CN218360178U - Local coating repair equipment for aircraft parts - Google Patents
Local coating repair equipment for aircraft parts Download PDFInfo
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- CN218360178U CN218360178U CN202220832960.4U CN202220832960U CN218360178U CN 218360178 U CN218360178 U CN 218360178U CN 202220832960 U CN202220832960 U CN 202220832960U CN 218360178 U CN218360178 U CN 218360178U
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- 238000000576 coating method Methods 0.000 title claims abstract description 74
- 239000011248 coating agent Substances 0.000 title claims abstract description 63
- 230000008439 repair process Effects 0.000 title claims abstract description 33
- 238000005507 spraying Methods 0.000 claims abstract description 246
- 239000007921 spray Substances 0.000 claims abstract description 49
- 238000002360 preparation method Methods 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 7
- 238000000889 atomisation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 7
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 239000003973 paint Substances 0.000 description 15
- 238000010422 painting Methods 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- CSCPPACGZOOCGX-UHFFFAOYSA-N Acetone Chemical compound CC(C)=O CSCPPACGZOOCGX-UHFFFAOYSA-N 0.000 description 4
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- YXFVVABEGXRONW-UHFFFAOYSA-N Toluene Chemical compound CC1=CC=CC=C1 YXFVVABEGXRONW-UHFFFAOYSA-N 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000002390 adhesive tape Substances 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 239000002904 solvent Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- CTQNGGLPUBDAKN-UHFFFAOYSA-N O-Xylene Chemical compound CC1=CC=CC=C1C CTQNGGLPUBDAKN-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000008096 xylene Substances 0.000 description 1
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Abstract
The utility model provides a repair device for local coatings of aircraft parts, which comprises a spraying robot, a movable spraying platform, a spraying assembly and a console, 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 the coatings of the aircraft parts; the control platform is respectively electrically connected with the spraying component and the spraying robot, and the control platform controls the spraying robot and the spraying component 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 utility model provides a present aircraft coating repair equipment constitute complicacy, with high costs, have that the pipeline is long, the circuit is many, input parameter is many, the operation degree of difficulty is big, the reaction is slow, control lags behind, the reliability scheduling problem not high.
Description
Technical Field
The utility model belongs to the technical field of the spraying, concretely relates to aircraft parts local coating repair equipment.
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 precision is high, speed is even, and fan-shaped stack volume is unanimous, has effectively avoided overspray, has leaked and has spouted and invalid spraying phenomenon, has improved improvement work efficiency, spraying quality and coating utilization ratio, also can reduce the waste of manpower and materials resource simultaneously.
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.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an aircraft spare part local coating repair equipment, it is complicated, with high costs to solve among the prior art aircraft coating repair equipment constitution, has that the pipeline is long, the circuit is many, input parameter is many, the operation degree of difficulty is big, the reaction is slow, control lags behind, the reliability scheduling problem not high.
In order to realize the purpose, the utility model 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 fixing 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.
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-500mm.
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 utility model has the advantages that:
1. the coating tank of the utility model is arranged at the side of the automatic spray gun, adopts gravity feeding, has simple structure, can reduce the conveying distance of the coating, and does not need feeding equipment such as a diaphragm pump and the like;
2. the utility model discloses explosion-proof solenoid valve is installed on the arm, is close to the spray gun, has shortened the air feed distance, improves control speed, has shortened control time;
3. the utility model utilizes the inner 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 utility model presets the spraying area, the spraying parameters and the spraying path, automatically plans the spraying track, reduces the complexity of the operation and is convenient and fast to use;
5. the utility model discloses a laser rangefinder module automatic measure spraying distance reduces artifical measuring process, convenient and fast.
Drawings
FIG. 1 is a schematic structural view of a local coating repair device for aircraft parts according to the present invention;
FIG. 2 is a schematic structural view of the connection between the spraying component and the spraying robot according to the present invention;
fig. 3 is a schematic structural view of the mobile spraying platform of the present invention;
fig. 4 is a schematic view of the operating 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-platform, 220-pulley and 221-lifting support;
3-a spraying component, 310-a fixed bracket, 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 position of the platform 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 changing the position of the movable spraying platform 2. The lifting support 221 is used to lift the mobile spraying platform 2, the pulley 220 leaves the ground and keeps the system balanced and stable, preventing the mobile spraying platform 2 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 aircraft part to be repaired. And 4 robot mounting holes are formed in the movable spraying platform 2 and used for mounting the spraying robots 1. The base of the spraying robot 1 is fixed to the mobile spraying 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.
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 state 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 (200 mm-500 mm), the movement speed (500 mm/s-1200 mm/s), the transverse spraying preparation interval (50 mm-150 mm), the longitudinal spraying preparation interval (5 mm-20 mm), the spraying numbers such as the front and rear spraying route interval (10 mm-40 mm), the spraying height (200 mm-500 mm) and the like 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 emergency stop button is used to stop the system equipment in an emergency directly through 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 used for controlling the automatic spray gun 320, the 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 the right side interface of the explosion-proof electromagnetic valve 5 is divided into two paths through a tee joint and is respectively connected with the control air flow interface and the atomization air flow interface of the automatic spray gun 320. The fixing bracket 310 is fixed to the end surface 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 of spraying can be achieved, an airflow interface and an atomization airflow 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 control platform 4 is used for controlling the movement track of the spraying robot 1 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 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 an end surface 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 200mm;
s2: treating the surface of the damaged area of the part for 1-3 times by using acetone;
s3: the power switch of the console 4 is turned on, the system performs self-checking, and the mechanical arm moves to the original position (X) 0 ，Y 0 ，Z 0 ) 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 a lance point location (X) n ，Y n ，Z n ) 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 ，Y n ，Z n ) The calculation formula of (c) is:
X n ＝X 0 -L/2-L 1 -L 2 (n＝1,2，…,D/D 2 +1) (1)
Y n ＝Y 0 +D/2+D 1 -(n-1.5)×D 2 (n＝1,2，…,D/D 2 +1) (2)
Z n ＝Z 0 -Z 1 +Z 2 (n＝1,2，…,D/D 2 +1) (3)
right side point of spray gun (X) n ，Y n ，Z n ) The calculation formula of (c) is:
X n ＝X 0 +L/2+L 1 -L 2 (n＝1,2，…,D/D 2 +1) (4)
Y n ＝Y 0 +D/2+D 1 -(n-1.5)×D 2 (n＝1,2，…,D/D 2 +1) (5)
Z n ＝Z 0 -Z 1 +Z 2 (n＝1,2，…,D/D 2 +1) (6)
in the formula, X 0 Is the original abscissa, Y, of the painting robot 1 0 Is the original ordinate, Z, of the painting robot 1 0 For 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, L 1 For transverse spraying, by preparing spacing, D 1 Preparing intervals for longitudinal spraying, D 2 For spraying of distance between front and rear lines, Z 1 As measured by the laser ranging module 340，Z 2 Is 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 pipeline of the equipment 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-500mm.
Example 3
On the basis of the embodiment 1 or 2, as shown in fig. 1 to 4, the spray repair of the aircraft tab is taken 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), and the laser ranging module 340 is turned on and provides infrared measuring lines.
(4) And (3) placing the aircraft parts on the movable spraying platform 2, wherein the infrared ray is positioned at 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 (50 mm multiplied by 20 mm), and starting a spraying program after the correctness is confirmed.
(7) PLC control program rootSelecting parameters such as spraying height of 400mm, movement speed of 900mm/s, transverse spraying preparation interval of 50mm, longitudinal spraying preparation interval of 5mm, front and rear spraying route interval of 10mm, spraying height of 400mm and the like according to spraying area, spraying pass and coating model transmitted by the touch screen to automatically plan a spraying route, and generating a spray gun point (X) n ，Y n ，Z n ) 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 ，Y n ，Z n ) The calculation formula of (2) is as follows:
X n ＝-75 (n＝1,2,3)
Y n ＝30-10×n (n＝1,2,3)
Z n ＝400 (n＝1,2,3)
spray gun right side point (X) n ，Y n ，Z n ) The calculation formula of (2) is as follows:
X n ＝25 (n＝1,2,3)
Y n ＝30-10×n (n＝1,2,3)
Z n ＝400 (n＝1,2,3)
in the formula, X 0 For the original abscissa, Y, of the painting robot 1 0 Is the original ordinate, Z, of the painting robot 1 0 For 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, L 1 For transverse spraying, by preparing spacing, D 1 For longitudinal spraying of prepared spaces, D 2 For spraying the distance between the lines, Z 1 Is the measurement result of the laser ranging module 340, Z 2 Is 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 (9)
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 coatings 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 spraying subassembly power supply through control contactor, PLC control system selects spraying height, velocity of motion, horizontal spraying preparation interval, longitudinal spraying preparation interval, preceding and following spraying route interval and spraying height control spraying robot and spraying subassembly to carry out the coating repair work according to the spraying region, spraying 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 unit mount is 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 opening of the air supply pipe 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: still including setting up the signal line interface in the fourth axis of rotation, the signal line of explosion-proof solenoid valve passes through the signal line interface and controls the platform electricity to be connected.
8. The aircraft component partial coating repair device of claim 1, wherein: the lifting support is arranged below the platform and used for lifting the platform, and the lifting supports are matched with the pulleys.
9. The aircraft component partial coating repair device of claim 1, 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-500mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220832960.4U CN218360178U (en) | 2022-04-12 | 2022-04-12 | Local coating repair equipment for aircraft parts |
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| CN202220832960.4U CN218360178U (en) | 2022-04-12 | 2022-04-12 | Local coating repair equipment for aircraft parts |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114618720A (en) * | 2022-04-12 | 2022-06-14 | 西安空天能源动力智能制造研究院有限公司 | A kind of aircraft parts local coating repair equipment and repair method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114618720A (en) * | 2022-04-12 | 2022-06-14 | 西安空天能源动力智能制造研究院有限公司 | A kind of aircraft parts local coating repair equipment and repair method |
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