A large-span continuous spraying system and spraying method

Abstract

The present invention belongs to the field of automated spraying technology, and discloses a large-span continuous spraying system and a spraying method. The spraying system includes a left spraying system and a right spraying system respectively arranged on the ground on both sides of the spraying plant, and a rear spraying system arranged on the ground at the rear of the spraying plant; the left spraying system is used to spray the left area of ​​the aircraft, the right spraying system is used to spray the right area of ​​the aircraft, and the rear spraying system is used to spray the rear of the aircraft. By setting the spatial position of each sub-spraying system in the spraying plant, and optimizing the structure of each sub-spraying system, while achieving full coverage continuous spraying of the aircraft surface, the requirements for the spraying plant space and the space occupation of the spraying system are reduced, thereby improving the resource utilization rate of the spraying plant; large-span continuous spraying operation of the aircraft can be achieved, and the overall spraying quality of the aircraft can be guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of automated spraying, and in particular relates to a large-span continuous spraying system and a spraying method which can be applied to continuous spraying on the surface of an aircraft. Background Art

[0002] When spraying on the surface of an aircraft, there are often problems such as large spraying span, complex spraying profile, and complex spraying process flow. Not only is the spraying operation inconvenient, resulting in a long spraying cycle, but the spray coating thickness fluctuations and poor uniformity are also very likely to occur during the spraying operation, making it difficult to meet the spraying quality requirements.

[0003] In order to achieve comprehensive spraying of the aircraft surface, the existing spraying system usually adopts a gantry track structure combined with a spraying robot for spraying operations. In this method, in order to meet the spraying function requirements, the gantry track usually needs to be hoisted and installed in the spraying plant, and the movable range of the gantry track should be able to cover the overall size of the aircraft, resulting in the gantry track structure itself is relatively complex, while also placing high requirements on the height and space size of the spraying plant, increasing the construction cost of the entire spraying production line. In addition, due to the limitations of the gantry track structure, the synchronization between the track and the spraying robot operation during the spraying process is often subject to many restrictions, making it difficult to achieve continuous spraying of the aircraft surface, forming a large number of spraying overlap areas on the aircraft surface, and thus making it difficult to meet the requirements of aircraft spraying quality. Summary of the invention

[0004] The purpose of the present invention is to provide a large-span continuous spraying system and a spraying method to solve the problems that continuous spraying is difficult to achieve in the current aircraft surface spraying operation, the spraying system has a complex structure, and the spraying space requirement is high.

[0005] The present invention is achieved through the following technical solutions:

[0006] A large-span continuous spraying system, comprising a left spraying system and a right spraying system respectively arranged on the ground at both sides of the spraying plant and a rear spraying system arranged on the ground at the rear of the spraying plant;

[0007] The left spraying system is used to spray the left area of ​​the aircraft, the right spraying system is used to spray the right area of ​​the aircraft, and the rear spraying system is used to spray the rear of the aircraft;

[0008] The left spraying system, the right spraying system, and the rear spraying system respectively include an X-guide rail assembly, a Y-guide rail assembly, and a Z-guide rail assembly laid on the floor of the spraying workshop, wherein the X-guide rail assembly is arranged along the length direction of the spraying workshop, the Y-guide rail assembly is arranged on the X-guide rail assembly and arranged along the width direction of the spraying workshop and can move along the setting direction of the X-guide rail assembly, and the Z-guide rail assembly is arranged on the Y-guide rail assembly and arranged along the vertical direction and can move along the setting direction of the Y-guide rail assembly;

[0009] The Z-guide rail assemblies of the left spraying system, the right spraying system and the rear spraying system are respectively provided with spraying robots which can move up and down along the vertical direction thereof.

[0010] As a further improvement to the above technical solution, the X-guide rail assembly is arranged below the ground plane of the spraying plant, so that the upper surface of the X-guide rail assembly is flush with or lower than the ground plane of the spraying plant.

[0011] As a further improvement of the above technical solution, a cover plate is arranged above the X-guide rail assembly, which cooperates with the X-guide rail assembly and can cover the X-guide rail assembly, and a gap is arranged on the cover plate or between the cover plates for connecting the Y-guide rail assembly and the X-guide rail assembly.

[0012] As a further improvement to the above technical solution, the upper surface of the cover plate is arranged flush with the floor plane of the spraying plant.

[0013] As a further improvement of the above technical solution, the X-guide rail assembly includes a driving rail arranged parallel to each other and two supporting rails arranged on both sides of the driving rail. The driving rail is used to drive the Y-guide rail assembly to move horizontally along it, and the Y-guide rail assembly is slidingly connected with the supporting rails at both ends.

[0014] As a further improvement to the above technical solution, an extension tube is arranged at the front end of the arm of the spray robot, and the automatic spray gun of the spray robot is arranged at the end of the extension tube.

[0015] As a further improvement to the above technical solution, the spraying robot is provided with a signal collector, which is used to collect characteristic point information of the aircraft to determine the relative position and posture between the aircraft to be sprayed and the spraying system.

[0016] As a further improvement to the above technical solution, a paint supply system is also included, which is connected to the spraying robot and supplies paint to the spraying robot. The paint supply system is arranged on the X-guide rail assembly, the Y-guide rail assembly or the Z-guide rail assembly, so that it can move with the spraying robot or always be located close to the spraying robot.

[0017] As a further improvement to the above technical solution, the paint supply system includes a paint box, and the paint box is connected to the spraying robot through a pipeline to form a circulation loop for the paint to circulate between the two.

[0018] On the other hand, the present invention also provides a spraying method based on a large-span continuous spraying system, comprising the following steps:

[0019] S1. Park the aircraft to be sprayed at a position between the left spraying system and the right spraying system in the spraying workshop, and the rear spraying system is located at the rear side of the aircraft;

[0020] S2, collect the characteristic point information of the aircraft, and determine the relative position and posture between the aircraft and the spraying system;

[0021] S3, according to the determined relative position and posture, modify the preset spray control program;

[0022] S4. The movement of the left spraying system, the right spraying system, the Y guide rail assembly, the Z guide rail assembly and the spraying robot in the rear spraying system are controlled by the revised spraying control program to complete the spraying operation of the aircraft.

[0023] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0024] 1) In this large-span continuous spraying system, by setting the spatial position of each sub-spraying system in the spraying plant and optimizing the structure of each sub-spraying system, while achieving full coverage continuous spraying of the aircraft surface, the requirements for the spraying plant space and the space occupied by the setting of the spraying system are reduced, thereby improving the resource utilization of the spraying plant.

[0025] 2) Based on the layout and structural setting of the spraying system, the spraying system can make full use of the characteristic of the aircraft's own aerodynamic shape with a gentle curvature change in the heading direction during the spraying operation, and can better meet the requirements of continuous movement along the aerodynamic shape when planning the spraying trajectory, thereby realizing large-span continuous spraying operation of the aircraft, reducing the overlap between spraying areas, ensuring the requirements on the overall thickness and uniformity of the coating, and ensuring the overall spraying quality of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 It is a schematic diagram of the structure of the large-span continuous spraying system of the present invention.

[0028] Figure 2 It is a schematic structural diagram of the right spraying system in the large-span continuous spraying system of the present invention.

[0029] Figure 3 It is a schematic diagram of the structure of the spraying robot in the large-span continuous spraying system of the present invention.

[0030] Figure 4 This is a structural block diagram of the paint supply system in the large-span continuous spraying system of the present invention.

[0031] in:

[0032] 10, left side spraying system, 20, right side spraying system, 30, rear spraying system;

[0033] 100, X-guide rail assembly, 101, driving rail, 102, supporting rail;

[0034] 200, Y guide rail assembly;

[0035] 300, Z guide rail assembly;

[0036] 400, spraying robot, 401, extension tube, 402, automatic spray gun;

[0037] 500, paint supply system, 501, paint box, 502, delivery pump, 503, filter, 504, pressure regulating valve, 505, metering pump, 506, flow meter, 507, shut-off valve, 508, back pressure valve;

[0038] 600. Signal collector. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0040] During the spraying construction of an aircraft, it is often very difficult to achieve continuous spraying due to the large span of the surface spraying surface and the complex spraying profile. The continuous spraying operation of the aircraft is an important guarantee for achieving the uniformity of the thickness of the aircraft spray coating and the spraying quality. In addition, in order to achieve continuous spraying of the aircraft, it is necessary to be able to achieve full coverage of the aircraft spraying surface span by the spraying system. In order to achieve full coverage of the aircraft spray surface, the existing spray system usually adopts a gantry track structure. The gantry track is usually hoisted on the top of the spray plant, and a spray robot is set on the gantry track to achieve comprehensive spraying operations on the aircraft. It can be imagined that the spray system with this structure will require a relatively large space in the spray plant, and in order to achieve full coverage of the spray surface, there will easily be interference problems between the motion mechanism, the spray robot and the aircraft in the structural setting. Therefore, in the actual spraying operation process, there will still be problems of difficulty in achieving completely continuous spraying, and the planning of the motion trajectory will be relatively complicated, resulting in complex control program settings, and it is easy to make mistakes in the spraying operation control, which affects the actual spraying efficiency.

[0041] Reference Figure 1 The large-span continuous spraying system in this embodiment includes a left spraying system 10 and a right spraying system 20 respectively arranged on the ground on both sides of the spraying plant and a rear spraying system 30 arranged on the ground at the rear of the spraying plant. The three sub-spraying systems, the left spraying system 10, the right spraying system 20 and the rear spraying system 30, respectively have independent spraying operation functions and can complete the spraying operation of the corresponding positions and working surfaces. Figure 1 Taking the perspective in as an example, standing on the side opposite to the rear spraying system, the left side is the left spraying system 10, and the right side is the right spraying system 20. At this time, a spraying operation space for aircraft parking spraying operations is formed between the left spraying system, the right spraying system and the rear spraying system.

[0042] Among them, the left spraying system 10 is arranged on the left side of the spraying plant against the wall, and is used to spray the left area of ​​the aircraft; the right spraying system 20 is arranged on the right side of the plant against the wall, and is used to spray the right area of ​​the aircraft; the rear spraying system is arranged on the rear side of the plant against the wall, and is used to spray the rear of the aircraft.

[0043] The left spraying system, the right spraying system, and the rear spraying system in this embodiment can independently realize free movement in three degrees of freedom. Here, before each sub-spraying system can complete its independent spraying function, it is necessary to consider how to combine it with the spatial position layout of each sub-spraying system in the spraying plant through the structural setting of each sub-spraying system, while reducing the demand for spraying plant space, it can also achieve the greatest extent to avoid interference between each self-spraying system during the spraying operation, and finally realize the large-span continuous spraying operation of the aircraft, and facilitate the optimization of the spraying trajectory route and the simplification of the control program. At the same time, it is necessary to consider that each sub-spraying system needs to complete the movement under various trajectories together with the spraying robot during the continuous spraying operation. Therefore, the position accuracy control and the stability of the movement of each sub-spraying system during the movement are also very important for the realization of the overall performance of the spraying system.

[0044] Reference Figure 1 and 2 The left spraying system 10, the right spraying system 20 and the rear spraying system 30 used here are all composed of the main components of the X-guide rail assembly 100, the Y-guide rail assembly 200 and the Z-guide rail assembly 300, wherein the X-guide rail assembly 100 is arranged along the length direction of the spraying plant, the Y-guide rail assembly 200 is arranged horizontally along the width direction of the plant, and the Z-guide rail assembly 300 is arranged vertically along the height direction of the spraying plant; the Y-guide rail assembly 200 is arranged on the X-guide rail assembly 100 and can move on the X-guide rail assembly along the setting direction of the X-guide rail assembly, and the Z-guide rail assembly 300 is arranged on the Y-guide rail assembly 200 and can move on the Y-guide rail assembly along the setting direction of the Y-guide rail assembly. In each sub-spraying system, a spraying robot 400 that can move up and down along its vertical direction is respectively arranged on its respective Z-guide rail assembly 300. It can be seen that through the structural and motion coordination between the X-guide rail assembly, the Y-guide rail assembly, the Z-guide rail assembly and the spraying robot, the movement of the spraying robot in each sub-spraying system in multiple degrees of freedom directions of the X, Y and Z axes can be realized, so that the spraying robot can move to any position required for spraying; at the same time, combined with the motion control of the spraying robot itself, the sub-spraying system using this structure can meet the spraying requirements of the left, right and rear spraying areas of the aircraft respectively.

[0045] Here, the Y-guide rail assembly and the Z-guide rail assembly can adopt a single-rail structure, and the motion drive between the Y-guide rail assembly and the X-guide rail assembly, the motion drive of the Z-guide rail assembly on the Y-guide rail assembly, and the motion drive of the spray robot on the Z-guide rail assembly can be realized by using existing driving components, which are easy to realize.

[0046] As an important improvement direction of the present invention, in the spatial layout of the spraying system, the X-guide rail assembly 100 in each sub-spraying system is respectively arranged below the ground plane of the spraying plant, so that the upper surface of the X-guide rail assembly is flush with or lower than the ground plane of the spraying plant, and the hidden layout setting of the X-guide rail assembly in the spraying plant is realized. Here, when setting the X-guide rail assembly, a pit or groove that matches the X-guide rail assembly can be made on the floor of the spraying plant in advance, and the X-guide rail assembly can be matched and set in the pit or groove.

[0047] As a preferred embodiment, a cover plate is provided above the X-guide rail assembly 100, which cooperates with the X-guide rail assembly and can cover the X-guide rail assembly. The cover plate can adopt an integral structure or an assembled structure composed of multiple cover plates. At the same time, a gap is provided on the cover plate or between the cover plates for connecting the Y-guide rail assembly and the X-guide rail assembly, so that the X-guide rail assembly is hidden and the connection between the Y-guide rail assembly and the X-guide rail assembly is satisfied.

[0048] Here, the upper surface of the cover is set flush with the ground plane of the spraying plant. It can be seen that the X-guide rail assembly is covered by the cover, and only the Y-guide rail assembly, the Z-guide rail assembly and the spraying robot set on the Z-guide rail assembly are exposed outside the ground. When the Y-guide rail assembly is moved to the rear of the X-guide rail assembly, the spraying robots in each sub-spraying system can be hidden in each corner of the spraying plant. At this time, the setting of the spraying system inside the spraying plant does not actually occupy too much space in the spraying plant, and the effect of reducing the demand for and occupation of the spraying plant space is significant. In addition, the operating space vacated by the spraying plant at this time can also meet the operating requirements of other operating procedures of the aircraft. For example, when human-machine combined operation is required, the spraying robot can be directly moved to the corner of the spraying plant, and then work ladders and other tooling are set on both sides and the rear of the aircraft for human-machine combined operation, so as to ensure the effective use of resources and space in the spraying plant.

[0049] In the optimized setting of the sub-spraying system structure, the X-guide rail assembly 100 in this embodiment includes a driving rail 101 arranged parallel to each other and two supporting rails 102 respectively arranged on both sides of the driving rail, wherein the driving rail 101 is drivingly connected to the Y-guide rail assembly 200, and is used to drive the Y-guide rail assembly to make horizontal movement on the X-guide rail assembly, and the Y-guide rail assembly 200 is slidingly connected to the supporting rails 102 at both ends, and a stable support is formed for the Y-guide rail assembly 200 through the two supporting rails 102, thereby ensuring the stability of the Y-guide rail assembly during movement.

[0050] In conjunction with the layout of the sub-spraying system in the spraying plant, although the X-guide rail assembly is provided with multiple tracks, it does not occupy the floor space of the spraying plant. Therefore, the effect of balancing the spraying plant space and the system operation stability is also obvious.

[0051] like Figure 3 An extension tube 401 is provided at the front end of the arm of the spraying robot 400, the extension tube 401 is mounted on the flange of the spraying robot 400, and the automatic spray gun 402 of the spraying robot is provided at the end of the extension tube 401. By providing the extension tube on the spraying robot, the spraying coverage of the spraying robot can be greatly expanded, and interference during the operation of the system can be effectively avoided, and the body joint of the spraying robot can be kept away from the aircraft body during operation, thereby improving the safety of the system and the spraying robot during operation.

[0052] As another feasible implementation, a signal collector 600 is provided on the spraying robot 400, and the signal collector 600 is used to collect the characteristic point information of the aircraft to determine the relative position and posture between the aircraft to be sprayed and the spraying system, that is, to obtain the spatial position information of the aircraft in the spraying plant, so as to realize the subsequent automatic control of the spraying operation. Here, the signal collector 600 can use a laser rangefinder, and by collecting the characteristic point information of the aircraft, the actual parking position and posture of the aircraft in the spraying plant can be determined. The spraying control system can perform coordinate conversion between the theoretical position and posture according to the parking position and posture of the aircraft, and adjust and transform the spraying control program of the system to ensure the rapid reuse of the spraying control program.

[0053] On the other hand, the performance factors of the aircraft paint itself also need to be considered in the aircraft spraying operation. Most aircraft paints have certain requirements for the aging period and are often unable to be allocated in real time. This requires that the supply of paint should be very timely during the spraying operation of the spraying robot within a large span. It is necessary to shorten the length of the paint supply and delivery pipeline as much as possible, and enable the paint supply system to move with the spraying robot. Therefore, in the spraying system, a paint supply system that cooperates with each spraying robot can be set. The paint supply system is connected to each spraying robot and supplies paint to the spraying robot. Each paint supply system is set on the X-guide rail assembly, the Y-guide rail assembly or the Z-guide rail assembly in the corresponding sub-spraying system, and enables it to move with the spraying robot or always be located near the spraying robot. Taking the paint supply system set on the X-guide rail assembly as an example, the paint supply system and the X-guide rail assembly are set to be connected in a sliding fit. When the Y-guide rail assembly moves, the paint supply system can be driven to move with the spraying robot on the X-guide rail assembly, which can greatly shorten the length of the paint supply pipeline and reduce the waste of paint.

[0054] The paint supply system 500 includes a paint box 501, and the paint box 501 is connected to the spraying robot 400 through a pipeline to form a circulation loop for the paint to circulate between the two. Figure 4 A delivery pump 502, a filter 503, a pressure regulating valve 504, a metering pump 505, a flow meter 506, etc. are provided on the feed pipeline provided between the paint box 501 and the spraying robot 400 for delivering and controlling the paint. A shutoff valve 507, a back pressure valve 508, etc. are provided on the return pipeline provided between the paint box and the spraying robot for returning and controlling the paint. The paint is circulated in the pipeline through the feed pipeline and the return pipeline to improve the utilization rate of the paint. A stirrer can be provided in the paint box, and the paint in the paint box is stirred by driving the stirrer through a servo motor and a reducer.

[0055] On the other hand, a method for spraying an aircraft using the large-span continuous spraying system of the above structure comprises the following steps:

[0056] S1. Park the aircraft to be sprayed at a position between the left spraying system and the right spraying system in the spraying workshop, and the rear spraying system is located at the rear side of the aircraft;

[0057] S2. The characteristic point information of the aircraft is collected by a signal collection device such as a laser rangefinder provided on the spraying robot to determine the parking position and posture of the aircraft, that is, the relative position and posture between the aircraft and the spraying system;

[0058] S3. The spray control system performs coordinate conversion between the actual position and the theoretical position according to the acquired position and attitude information, and corrects the spray control program preset in the spray control system to avoid the influence of the aircraft's own manufacturing and assembly errors or parking position errors on the spray operation, improve the spray quality and ensure the reusability of the preset spray control program;

[0059] S4. The movement of the left spraying system, the right spraying system, the Y guide rail assembly, the Z guide rail assembly and the spraying robot in the rear spraying system are controlled by the revised spraying control program to complete the spraying operation of the aircraft.

[0060] During the spraying operation, the paint is added to the paint box, the delivery pump and the agitator are started to deliver the paint to the spraying robot, and the movement of the spraying robot in the sub-spraying system at each position is controlled so that the spraying robot can spray the aircraft according to the preset trajectory. The left spraying system and the right spraying system enter the spraying from the front end and the head of the air inlet of the aircraft, and the rear spraying system enters the spraying from the tail of the aircraft; in the motion control of the spraying trajectory, the curvature of the aerodynamic shape of the aircraft in the heading direction can be used to control the left spraying system and the right spraying system along the direction of the aerodynamic shape of the aircraft between the head and the tail of the aircraft to achieve a large-span continuous spraying operation along the heading, and the rear spraying system can perform continuous spraying operations on the tail of the aircraft near the vertical tail along the heading. Combined with the structure of the system and the planning of the spraying trajectory, the large swing or movement of the motion joints of the spray robot during the spraying operation can be effectively avoided, thereby avoiding the problem of irregular spraying fan width or jamming. The overlapping operation between the spraying areas during the spraying operation can be effectively reduced to ensure the requirements of spray coating thickness and uniformity, ensure the overall spraying quality, and improve the efficiency of spraying, so as to achieve a spraying effect with continuous spraying without color difference and high overall coating uniformity.

[0061] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship commonly placed when the product of the invention is used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0062] In addition, if the terms "horizontal" or "vertical" appear in the description of the present invention, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0063] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A large-span continuous spraying system, It is characterized in that It includes a left spraying system and a right spraying system respectively arranged on the ground at both sides of the spraying plant and a rear spraying system arranged on the ground at the rear of the spraying plant; The left spraying system is used to spray the left area of ​​the aircraft, the right spraying system is used to spray the right area of ​​the aircraft, and the rear spraying system is used to spray the rear of the aircraft; The left spraying system, the right spraying system, and the rear spraying system respectively include an X-guide rail assembly, a Y-guide rail assembly, and a Z-guide rail assembly laid on the floor of the spraying workshop, wherein the X-guide rail assembly is arranged along the length direction of the spraying workshop, the Y-guide rail assembly is arranged on the X-guide rail assembly and arranged along the width direction of the spraying workshop and can move along the setting direction of the X-guide rail assembly, and the Z-guide rail assembly is arranged on the Y-guide rail assembly and arranged along the vertical direction and can move along the setting direction of the Y-guide rail assembly; A spraying robot capable of moving up and down along the vertical direction is respectively arranged on the Z-guide rail assembly of the left spraying system, the right spraying system and the rear spraying system; The X-guide rail assembly is arranged below the floor plane of the spraying plant, so that the upper surface of the X-guide rail assembly is flush with or lower than the floor plane of the spraying plant; A cover plate is arranged above the X-guide rail assembly to cooperate with the X-guide rail assembly and to cover the X-guide rail assembly, and a gap is arranged on the cover plate or between the cover plates for connecting the Y-guide rail assembly with the X-guide rail assembly; The upper surface of the cover plate is arranged flush with the floor plane of the spraying plant; When the Y-guide rail assembly is moved to the rear of the X-guide rail assembly, the spraying robots in each sub-spraying system can be hidden in each corner of the spraying plant.

2. The large-span continuous spraying system according to claim 1, It is characterized in that The X-guide rail assembly includes a driving rail arranged parallel to each other and two supporting rails arranged on both sides of the driving rail. The driving rail is used to drive the Y-guide rail assembly to move horizontally along it. The Y-guide rail assembly is slidably connected to the supporting rails at both ends.

3. The large-span continuous spraying system according to claim 1, It is characterized in that An extension tube is arranged at the front end of the arm of the spraying robot, and an automatic spray gun of the spraying robot is arranged at the end of the extension tube.

4. The large-span continuous spraying system according to claim 1, It is characterized in that The spraying robot is provided with a signal collector, and the signal collector is used to collect characteristic point information of the aircraft to determine the relative position and posture between the aircraft to be sprayed and the spraying system.

5. The large-span continuous spraying system according to claim 1, It is characterized in that It also includes a paint supply system, which is connected to the spraying robot and supplies paint to the spraying robot. The paint supply system is arranged on the X-guide rail assembly, the Y-guide rail assembly or the Z-guide rail assembly so that it can move with the spraying robot or always be located close to the spraying robot.

6. The large-span continuous spraying system according to claim 5, It is characterized in that The paint supply system comprises a paint box, and the paint box is connected to the spraying robot through a pipeline to form a circulation loop for the paint to circulate between the two.

7. A spraying method based on the large-span continuous spraying system according to any one of claims 1 to 6, It is characterized in that The steps include: S1. Park the aircraft to be sprayed at a position between the left spraying system and the right spraying system in the spraying workshop, and the rear spraying system is located at the rear side of the aircraft; S2, collect the characteristic point information of the aircraft, and determine the relative position and posture between the aircraft and the spraying system; S3, according to the determined relative position and posture, modify the preset spray control program; S4. The movement of the left spraying system, the right spraying system, the Y guide rail assembly, the Z guide rail assembly and the spraying robot in the rear spraying system are controlled by the revised spraying control program to complete the spraying operation of the aircraft.

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