CN114618720A - Local coating repairing equipment and repairing method for airplane parts - Google Patents
Local coating repairing equipment and repairing method for airplane parts Download PDFInfo
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- CN114618720A CN114618720A CN202210378521.5A CN202210378521A CN114618720A CN 114618720 A CN114618720 A CN 114618720A CN 202210378521 A CN202210378521 A CN 202210378521A CN 114618720 A CN114618720 A CN 114618720A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/32—Processes for applying liquids or other fluent materials using means for protecting parts of a surface not to be coated, e.g. using stencils, resists
- B05D1/322—Removable films used as masks
- B05D1/325—Masking layer made of peelable film
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D5/00—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
- B05D5/005—Repairing damaged coatings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/40—Maintaining or repairing aircraft
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a repairing device and a repairing method for local coatings of aircraft parts, wherein the repairing device comprises a spraying robot, a movable spraying platform, a spraying assembly and a control platform, wherein one end of the spraying robot is fixedly connected with the movable spraying platform, and the other end of the spraying robot is connected with the spraying assembly for spraying coatings of the aircraft parts; the control platform is respectively and electrically connected with the spraying assembly and the spraying robot, and controls the spraying robot and the spraying assembly to carry out coating repair work; and then, pre-spraying, selecting a spraying area through an operation control table, inputting a spraying distance and spraying times, starting spraying, and cleaning a spray gun after spraying is finished. The invention solves the problems of complex composition, high cost, long pipeline, multiple lines, multiple input parameters, high operation difficulty, slow reaction, control lag, low reliability and the like of the conventional aircraft coating repair equipment.
Description
Technical Field
The invention belongs to the technical field of spraying, and particularly relates to repair equipment and a repair method for a local coating of an aircraft part.
Background
At present, local repair of domestic aircraft coatings mainly depends on manual spraying and robot spraying for repair. However, the coating generally contains a large amount of harmful chemical components such as benzene, toluene and xylene during manual spraying, which can cause great influence on the health of spraying personnel, and the robot spraying can prevent workers from directly contacting a large amount of chemical substances. In addition, with the progress of the technology, higher requirements are provided for the service performance and maintainability of the coating, the manual spraying is highly dependent on the experience of workers in the aspects of paint film performance, spraying efficiency and paint utilization rate, the bottleneck is increasingly shown, and the quality of the manually repaired coating is unstable, so that the increasingly improved development requirements of the aircraft coating process cannot be met.
The robot spraying can make up for the disadvantage of manual spraying to a great extent by virtue of excellent kinematic control and rapid and accurate control of spraying process parameters, and the performance and uniformity of a coating film are ensured by the cooperative control of the coating flow, atomizing air pressure, fan-shaped air pressure and the walking speed of the robot. The robot walking track has high precision, uniform speed and consistent fan-shaped superposition amount, effectively avoids the phenomena of over-spraying, missing spraying and invalid spraying, improves the working efficiency, the spraying quality and the paint utilization rate, and can reduce the waste of manpower and material resources.
At present, the damage of the coating of the aircraft parts is mostly local damage of a small area, a robot is adopted for automatic repair, the equipment cost is high, the composition is complex, the operation difficulty is large, the problems of long pipelines, multiple circuits, coating waste, multiple input parameters, complex programming, lag of air path and coating control and the like exist, and the targeted repair of the local damage of the coating of the aircraft parts is difficult to carry out.
Disclosure of Invention
The invention aims to provide a repair device and a repair method for a local coating of an airplane part, and solves the problems that the repair device for the airplane coating in the prior art is complex in composition, high in cost, long in pipeline, multiple in line, multiple in input parameter, high in operation difficulty, slow in reaction, lag in control, low in reliability and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
the local coating repair equipment for the aircraft parts comprises a spraying robot, a movable spraying platform, a spraying assembly and a control platform;
one end of the spraying robot is fixedly connected with the movable spraying platform, and the other end of the spraying robot is connected with a spraying assembly for spraying the coating of the aircraft parts;
the mobile spraying platform comprises a platform and a plurality of pulleys, and the pulleys are used for moving the position of the platform and are arranged below the platform;
the platform of controlling is connected with spraying subassembly and spraying robot electricity respectively, the platform of controlling includes power, control contactor, PLC control system and touch-sensitive screen, power, control contactor, PLC control system and touch-sensitive screen electricity are connected, the power is the PLC control system, spraying robot and the power supply of spraying subassembly through control contactor, PLC control system selects spraying height, velocity of motion, horizontal spraying to prepare interval, longitudinal spraying preparation interval, preceding and back spraying route interval and spraying height control spraying robot and spraying subassembly to carry out the coating repair work according to the spraying region, the spraying number of pass, the coating model of touch-sensitive screen transmission.
Preferably, the console further comprises an emergency stop button connected with the PLC control system, a status lamp and a circuit breaker, wherein the emergency stop button is used for stopping the operation of the spraying robot control device through the PLC control system in case of emergency, the status lamp is used for displaying the working state of the aircraft part local coating repair device, and the circuit breaker is used for protecting the circuit.
According to the structure, the control platform is used for controlling the movement track of the spraying robot and feeding back the working state of the equipment to operators, so that the safe and stable operation of the equipment is ensured.
Preferably, the spraying robot includes first axis of rotation, second axis of rotation, third axis of rotation, fourth axis of rotation, fifth axis of rotation and the sixth axis of rotation that connects gradually, the spraying subassembly is installed on sixth axis of rotation terminal surface, the spraying robot drives the spraying subassembly and removes according to appointed route.
Preferably, the spraying assembly comprises an automatic spray gun and a coating tank which are arranged on a fixed support, the fixed support is fixedly connected with the end part of the sixth rotating shaft, the automatic spray gun is fixedly connected with one end, far away from the sixth rotating shaft, of the fixed support, and the coating tank is in threaded connection with a coating interface of the automatic spray gun;
the spraying robot drives the automatic spray gun to move according to the designated path.
According to the structure, the coating is arranged on the side of the automatic spray gun, gravity feeding is adopted, the structure is simple, the coating conveying distance can be reduced, and feeding equipment such as a diaphragm pump is not needed.
Preferably, the device also comprises a laser ranging module which is arranged at one end of the fixed support far away from the sixth rotating shaft, and the lower end face of the laser ranging module and the plane where the nozzle of the automatic spray gun is located are located at the same height.
The structure adopts the laser ranging module to automatically measure the spraying distance.
Preferably, still including being used for controlling automatic spray gun and with third axis of rotation fixed connection explosion-proof solenoid valve, explosion-proof solenoid valve's one end is passed through high-pressure hose and is connected with the air feed mouth of pipe and its other end passes through the tee bend respectively with automatic spray gun's control air current interface and atomizing air current interface connection.
The structure utilizes the internal circuit and the gas circuit of the spraying robot to supply gas and transmit signals, thereby improving the reliability and the explosion-proof performance; the explosion-proof electromagnetic valve is arranged on the mechanical arm and is close to the automatic spray gun, so that the air supply distance is shortened, the control speed is increased, and the control time is shortened.
As another specific scheme, the explosion-proof electromagnetic valve further comprises a signal line interface arranged on the fourth rotating shaft, and a signal line of the explosion-proof electromagnetic valve is electrically connected with the console through the signal line interface.
Preferably, the lifting device further comprises a plurality of lifting supports arranged below the platform and used for lifting the platform, and the plurality of lifting supports are matched with the plurality of pulleys.
In the structure, the lifting support adopts a supporting structure with adjustable height, and the pulley is used for position conversion of the movable spraying platform. The lifting support is used for lifting the movable spraying platform, the pulley leaves the ground and keeps the system balanced and stable, and the movable spraying platform is prevented from moving during spraying.
The method for repairing the local coating of the aircraft part comprises the following steps:
s1: cleaning oil stains, rust and damaged coatings on the surfaces of airplane parts, sticking protective paper to the periphery of a damaged area of the coatings by using an adhesive tape, preventing the coating from being sputtered on the intact coatings, enabling the inner boundary of the protective paper to be tightly attached to the outer boundary of the damaged area, and enabling the distance between the outer boundary of the protective paper and the outer boundary of the damaged area to be larger than 200 mm;
s2: treating the surface of the damaged area of the part for 1-3 times by using acetone;
s3: the power switch of the control table is turned on, the system self-checks, and the mechanical arm moves to the original position (X)0，Y0，Z0) The laser ranging module is opened and provides infrared measuring lines;
s4: placing the aircraft parts on a mobile spraying platform, wherein the infrared ray is positioned at the geometric center of the damaged area of the aircraft parts;
s5: after the self-checking is finished and the airplane parts are placed, starting a pre-spraying program, controlling a spraying robot to reach a pre-spraying area by a PLC control system, and opening an explosion-proof electromagnetic valve for pre-spraying;
s6: after the pre-spraying is finished, setting a paint model, a spraying area and spraying times on the touch screen according to the type of the coating and the size of the damaged area, and starting a spraying program after the correctness is confirmed;
s7: the PLC control system automatically plans a spraying route according to spraying parameters transmitted by the touch screen, wherein the spraying parameters comprise a spraying area, spraying times, a coating type selection spraying height, a movement speed, a transverse spraying preparation interval, a longitudinal spraying preparation interval, a front spraying route interval, a rear spraying route interval and a spraying height; then generating the lance point location (X)n，Yn，Zn) Controlling the spraying robot and the spraying assembly to perform reciprocating spraying from top to bottom from left to right;
left side point of spray gun (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝X0-L/2-L1-L2 (n＝1,2，…,D/D2+1) (1)
Yn＝Y0+D/2+D1-(n-1.5)×D2 (n＝1,2，…,D/D2+1) (2)
Zn＝Z0-Z1+Z2 (n＝1,2，…,D/D2+1) (3)
spray gun right side point (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝X0+L/2+L1-L2 (n＝1,2，…,D/D2+1) (4)
Yn＝Y0+D/2+D1-(n-1.5)×D2 (n＝1,2，…,D/D2+1) (5)
Zn＝Z0-Z1+Z2 (n＝1,2，…,D/D2+1) (6)
in the formula, X0Is the original abscissa, Y, of the spraying robot0For the original ordinate, Z, of the spraying robot0For the original height of the spraying robot, the coordinate L is the length of the spraying area, D is the width of the spraying area, L1For transverse spraying, by preparing spacing, D1For longitudinal spraying of prepared spaces, D2For spraying the distance between the lines, Z1As a result of measurement by a laser ranging module, Z2Is the spraying height;
s8: after the spraying is finished, the interior of the coating bucket is replaced by a cleaning solvent, then a cleaning program is started, the PLC control system controls the spraying robot to reach a cleaning area, the explosion-proof electromagnetic valve is opened, the equipment pipeline is cleaned, and the pipeline is prevented from being blocked.
Specifically, the range of the transverse spraying preparation interval is 50mm-150mm, the range of the longitudinal spraying preparation interval is 5mm-20mm, the range of the front and rear spraying route interval is 10mm-40mm, and the range of the spraying height is 200mm-500 mm.
The structure presets the spraying area, the spraying parameters and the spraying path, automatically plans the spraying track, reduces the complexity of operation and is convenient and quick to use.
The invention has the beneficial effects that:
1. the coating tank is arranged on the side of the automatic spray gun, adopts gravity to feed, has a simple structure, can reduce the conveying distance of the coating, and does not need a feeding device such as a diaphragm pump and the like;
2. the explosion-proof electromagnetic valve is arranged on the mechanical arm and is close to the spray gun, so that the gas supply distance is shortened, the control speed is improved, and the control time is shortened;
3. the invention utilizes the internal circuit and the gas circuit of the spraying robot to supply gas and transmit signals, thereby improving the reliability and the explosion-proof performance;
4. the invention presets the spraying area, the spraying parameters and the spraying path, automatically plans the spraying track, reduces the complexity of operation and is convenient and quick to use;
5. the laser ranging module is adopted to automatically measure the spraying distance, so that the manual measurement process is reduced, and the method is convenient and quick.
Drawings
FIG. 1 is a schematic structural view of an aircraft part partial coating repair apparatus of the present invention;
FIG. 2 is a schematic view of the spray assembly and spray robot connection of the present invention;
FIG. 3 is a schematic view of the mobile spray platform of the present invention;
fig. 4 is a schematic view of the operation principle of the console of the present invention.
Reference numerals:
1-a spraying robot, 110-a first rotating shaft, 120-a second rotating shaft, 130-a third rotating shaft, 140-a fourth rotating shaft, 150-a fifth rotating shaft, 160-a sixth rotating shaft, 11-an air supply pipe orifice and 12-a signal line interface;
2-moving a spraying platform, 210-a platform, 220-a pulley and 221-a lifting support;
3-a spraying component, 310-a fixed support, 320-an automatic spray gun, 330-a paint tank and 340-a laser ranging module;
4-control platform, 5-explosion-proof solenoid valve.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features or characteristics may be combined in any suitable manner in one or more embodiments.
Example 1
As shown in fig. 1, an aircraft part local coating repair device includes a spraying robot 1, a movable spraying platform 2, a spraying assembly 3 and a console 4, wherein one end of the spraying robot 1 is fixedly connected with the movable spraying platform 2, and the other end of the spraying robot is connected with the spraying assembly 3 for spraying the aircraft part coating;
the mobile spraying platform 2 comprises a platform 210 and a plurality of pulleys 220, wherein the pulleys 220 are used for moving the platform position and are arranged below the platform 210;
preferably, the lifting device further comprises a plurality of lifting supports 221 arranged below the platform for lifting the platform, and the plurality of lifting supports 221 are matched with the plurality of pulleys 220.
In this structure, the lifting support 221 adopts a height-adjustable support structure, and the pulley 220 is used for shifting the position of the mobile spraying platform 2. The lifting support 221 is used for lifting the movable spraying platform 2, the pulley 220 leaves the ground and keeps the system balanced and stable, and the movable spraying platform 2 is prevented from moving during spraying.
As shown in fig. 3, the mobile spraying platform 2 is composed of a platform, a pulley 220 and a lifting support 221. The platform is a supporting platform of the spraying robot 1 and a spraying platform of the airplane parts to be repaired. And 4 robot mounting holes are formed in the movable spraying platform 2 and used for mounting the spraying robot 1. The base of the painting robot 1 is fixed to the mobile painting platform 2 by four bolts. The 4 pulleys 220 are used for position conversion of the mobile spray platform 2. The lifting support 221 is used for lifting the movable spraying platform 2, the pulley 220 leaves the ground and keeps the system balanced and stable, and the movable spraying platform 2 is prevented from moving during spraying.
The control platform 4 is connected with the spraying component 3 and the spraying robot 1 electricity respectively, the control platform 4 includes power, control contactor, PLC control system and touch-sensitive screen, power, control contactor, PLC control system and touch-sensitive screen electricity are connected, the power is the PLC control system, the spraying robot 1 and the spraying component 3 power supply through control contactor, the PLC control system selects spraying height, velocity of motion, horizontal spraying preparation interval, vertical spraying preparation interval, spraying route interval and spraying height control spraying robot 1 and the spraying component 3 to carry out the coating restoration work according to the spraying region, the spraying times, the coating model of touch-sensitive screen transmission.
Preferably, the console 4 further comprises an emergency stop button connected with the PLC control system, a status light and a circuit breaker, wherein the emergency stop button is used for controlling the equipment to stop working through the PLC control system and the spraying robot 1 in case of emergency, the status light is used for displaying the working status of the aircraft part partial coating repair equipment, and the circuit breaker is used for protecting the circuit.
As shown in fig. 4, the console 4 is composed of a touch screen, a PLC control system, a power supply, an emergency stop button, a status light, a circuit breaker, a contactor, and related circuits. The touch screen is used for selecting a spraying area, spraying times and a paint model, and starting a pre-spraying program, a spraying program and a cleaning program. The PLC control system selects the spraying height (200mm-500mm), the movement speed (500mm/s-1200mm/s), the transverse spraying preparation interval (50mm-150mm), the longitudinal spraying preparation interval (5mm-20mm), the distance between the front spraying route and the rear spraying route (10mm-40mm), the spraying height (200mm-500mm) and other parameters according to the spraying area, the spraying times and the paint model transmitted by the touch screen, and controls the spraying robot 1 and the spraying assembly 3 to carry out coating repair work. The power supply supplies power to the touch screen, the PLC control system, the spraying robot 1, the laser ranging module 340, the explosion-proof electromagnetic valve 5 and other electronic components by controlling the contactor. The scram button is used to stop the system equipment in an emergency directly by the PLC and the painting robot 1. The status lamp is used for displaying the working status (in-service, standby and alarm) of the local coating repair equipment of the aircraft parts. The spraying robot 1 stores spraying areas with different sizes inside, and the spraying areas correspond to the movement tracks of the spraying robot 1.
As shown in fig. 2, the spray assembly 3 includes a laser ranging module 340, a fixed bracket 310, an automatic spray gun 320, a paint canister 330, and an explosion-proof solenoid valve 5. The explosion-proof electromagnetic valve 5 is fixed on the upper side of the third rotating shaft 130 of the spraying robot 1 through two threads with the diameter of 6mm and is used for controlling the automatic spray gun 320, a left side interface of the explosion-proof electromagnetic valve 5 is connected with the air supply pipe orifice 11 through a high-pressure hose with the diameter of 8mm, and a right side interface of the explosion-proof electromagnetic valve 5 is divided into two paths through a tee joint and is respectively connected with a control air flow interface and an atomization air flow interface of the automatic spray gun 320. The fixing bracket 310 is fixed to the end face of the sixth rotating shaft 160 of the painting robot 1 by 4M 6 screws. The laser ranging module 340 is fixed to the left side of the fixing support 310 through 2M 6 screws and used for measuring the distance from the automatic spray gun 320 to the aircraft parts and calibrating the spraying center position by using infrared rays, and the lower end face of the laser ranging module 340 and the plane where the nozzle of the automatic spray gun 320 is located are located at the same height. The automatic spray gun 320 is fixed to the right side of the fixing support 310 through 1M 6 screw, a spray width adjusting knob is arranged on the front side of the automatic spray gun 320, a flow adjusting knob is arranged on the upper side of the automatic spray gun 320, the spray width and the flow which can be sprayed are arranged, an air flow interface and an atomization air flow interface are controlled on the right side of the rear side of the automatic spray gun 320, and a coating interface is arranged on the right side of the automatic spray gun 320. A paint canister 330 is threadably secured to the right paint port of the automatic spray gun 320 for providing paint to the spray assembly 3.
When the device is used, the laser ranging module can be removed, the distance from the automatic spray gun 320 to the aircraft parts is manually input, and the aircraft parts are placed under the automatic spray gun 320.
With the structure, the console 4 is used for controlling the movement track of the spraying robot 1 and feeding back the movement track to the working state of the equipment of the operating personnel, so that the safe and stable operation of the equipment is ensured.
Preferably, the spraying robot 1 includes a first rotating shaft 110, a second rotating shaft 120, a third rotating shaft 130, a fourth rotating shaft 140, a fifth rotating shaft 150 and a sixth rotating shaft 160 that are connected in sequence, the spraying component 3 is installed on the end face of the sixth rotating shaft 160, and the spraying robot 1 drives the spraying component 3 to move according to a specified path.
Preferably, the spraying assembly 3 includes a laser ranging module 340, an automatic spray gun 320 and a paint tank 330 which are mounted on a fixed bracket 310, the fixed bracket 310 is fixedly connected with the end portion of the sixth rotating shaft 160, the laser ranging module 340 and the automatic spray gun 320 are both fixedly connected with one end of the fixed bracket 310 far away from the sixth rotating shaft 160, and the paint tank 330 is in threaded connection with a paint interface of the automatic spray gun 320;
the spraying robot 1 drives the automatic spray gun 320 to move according to a specified path.
Preferably, the lower end surface of the laser ranging module 340 is located at the same height as the plane of the nozzle of the automatic spray gun 320.
Preferably, the system further comprises an explosion-proof electromagnetic valve 5 which is used for controlling the automatic spray gun 320 and is fixedly connected with the third rotating shaft 130, one end of the explosion-proof electromagnetic valve 5 is connected with the air supply pipe orifice 11 through a high-pressure hose, and the other end of the explosion-proof electromagnetic valve is respectively connected with the control airflow interface and the atomization airflow interface of the automatic spray gun 320 through a tee joint.
As another specific scheme, the explosion-proof electromagnetic valve further comprises a signal line interface 12 arranged on the fourth rotating shaft 140, and the signal line of the explosion-proof electromagnetic valve 5 is electrically connected with the console 4 through the signal line interface 12.
Example 2
On the basis of embodiment 1, as shown in fig. 1 to 4, a method for repairing a local coating of an aircraft component, according to which an apparatus for repairing a local coating of an aircraft component comprises the following steps:
s1: cleaning oil stains, rust and damaged coatings on the surfaces of airplane parts, sticking protective paper to the periphery of a damaged area of the coatings by using an adhesive tape, preventing the coating from being sputtered on the intact coatings, enabling the inner boundary of the protective paper to be tightly attached to the outer boundary of the damaged area, and enabling the distance between the outer boundary of the protective paper and the outer boundary of the damaged area to be larger than 200 mm;
s2: treating the surface of the damaged area of the part for 1-3 times by using acetone;
s3: the power switch of the control table 4 is turned on, the system performs self-checking, and the mechanical arm moves to the original position (X)0，Y0，Z0) The laser ranging module 340 is turned on and provides infrared rays;
s4: placing the aircraft parts on the movable spraying platform 2, wherein the infrared measuring line is positioned at the geometric center of the damaged area of the aircraft parts;
s5: after the self-checking is finished and the airplane parts are placed, starting a pre-spraying program, controlling the spraying robot 1 to reach a pre-spraying area by the PLC control system, and opening the anti-explosion electromagnetic valve 5 for pre-spraying;
s6: after the pre-spraying is finished, setting the paint type, the spraying area and the spraying times on the touch screen according to the type of the coating and the size of the damaged area, and starting a spraying program after the correctness is confirmed;
s7: the PLC control system automatically plans a spraying route according to spraying parameters transmitted by the touch screen, wherein the spraying parameters comprise a spraying area, a spraying pass, a coating type selection spraying height, a movement speed, a transverse spraying preparation interval, a longitudinal spraying preparation interval, a front and rear spraying route interval and a spraying height; then generating the lance point location (X)n，Yn，Zn) Controlling the spraying robot 1 and the spraying component 3 to perform reciprocating spraying from top to bottom from left to right;
left side point of spray gun (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝X0-L/2-L1-L2 (n＝1,2，…,D/D2+1) (1)
Yn＝Y0+D/2+D1-(n-1.5)×D2 (n＝1,2，…,D/D2+1) (2)
Zn＝Z0-Z1+Z2 (n＝1,2，…,D/D2+1) (3)
spray gun right side point (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝X0+L/2+L1-L2 (n＝1,2，…,D/D2+1) (4)
Yn＝Y0+D/2+D1-(n-1.5)×D2 (n＝1,2，…,D/D2+1) (5)
Zn＝Z0-Z1+Z2 (n＝1,2，…,D/D2+1) (6)
in the formula, X0Is the original abscissa, Y, of the painting robot 10Is the original ordinate, Z, of the painting robot 10For the original height of the spraying robot 1, the coordinate L is the length of the spraying area, D is the width of the spraying area, L1For transverse spraying, by preparing spacing, D1For longitudinal spraying of prepared spaces, D2For spraying the distance between the lines, Z1Is the measurement result of the laser ranging module 340, Z2Is the spraying height;
s8: after the spraying is finished, the interior of the coating bucket is replaced by a cleaning solvent, then a cleaning program is started, the PLC control system controls the spraying robot 1 to reach a cleaning area, the explosion-proof electromagnetic valve 5 is opened, the equipment pipeline is cleaned, and the pipeline is prevented from being blocked.
Specifically, the range of the transverse spraying preparation interval is 50mm-150mm, the range of the longitudinal spraying preparation interval is 5mm-20mm, the range of the front and rear spraying route interval is 10mm-40mm, and the range of the spraying height is 200mm-500 mm.
Example 3
On the basis of the embodiment 1 or 2, as shown in fig. 1 to 4, taking the spray repair of an airplane trimmer as an example:
the use process of the repair equipment for the local coating of the aircraft part comprises the following steps:
(1) the method comprises the steps of cleaning oil stains, rust and damaged coatings on the surfaces of airplane parts, and adhering protective paper around the damaged areas of the coatings by using adhesive tapes to prevent paint from being sputtered on the intact coatings. The inner boundary of the protective paper is tightly attached to the outer boundary of the damaged area, and the distance between the outer boundary of the protective paper and the outer boundary of the damaged area is more than 200 mm.
(2) And treating the surface of the damaged area of the part for 1-3 times by using acetone.
(3) The power switch of the console 4 is turned on, the system performs self-checking, the mechanical arm moves to the original position (0, 0, 0), and the laser ranging module 340 is turned on and provides infrared rays.
(4) The aircraft parts are placed on the movable spraying platform 2, and the infrared ray is located in the geometric center of the damaged area of the aircraft parts.
(5) After the self-checking is finished and the airplane parts are placed, a pre-spraying program is started, the PLC control program controls the spraying robot 1 to reach a pre-spraying area, and the anti-explosion electromagnetic valve 5 is opened to perform pre-spraying.
(6) After the pre-spraying is finished, setting the paint type, the spraying area and the spraying times on the touch screen according to the coating type and the size of the damaged area (50mm multiplied by 20mm), and starting a spraying program after the correctness is confirmed.
(7) The PLC control program selects parameters such as spraying height 400mm, movement speed 900mm/s, transverse spraying preparation distance 50mm, longitudinal spraying preparation distance 5mm, front and rear spraying route distance 10mm, spraying height 400mm and the like according to the spraying area, spraying times and paint model transmitted by the touch screen to automatically plan a spraying route and generate a spray gun point (X)n，Yn，Zn) And controlling the spraying robot 1 and the spraying component 3 to perform reciprocating spraying from left to right and from top to bottom.
Left side point of spray gun (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝-75 (n＝1,2,3)
Yn＝30-10×n (n＝1,2,3)
Zn＝400 (n＝1,2,3)
spray gun right side point (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝25 (n＝1,2,3)
Yn＝30-10×n (n＝1,2,3)
Zn＝400 (n＝1,2,3)
in the formula, X0Is the original abscissa, Y, of the painting robot 10Is the original ordinate, Z, of the painting robot 10For the original height of the spraying robot 1, the coordinate L is the length of the spraying area, D is the width of the spraying area, L1For transverse spraying, by preparing spacing, D1For longitudinal spraying of prepared spaces, D2For spraying the distance between the lines, Z1Is the measurement result of the laser ranging module 340, Z2Is the spray height.
(8) After the spraying is finished, the interior of the coating bucket is replaced by a cleaning solvent, then a cleaning program is started, the PLC control program controls the spraying robot 1 to reach a cleaning area, the explosion-proof electromagnetic valve 5 is opened, the equipment pipeline is cleaned, and the pipeline is prevented from being blocked.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (10)
1. The local coating repair equipment for the airplane parts is characterized by comprising a spraying robot, a movable spraying platform, a spraying assembly and a control platform,
one end of the spraying robot is fixedly connected with the movable spraying platform, and the other end of the spraying robot is connected with a spraying assembly for spraying the coating of the aircraft parts;
the mobile spraying platform comprises a platform and a plurality of pulleys, and the pulleys are used for moving the position of the platform and are arranged below the platform;
the platform of controlling is connected with spraying subassembly and spraying robot electricity respectively, the platform of controlling includes power, control contactor, PLC control system and touch-sensitive screen, power, control contactor, PLC control system and touch-sensitive screen electricity are connected, the power is the PLC control system, spraying robot and the power supply of spraying subassembly through control contactor, PLC control system selects spraying height, velocity of motion, horizontal spraying to prepare interval, longitudinal spraying preparation interval, preceding and back spraying route interval and spraying height control spraying robot and spraying subassembly to carry out the coating repair work according to the spraying region, the spraying number of pass, the coating model of touch-sensitive screen transmission.
2. The aircraft component partial coating repair device of claim 1, wherein: the control platform further comprises an emergency stop button, a state lamp and a circuit breaker, wherein the emergency stop button is connected with the PLC control system and used for stopping working through the PLC control system and the spraying robot control equipment in an emergency, the state lamp is used for displaying the working state of the aircraft part local coating repairing equipment, and the circuit breaker is used for protecting a circuit.
3. The aircraft component partial coating repair device of claim 1, wherein: the spraying robot includes first axis of rotation, second axis of rotation, third axis of rotation, fourth axis of rotation, fifth axis of rotation and the sixth axis of rotation that connects gradually, the spraying subassembly is installed on sixth axis of rotation terminal surface, the spraying robot drives the spraying subassembly and removes according to appointed route.
4. The aircraft component partial coating repair device of claim 3, wherein: the spraying assembly comprises an automatic spraying gun and a coating tank which are arranged on a fixed support, the fixed support is fixedly connected with the end part of the sixth rotating shaft, the automatic spraying gun is fixedly connected with one end of the fixed support, which is far away from the sixth rotating shaft, and the coating tank is in threaded connection with a coating interface of the automatic spraying gun;
the spraying robot drives the automatic spray gun to move according to the designated path.
5. The aircraft component partial coating repair device of claim 4, wherein: the device is characterized by further comprising a laser ranging module which is installed at one end, far away from one end of the sixth rotating shaft, of the fixed support, wherein the lower end face of the laser ranging module and the plane where the nozzle of the automatic spray gun is located are located at the same height.
6. The aircraft component partial coating repair device of claim 4, wherein: the explosion-proof electromagnetic valve is fixedly connected with the third rotating shaft and used for controlling the automatic spray gun, one end of the explosion-proof electromagnetic valve is connected with the air supply pipe opening through a high-pressure hose, and the other end of the explosion-proof electromagnetic valve is connected with the control airflow interface and the atomization airflow interface of the automatic spray gun through a tee joint respectively.
7. The aircraft component partial coating repair device of claim 6, wherein: the explosion-proof electromagnetic valve is characterized by further comprising a signal line interface arranged on the fourth rotating shaft, and a signal line of the explosion-proof electromagnetic valve is electrically connected with the console through the signal line interface.
8. The aircraft component partial coating repair device of claim 1, wherein: the lifting device is characterized by further comprising a plurality of lifting supports arranged below the platform and used for lifting the platform, and the plurality of lifting supports are matched with the plurality of pulleys.
9. A method for repairing a partial coating of an aircraft component, the apparatus for repairing a partial coating of an aircraft component according to any one of claims 6 to 8, comprising: the method comprises the following steps:
s1: cleaning oil stains, rust and damaged coatings on the surfaces of airplane parts, sticking protective paper to the periphery of a damaged area of the coatings by using an adhesive tape, preventing the coating from being sputtered on the intact coatings, enabling the inner boundary of the protective paper to be tightly attached to the outer boundary of the damaged area, and enabling the distance between the outer boundary of the protective paper and the outer boundary of the damaged area to be larger than 200 mm;
s2: treating the surface of the damaged area of the part for 1-3 times by using acetone;
s3: the power switch of the control table is turned on, the system self-checks, and the mechanical arm moves to the original position (X)0，Y0，Z0) The laser ranging module is opened and provides infrared measuring lines;
s4: placing the aircraft parts on a movable spraying platform, wherein the infrared ray is positioned at the geometric center of the damaged area of the aircraft parts;
s5: after the self-checking is finished and the airplane parts are placed, starting a pre-spraying program, controlling a spraying robot to reach a pre-spraying area by a PLC control system, and opening an explosion-proof electromagnetic valve for pre-spraying;
s6: after the pre-spraying is finished, setting the paint type, the spraying area and the spraying times on the touch screen according to the type of the coating and the size of the damaged area, and starting a spraying program after the correctness is confirmed;
s7: the PLC control system automatically plans a spraying route according to spraying parameters transmitted by the touch screen, wherein the spraying parameters comprise a spraying area, a spraying pass, a coating type selection spraying height, a movement speed, a transverse spraying preparation interval, a longitudinal spraying preparation interval, a front and rear spraying route interval and a spraying height; then generating the lance point location (X)n，Yn，Zn) Controlling the spraying robot and the spraying component to perform reciprocating spraying from top to bottom according to the left-to-right direction;
left side point of spray gun (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝X0-L/2-L1-L2 (n＝1,2，…,D/D2+1) (1)
Yn＝Y0+D/2+D1-(n-1.5)×D2 (n＝1,2，…,D/D2+1) (2)
Zn＝Z0-Z1+Z2 (n＝1,2，…,D/D2+1) (3)
right side point of spray gun (X)n，Yn，Zn) The calculation formula of (2) is as follows:
Xn＝X0+L/2+L1-L2 (n＝1,2，…,D/D2+1) (4)
Yn＝Y0+D/2+D1-(n-1.5)×D2 (n＝1,2，…,D/D2+1) (5)
Zn＝Z0-Z1+Z2 (n＝1,2，…,D/D2+1) (6)
in the formula, X0Is the original abscissa, Y, of the spraying robot0Is the original ordinate, Z, of the spraying robot0For the original height of the spraying robot, the coordinate L is the length of the spraying area, D is the width of the spraying area, L1For transverse spraying, by preparing spacing, D1For longitudinal spraying of prepared spaces, D2For spraying the distance between the lines, Z1As a result of measurement by the laser ranging module, Z2Is the spraying height;
s8: after the spraying is finished, the interior of the coating bucket is replaced by a cleaning solvent, then a cleaning program is started, the PLC control system controls the spraying robot to reach a cleaning area, the explosion-proof electromagnetic valve is opened, the equipment pipeline is cleaned, and the pipeline is prevented from being blocked.
10. The method for repairing a partial coating of an aircraft component as claimed in claim 9, wherein: the range of the transverse spraying preparation space is 50mm-150mm, the range of the longitudinal spraying preparation space is 5mm-20mm, the range of the distance between the front spraying route and the rear spraying route is 10mm-40mm, and the range of the spraying height is 200mm-500 mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210378521.5A CN114618720A (en) | 2022-04-12 | 2022-04-12 | Local coating repairing equipment and repairing method for airplane parts |
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| CN202210378521.5A CN114618720A (en) | 2022-04-12 | 2022-04-12 | Local coating repairing equipment and repairing method for airplane parts |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116967058A (en) * | 2023-07-31 | 2023-10-31 | 广州汉东工业自动化装备有限公司 | Modified gluing equipment and control method thereof |
| CN117299420A (en) * | 2023-10-07 | 2023-12-29 | 科菲亚重型装备有限公司 | Automatic spraying device and spraying process for wind power blade |
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2022
- 2022-04-12 CN CN202210378521.5A patent/CN114618720A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116967058A (en) * | 2023-07-31 | 2023-10-31 | 广州汉东工业自动化装备有限公司 | Modified gluing equipment and control method thereof |
| CN116967058B (en) * | 2023-07-31 | 2024-04-30 | 广州汉东工业自动化装备有限公司 | Modified gluing equipment and control method thereof |
| CN117299420A (en) * | 2023-10-07 | 2023-12-29 | 科菲亚重型装备有限公司 | Automatic spraying device and spraying process for wind power blade |
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