are carried out on the composite material T-shaped stringer and the stringer forming die by combining the large-size surrounding frame turnover lifting device, and finally accurate and rapid rotary butt joint of the large-size composite material T-shaped stringer is achieved. The device has simple form and safe and reliable operation, can greatly improve the working efficiency and the working quality of the rotary butt joint of the large-scale composite material T-shaped stringer, and has positive significance for the assembly of the large-scale composite material T-shaped stringer. The rotary butt joint assembling device can be directly popularized and applied to the field of rotary butt joint assembling of similar parts in other industries.

The present application is described in further detail below with reference to the accompanying drawings of embodiments:

drawings

FIG. 1: t-shaped stringer and stringer forming die structure sketch map.

FIG. 2: the structural schematic diagram of the skin and the skin forming mold.

FIG. 3: a schematic structural diagram of a large composite material T-shaped stringer rotary butt joint device.

FIG. 4: the left side structure schematic diagram of the large-size enclosure frame overturning and lifting device.

FIG. 5: the right side structure schematic diagram of the large-size enclosure frame overturning lifting device.

FIG. 6: the flexible butt joint overturning device is structurally schematic.

FIG. 7: the outer frame and the inner frame are connected by partial sectional view.

FIG. 8: the structure of the sling mechanism is schematic.

FIG. 9: the structure of the V-shaped locking device is schematically shown.

FIG. 10: the latch hook mechanism is schematically shown in the structural diagram.

The numbering in the figures illustrates: the device comprises a 1T-shaped stringer and stringer forming die, a 2 skin and skin forming die, a 3 positioning cone, a 4 positioning flat cone, a 5AGV transport vehicle, a 6 large-size enclosure frame overturning and lifting device, a 7-frame internal crane, an 8 flexible butt-joint and overturning device, a 9 multifunctional flexible positioning tool, a 10 fixed upright post, an 11 lifting device, a 12 lifting platform, a 13 swinging mechanism, a 14 swinging and sliding mechanism, a 15 rotating device, a 16 outer frame, a 17 inner frame, a 18 sling mechanism, a 19V-shaped locking device, a 20 latch hook mechanism, a 21 fixed seat, a 22 fixed pin, a 23 chain, a 24U-shaped fixed frame, a 25 servo electric cylinder, a 26 guide rail, a 27V-shaped insert block, a 28 guide block and a 29 bolt roller bearing.

Detailed Description

Referring to fig. 1-10, a large composite material T-shaped stringer rotary docking device structurally comprises a large-size enclosure frame turnover lifting device 6, an in-frame crane 7, a flexible docking turnover device 8, a multifunctional flexible positioning tool 9 and an AGV transport vehicle 5, wherein the large-size enclosure frame turnover lifting device 6 comprises a group of fixed uprights 10 symmetrically arranged on the ground, two identical lifting devices 11, two identical lifting platforms 12, a swing mechanism 13, a swing sliding mechanism 14 and two identical rotating devices 15, the two identical lifting devices 11 are arranged on opposite sides of the two fixed uprights 10, the lifting directions are parallel to each other and in the vertical direction, the sides of the two lifting platforms 12 are respectively fixed with the two groups of lifting devices 11 and can move up and down in the vertical direction under the driving of the lifting devices 11, the swing mechanism 13 and the swing sliding mechanism 14 are respectively arranged on the upper surfaces of the two lifting platforms 12, the swing mechanism 13 is parallel to the rotation axis of the swing sliding mechanism 14, two sets of rotating devices 15 are oppositely and respectively fixed on the swing mechanism 13 and the swing sliding mechanism 14, and the rotation axis is coaxial, the crane 7 in the frame stretches over a group of fixed upright columns 10, two ends of the flexible butt joint turnover device 8 are respectively connected with two rotary devices 15, the multifunctional flexible positioning tool 9 is installed inside the flexible butt joint turnover device 8, a plurality of different T-shaped stringers and stringer forming dies 1 are positioned and fixed on the upper surface of the multifunctional flexible positioning tool 9, the lifting device 11 and the rotary devices 15 drive the flexible butt joint turnover device 8, the multifunctional flexible positioning tool 9, the T-shaped stringers and stringer forming dies 1 to move to a specified butt joint position and turn over, the AGV transport vehicle 5 transports the skin and the skin forming dies 2 to the specified butt joint position, and finally the butt joint of the T-shaped stringers and the skin is realized.

The flexible butt-joint turnover device 8 comprises an outer frame 16, an inner frame 17, a sling mechanism 18, V-shaped locking devices 19 and locking hook mechanisms 20, wherein the outer frame 16 is a rectangular hollow frame, the middle parts of two ends of the outer frame are respectively connected with the rotating devices 15 on the fixed upright posts 10, the rotating devices 15 can drive the outer frame 16 to rotate around the central line of the outer frame 16, the inner frame 17 is of a rectangular frame structure, the multifunctional flexible positioning tool 9 is installed in the inner frame 17, a plurality of groups of V-shaped locking devices 19 are arranged on the inner side of the outer frame 16 along the length direction of the outer frame 16 and are matched with the plurality of groups of locking hook mechanisms 20 installed on the outer side of the inner frame 17 for use, and the outer frame 16 can fix and release the inner frame 17; the V-shaped locking device 19 comprises a U-shaped fixing frame 24, an electric servo cylinder 25, guide rails 26 and V-shaped insertion blocks 27, wherein the U-shaped fixing frame 24 is of a U-shaped structure, the U-shaped fixing frame 24 is installed on the inner side of the outer frame 16, the electric servo cylinder 25 is installed inside the U-shaped fixing frame 24, two rows of guide rails 26 are parallel to each other, installed on the upper surfaces of two sides of the U-shaped fixing frame 24 and parallel to the moving direction of the electric servo cylinder 25, a sliding block of the U-shaped fixing frame is fixed with the U-shaped fixing frame 24, the V-shaped insertion blocks 27 are of a block structure with V-shaped notches at the front ends, the lower surfaces of the front ends are inclined planes with certain angles, two sides of the upper surfaces of the V-shaped insertion blocks 27 are connected with the tracks of the two guide rails 26, the middle parts of the V-shaped insertion blocks are connected with the electric servo cylinder 25, and the electric servo cylinder 25 can drive the V-shaped insertion blocks 27 to reciprocate along the guide rails 26; the latch hook mechanism 20 comprises a guide block 28 and bolt roller bearings 29, wherein the guide block 28 is of a rectangular block structure and is installed on the outer side of the inner frame 17, inclined planes with a certain angle are arranged on two sides of the upper surface of the guide block, the inclined planes can be attached to the inclined planes of the lower surface of the front end of the V-shaped insert block 27 in the V-shaped locking device 19, and a plurality of groups of bolt roller bearings 29 are installed in the middle of the upper surface of the guide block 28 in a V-shaped mode with a certain angle and can be matched with the V-shaped notch of the front end of the V-shaped insert block 27 in the V-shaped locking device 19; between multiunit hoist cable mechanism 18 equipartition inside casing 17 and the frame 16, with inside casing 17 and frame 16 on, the lower surface is connected, after frame 16 is fixed with inside casing 17, all hoist cable mechanisms 18 are lax state, hoist cable mechanism 18 includes two fixing bases 21, fixed pin 22, chain 23, fixing base 21 is L type structure, one of them fixes inside casing 17 outside a week, another fixes the relevant position department in the inboard a week of frame 16, chain 23 is the certain hoop chain of length, both ends are connected with the fixing base 21 of fixing the relevant position department on inside casing 17 and frame 16 respectively through fixed pin 22.

1, transporting a plurality of T-shaped stringers and stringer forming molds 1 to a designated position near a large composite material T-shaped stringer rotary butt joint device;

2, rigidly locking a V-shaped locking device 19 on the outer frame 16 and a locking hook mechanism 20 on the inner frame 17 to enable the flexible butt-joint turnover device 8 and the multifunctional flexible positioning tool 9 to be in a rigid connection state;

3, a lifting device 11 and a rotating device 15 are driven to drive a flexible butt-joint turnover device 8 and a multifunctional flexible positioning tool 9 to rotate to 0 degree, namely, the installation surfaces of the T-shaped stringer and the stringer forming die 1 on the multifunctional flexible positioning tool 9 face upwards, and the multifunctional flexible positioning tool 9 descends to the lowest position, so that the T-shaped stringer and the stringer forming die 1 can be conveniently installed on the shelf;

4, sequentially placing a plurality of different T-shaped stringers and stringer forming dies 1 on a multifunctional flexible positioning tool 9 by using an internal crane 7, positioning, fixing and pressing each T-shaped stringer and stringer forming die 1, and splicing the T-shaped stringers and stringer forming dies 1 into a whole;

5, driving a lifting device 11 and a rotating device 15 to drive a flexible butt joint turnover device 8, a multifunctional flexible positioning tool 9, a T-shaped stringer and stringer forming die 1 to ascend to a certain height, rotating the flexible butt joint turnover device 8, the multifunctional flexible positioning tool 9, the T-shaped stringer and stringer forming die 1 by 180 degrees to enable the installation surface of the T-shaped stringer and stringer forming die 1 to face downwards, and then moving the flexible butt joint turnover device 8, the multifunctional flexible positioning tool 9, the T-shaped stringer and stringer forming die 1 downwards to a butt joint position;

6, transporting the corresponding skin and the skin forming die 2 to a butt joint position under the multifunctional flexible positioning tool 9 through the AGV transport vehicle 5, and withdrawing the AGV transport vehicle 5;

7, releasing the V-shaped locking device 19, so that only the sling mechanism 18 is connected between the flexible butt joint turnover device 8 and the multifunctional flexible positioning tool 9, and the inner frame 17 and the multifunctional flexible positioning tool 9 inside the inner frame are in a hoisting floating state; the lifting device 11 moves to drive the inner frame 17 and the multifunctional flexible positioning tool 9 to move downwards, and a positioning device on the multifunctional flexible positioning tool 9 is accurately matched with the positioning cone 3 and the positioning flat cone 4 on the skin forming die, so that the T-shaped stringer and the skin are accurately butted.

Claims

1. A large-scale composite material T-shaped stringer rotary butt joint device is characterized by comprising a large-size enclosing frame overturning and lifting device, an in-frame crane, a flexible butt joint and overturning device, a multifunctional flexible positioning tool and an AGV transport vehicle, wherein the large-size enclosing frame overturning and lifting device comprises a group of fixed stand columns symmetrically arranged on the ground, two identical lifting devices, two identical lifting platforms, a swinging mechanism, a swinging slippage mechanism and two identical rotating devices, the two identical lifting devices are arranged on the opposite side surfaces of the two fixed stand columns, the lifting directions are parallel to each other and are in the vertical direction, the side surfaces of the two lifting platforms are respectively fixed with the two groups of lifting devices and can vertically move under the driving of the lifting devices, the swinging mechanism and the swinging slippage mechanism are respectively arranged on the upper surfaces of the two lifting platforms, and the rotating axes of the swinging mechanism and the swinging slippage mechanism are parallel, two sets of rotary device are fixed in respectively relatively on swing mechanism and the swing glide machanism, and the axis of rotation is coaxial, the interior crane of frame spanes in the top of a set of fixed stand, flexible butt joint turning device both ends are connected with two rotary device respectively, multi-functional flexible location frock is installed inside flexible butt joint turning device, the long purlin of T type and the long purlin forming die of a plurality of differences fix a position and fix at multi-functional flexible location frock upper surface, elevating gear and rotary device drive flexible butt joint turning device, multi-functional flexible location frock and the long purlin of T type and long purlin forming die remove appointed butt joint position and overturn, the AGV transport vechicle transports skin and skin forming die to appointed butt joint position, finally realize the butt joint of T type purlin and skin.

2. The large composite material T-shaped stringer rotary butting device according to claim 1, the flexible butt-joint turnover device is characterized by comprising an outer frame, an inner frame, a sling mechanism, V-shaped locking devices and a locking hook mechanism, wherein the outer frame is a rectangular hollow frame, the middle parts of two ends of the outer frame are respectively connected with rotating devices on fixed stand columns, the rotating devices can drive the outer frame to rotate around the central line of the outer frame, the inner frame is of a rectangular frame structure, a multifunctional flexible positioning tool is arranged in the inner frame, a plurality of groups of V-shaped locking devices are arranged on the inner side of the outer frame along the length direction of the outer frame, the inner frame is matched with a plurality of groups of lock hook mechanisms arranged on the outer side of the inner frame for use, the outer frame is fixed and released to the inner frame, a plurality of groups of sling mechanisms are uniformly distributed between the inner frame and the outer frame and are connected with the upper surface and the lower surface of the inner frame and all sling mechanisms are in a loose state after the outer frame and the inner frame are fixed.

3. The rotary butt-joint device for the large-scale composite material T-shaped stringers as claimed in claim 2, wherein the sling mechanism comprises two fixing bases, fixing pins and chains, the fixing bases are L-shaped structures, one of the fixing bases is fixed on one circle of the outer side of the inner frame, the other fixing base is fixed on a corresponding position on one circle of the inner side of the outer frame, the chains are iron ring chains with a certain length, and two ends of the chains are respectively connected with the fixing bases fixed on corresponding positions on the inner frame and the outer frame through the fixing pins.

4. The rotary butt joint device for the large-scale composite material T-shaped stringers as claimed in claim 2, wherein the V-shaped locking device comprises a U-shaped fixing frame, a servo electric cylinder, a guide rail, and a V-shaped insert block, the U-shaped fixing frame is of a U-shaped structure, the U-shaped fixing frame is installed inside the outer frame, the servo electric cylinder is installed inside the U-shaped fixing frame, two rows of guide rails are installed on the upper surfaces of the two sides of the U-shaped fixing frame in parallel with the moving direction of the servo electric cylinder, a sliding block of the servo electric cylinder is fixed with the U-shaped fixing frame, the V-shaped insert block is of a block structure with a V-shaped notch at the front end, the lower surface of the front end is an inclined surface with a certain angle, the two sides of the upper surface of the V-shaped insert block are connected with the rails of the two guide rails, the middle portion of the V-shaped insert block is connected with the servo electric cylinder, and the servo electric cylinder can drive the V-shaped insert block to reciprocate along the guide rail.

5. The rotary butt-joint device for the large-scale composite material T-shaped stringers as claimed in claim 2, wherein the locking hook mechanism comprises a guide block and a bolt roller bearing, the guide block is a rectangular block structure and is installed on the outer side of the inner frame, both sides of the upper surface of the guide block are provided with inclined planes with a certain angle, the inclined planes can be attached to the inclined planes of the lower surfaces of the front ends of the V-shaped insertion blocks in the V-shaped locking device, and a plurality of groups of bolt roller bearings are installed in the middle of the upper surface of the guide block in a V-shaped manner with a certain angle and can be matched with the V-shaped notches of the front ends of the V-shaped insertion blocks in the V-shaped locking device.

6. A use method of a large composite material T-shaped stringer rotary butt joint device is characterized by comprising the following steps:

6-1, conveying a plurality of T-shaped stringers and stringer forming molds to a designated position near a large composite material T-shaped stringer rotary butt joint device;

6-2, rigidly locking the V-shaped locking device on the outer frame and the locking hook mechanism on the inner frame to enable the flexible butt joint turnover device and the multifunctional flexible positioning tool to be in a rigid connection state;

6-3, driving a lifting device and a rotating device to drive a flexible butt joint turnover device and a multifunctional flexible positioning tool to rotate to 0 degree, namely, enabling the installation surfaces of the T-shaped stringer and the stringer forming die on the multifunctional flexible positioning tool to face upwards and the multifunctional flexible positioning tool to descend to the lowest position, so that the T-shaped stringer and the stringer forming die can be conveniently installed on the upper frame;

6-4, sequentially placing a plurality of different T-shaped stringers and stringer forming dies on the multifunctional flexible positioning tool by using a crane in the frame, positioning, fixing and pressing each T-shaped stringer and stringer forming die, and splicing the T-shaped stringers and stringer forming dies into a whole;

6-5, driving a lifting device and a rotating device to drive a flexible butt joint overturning device, a multifunctional flexible positioning tool and a T-shaped stringer and stringer forming die to ascend to a certain height, rotating the flexible butt joint overturning device, the multifunctional flexible positioning tool and the T-shaped stringer and stringer forming die 180 degrees to enable the installation surface of the T-shaped stringer and stringer forming die to be downward, and then moving the flexible butt joint overturning device, the multifunctional flexible positioning tool and the T-shaped stringer and stringer forming die downward to a butt joint position;

6-6, transporting the corresponding skin and the skin forming die to a butt joint position under the multifunctional flexible positioning tool through an AGV (automatic guided vehicle), and withdrawing the AGV;

6-7, releasing the V-shaped locking device, and enabling the flexible butt joint turnover device and the multifunctional flexible positioning tool to be connected only through a sling mechanism, so that the inner frame and the multifunctional flexible positioning tool inside the inner frame are in a hoisting floating state; the lifting device moves to drive the inner frame and the multifunctional flexible positioning tool to move downwards, and the positioning device on the multifunctional flexible positioning tool is accurately matched with the positioning cone and the positioning flat cone on the skin forming die, so that the T-shaped stringer is accurately butted with the skin.