A method for simulating and evaluating the spraying quality of an aircraft large component

Abstract

The present application relates to simulation analysis and surface treatment technical field, specifically to a kind of aircraft large component spraying quality simulation evaluation method, comprising the following steps: step (1) spraying quality standard formulation;Step (2) the basic data collection of spraying;Step (3) the brush table of brush experiment establishment;Step (4) robot spraying station model establishment;Step (5) large component numerical simulation processing and spraying track design;Step (6) large component surface spraying film thickness simulation;Step (7) robot motion simulation;Step (8) spraying track off-line program output verification.The present application solves the problem of aircraft component complex coating system paint film forming behavior regulation, improves the spraying quality of the outer surface of aircraft large component, and also promotes the engineering application of spraying simulation calculation in aviation equipment maintenance, improves the repair technical ability of aviation equipment overhaul factory.

Description

Technical Field

[0001] This invention relates to the fields of simulation analysis and surface treatment technology, specifically a method for simulating and evaluating the coating quality of large aircraft components. Background Technology

[0002] The aircraft's outer surface uses an organic coating system to achieve purposes such as corrosion protection, marking, aesthetics, and functional wave transmission. After a major overhaul, the coating on the aircraft surface may experience cracking, delamination, blistering, and aging due to the service environment (high temperature, salt spray, sunlight, rain, and sand particles). This will have a significant impact on the aircraft's overall corrosion protection, wave transmission performance, and decorative function. Therefore, it is necessary to repaint the coating on the aircraft surface during a base-level overhaul to ensure that the newly applied coating can guarantee the protection of the aircraft during the next overhaul.

[0003] Robotic painting can improve the production efficiency of large aircraft components, enhance the stability of coating quality on the outer surface of products, reduce product rework rates, and increase paint utilization, thereby reducing emissions of volatile pollutants and contributing to the construction of environmentally friendly green factories. However, due to the high performance requirements of coatings on the surfaces of large aircraft components and their complex geometric shapes, traditional painting debugging relies mainly on the experience and experiments of technicians. This often involves iterative "test verification - design modification" serial design optimization, requiring numerous prototype experiments, resulting in high project costs, long debugging cycles, and poor coating quality stability. Therefore, there is an urgent need to adopt an alternative evaluation method for preliminary research on actual painting debugging. Building upon traditional robotic painting debugging methods, this approach introduces painting simulation techniques. Through simulation analysis, the robot's painting trajectory and painting process parameters can be optimized, the film thickness uniformity on the outer surface of large components can be evaluated, the blind spots in painting program and scheme design can be reduced, debugging efficiency can be improved, and coating quality control can also be facilitated. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes a method for simulating and evaluating the coating quality of large aircraft components. This method aims to improve the coating quality of the outer surfaces of large aircraft components, while simultaneously reducing trial-and-error costs and increasing production efficiency, thus filling a gap in the entire aviation equipment maintenance system.

[0005] The technical problem to be solved by this invention is achieved by the following technical solution:

[0006] A method for simulating and evaluating the coating quality of large aircraft components includes the following steps:

[0007] Step (1) Establishing spraying quality standards:

[0008] This includes the thickness of the primer coating, the thickness of the topcoat coating, and the appearance quality and color tone of the primer and topcoat.

[0009] Step (2) Basic data collection for spraying:

[0010] This includes the viscosity, density, and solid content of the primer and topcoat; the digital models, models, quantities, and positional relationships of the robots and spray guns; and the temperature, humidity, and airflow velocity of the spraying plant.

[0011] Step (3) Establish a brush table for the spray plate experiment:

[0012] Step (31) Using robots and paints on the production site, spraying experiments were conducted on the test board with different spraying parameter ratios on the horizontal and vertical surfaces according to the pressure set by the robot spraying system.

[0013] After the experimental panel is sprayed in step (32), it is leveled at room temperature for 1 hour and then dried at 40℃~50℃ for no less than 12 hours.

[0014] After the experimental plate is sprayed to the required film thickness in step (33), the film thickness value of the coating is recorded every 10 mm using a coating thickness gauge perpendicular to the direction of spray gun movement.

[0015] Step (34) Organize film thickness data, draw film thickness distribution curves, and establish a film thickness database for each group of coatings with different spraying parameters;

[0016] Step (35) Perform a simulation of spraying on the experimental board in the simulation software. Compare the film thickness curve generated by the software with the film thickness data of the experimental board. Adjust the particle size distribution coefficient built into the software until the simulated film thickness curve matches the actual sprayed board film thickness curve. This completes the establishment of the spraying simulation brush table.

[0017] Step (4) Model building of the robot spraying station: including:

[0018] Step (41) Model the large components of the aircraft, tooling fixtures, and obstacles that affect the robot's movement;

[0019] Step (42) Establish a robot model based on the six-axis attributes, dimensions, six-axis flange center coordinate system direction, and base center coordinate system direction of the robot on the production site;

[0020] Step (43) Establish a model of the spray gun based on the digital model, model, and positional relationship between the spray gun and the front end of the robot at the production site;

[0021] Step (44) corrects the position and axis speed of the robot model so that the actual robot's spraying position and spraying time are consistent with the robot station model in the simulation software.

[0022] Step (5) Large component digital model processing and spraying trajectory design:

[0023] Step (51) Use 3D modeling software to process the digital model of the large parts to be sprayed, retain the effective parts, and import the digital model into the simulation software after converting it into STL format;

[0024] Step (52) Based on the areas that need to be masked and sprayed during the actual spraying process, the digital model is divided into two parts: masking and spraying.

[0025] Step (53) Based on the shape and surface of the large part to be painted, write the initial TCP trajectory program for the robot's motion;

[0026] Step (6) Simulation of coating thickness on the surface of large components:

[0027] Step (61) Set the boundary conditions and initial spraying parameters in the simulation software;

[0028] Step (62) Import the robot's TCP trajectory, brush table and model into the simulation software at the same time, establish the simulation solution domain, and perform spray coating thickness simulation.

[0029] Step (63) Obtain the cloud map distribution of the paint film thickness on the surface of the large component from the simulation results, intuitively show the spraying effect, and evaluate the quality risk area and film thickness uniformity.

[0030] Step (7) Robot motion simulation:

[0031] Step (71) Set a safe distance between the robot and large parts of the aircraft or other interference objects, use the robot motion simulation module to simulate and calculate the robot's motion state, obtain the solutions of each robot for the input trajectory, and analyze the robot's reachability;

[0032] Step (72) optimizes the unreachable spraying trajectory TCP points and repeats the reachability calculation until all trajectory points have corresponding solutions;

[0033] Step (73) Use the robot motion simulation module to assign the painting task sequence of each robot, balance the workload of each robot, and plan the collision-free robot transition trajectory.

[0034] Step (74) Based on the simulation results, optimize the areas where the film thickness is not up to standard by adjusting parameters such as trajectory, TCP distance, TCP speed, spraying pressure, and spraying flow rate;

[0035] Step (8) Offline program output verification of spraying trajectory:

[0036] Step (81) The optimized TCP trajectory program is directly exported to the robot's offline control terminal for application using simulation software;

[0037] Step (82) Check the status of the robot painting system equipment and the integrity of its configured instruments;

[0038] Step (83) Inspect the outer surface of large components and the antenna for severe oil stains and large-area damage;

[0039] Step (84) Use the teach pendant to test the trajectory program, confirm that the robot's motion posture is normal, and then run the robot trajectory program in automatic mode to test whether the program is normal.

[0040] After the robot completes the spraying trajectory program in step (85), it will be leveled at room temperature for 1 hour and then dried at 40℃~50℃ for no less than 12 hours.

[0041] Step (86) Check whether the appearance quality of the primer and topcoat is consistent in color;

[0042] Step (87) Use a coating thickness gauge to measure the thickness of the paint film, and verify whether the thickness of the primer spraying is controlled within the quality standard set in step (1), and whether the film thickness simulation and the actual consistency meet the requirements.

[0043] Preferably, in step (1), the thickness of the primer is required to be controlled between 20μm and 40μm, and the thickness of the topcoat is required to be controlled between 40μm and 60μm.

[0044] Preferably, in step (1), the appearance quality and color tone of the primer and topcoat are consistent, and there should be no sagging, roughness, or exposed substrate.

[0045] Preferably, the size of the experimental plate in step (31) is not less than 80mm × 20mm.

[0046] Preferably, the spraying test in step (31) includes: before turning on the spray gun, setting the pressure, flow rate, TCP distance, and TCP speed for this spraying test, turning on the spray gun at a position about 50mm away from the spraying test board, keeping the spray gun moving at a constant speed according to the set TCP speed, and turning off the spray gun when it moves to a position 50mm away from the spray gun.

[0047] Preferably, the 3D modeling software in step (51) includes SolidWorks, CATIA, or UG.

[0048] Preferably, the spraying parameters in step (61) include a primer viscosity of 20s and a primer density of 1.20g / cm³. 3 The coating solids content is 60%, the air supply velocity is 0.3m / s, the spraying pressure is 0.6MPa, the spraying flow rate is 50ml / min, the TCP distance is 300mm, the TCP speed is 400m / s, and the trajectory overlap rate is 45%.

[0049] The topcoat has a viscosity of 15s and a density of 1.15 g / cm³. 3 The coating solids content is 55%, the air supply velocity is 0.3 m / s, the spraying pressure is 0.6 MPa, the spraying flow rate is 50 ml / min, the TCP distance is 300 mm, the TCP speed is 400 m / s, and the trajectory overlap rate is 45%.

[0050] Preferably, the optimization process in step (72) is as follows: the inverse solution problem of the robot motion equation is solved, and the reachability is repeatedly calculated using the algebraic solution method in the robot motion simulation module, that is, the position matrix of the known TCP trajectory point coordinate system in the robot coordinate system is obtained. 0 T6 solves for the values ​​of the robot's joint variables θ1, θ2, θ3, θ4, θ5, and θ6 until all trajectory points have corresponding solutions.

[0051] Preferably, the position matrix 0 T6 equals the transformation matrix of each coordinate system. i-1 A i The product of consecutive products: 0 T6 = 0 A1 1 A2 2 A3 3 A4 4 A5 5 A6, the position matrix of any point 0 T6 can be represented as:

[0052]

[0053] In the formula, n x n y n z o x o y o z Let be the direction cosine of the coordinate axes of the TCP trajectory point coordinate system in the robot coordinate system, representing the TCP attitude;

[0054] Coordinate system transformation matrix i-1 A i It can be represented as:

[0055]

[0056] In the formula, p x p y p z This represents the position of the origin of the TCP trajectory point coordinate system in the robot coordinate system.

[0057] Preferably, in step (87), if the comparison result of the film thickness simulation and the actual consistency shows that the film thickness error of more than 90% of the measurement points is within 10%, it indicates that the confidence level of the film thickness simulation meets the requirements. If the film thickness error exceeds the range, the simulation brush table will be recalibrated.

[0058] The beneficial effects of this invention are:

[0059] This invention provides a method for simulating and evaluating the coating quality of large aircraft components. This method avoids the trial-and-error approach of traditional robotic coating debugging, and allows for the early evaluation and optimization of the rationality of the coating scheme and the uniformity of the coating film thickness. It solves the problem of controlling the film-forming behavior of complex coating systems on aircraft components, improves the coating quality of large aircraft components, and promotes the engineering application of coating simulation calculations in aviation equipment maintenance, thereby enhancing the repair technology capabilities of aviation equipment overhaul plants. Attached Figure Description

[0060] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0061] Figure 1 This is a flowchart of the present invention;

[0062] Figure 2 This is a schematic diagram of the vertical spraying experiment of the present invention;

[0063] Figure 3 This is a schematic diagram of the horizontal spraying experiment of the present invention;

[0064] Figure 4 This is a schematic diagram of the spraying experiment process of the present invention;

[0065] Figure 5 For film thickness database and film thickness distribution curves;

[0066] Figure 6 To create a graph for film thickness curve fitting and brush table;

[0067] Figure 7 This is a schematic diagram of the film thickness cloud distribution;

[0068] Figure 8 This is a schematic diagram of the robot's reachability analysis. Detailed Implementation

[0069] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0070] like Figure 1 As shown, a method for simulating and evaluating the coating quality of large aircraft components includes the following steps:

[0071] Step (1) Establishing spraying quality standards:

[0072] This includes controlling the thickness of the primer coating to be between 20μm and 40μm, and the thickness of the topcoat coating to be between 40μm and 60μm.

[0073] The appearance and color of the primer and topcoat should be consistent, and there should be no defects such as sagging, roughness, or missed spots.

[0074] Step (2) Basic data collection for spraying:

[0075] This includes the viscosity, density, and solids content of the primer and topcoat; the digital models, models, quantities, and positional relationships of the robots and spray guns; and the temperature, humidity, and airflow velocity of the spraying plant.

[0076] Step (3) Establish a brush table for the spray plate experiment:

[0077] Step (31) Utilizing robots and paint on the production site, spraying experiments are conducted on the test panels using different spraying parameter ratios for horizontal and vertical surfaces, based on the pressure set by the robot's spraying system; for example... Figure 2 and Figure 3 as well as Figure 4 As shown, the size of the test board should be no less than 80mm×20mm. Before turning on the spray gun, set the pressure, flow rate, TCP distance, and TCP speed for this spraying experiment. Turn on the spray gun at a position about 50mm away from the test board and keep the spray gun moving at a constant speed according to the set TCP speed. Turn off the spray gun when it moves to a position 50mm away from the test board to ensure that the complete spray pattern can be collected on the test board.

[0078] After the experimental panel is sprayed in step (32), it is leveled at room temperature for 1 hour and then dried at 40℃~50℃ for no less than 12 hours.

[0079] After the experimental plate is sprayed to the required film thickness in step (33), the film thickness value of the coating is recorded every 10 mm using a coating thickness gauge perpendicular to the direction of spray gun movement.

[0080] Step (34) Organize film thickness data, plot film thickness distribution curves, and establish a film thickness database for each group of coatings with different spraying parameters, such as... Figure 5 As shown.

[0081] Step (35) Perform a simulated spraying process on the experimental panel using simulation software. Compare the film thickness curve generated by the software with the film thickness data of the experimental panel, and adjust the particle size distribution coefficient built into the software until the simulated film thickness curve matches the actual film thickness curve of the sprayed panel. This completes the establishment of the spraying simulation brush table. Figure 6 As shown.

[0082] Step (4) Model building of the robot spraying station: including:

[0083] Step (41) Model the large components of the aircraft, tooling fixtures, and obstacles that affect the movement of the robot.

[0084] Step (42) Establish a robot model based on the six-axis attributes, dimensions, six-axis flange center coordinate system direction, and base center coordinate system direction of the robot on the production site.

[0085] Step (43) Establish a model of the spray gun based on the digital model, model and positional relationship between the spray gun and the front end of the robot.

[0086] Step (44) corrects the position and axis speed of the robot model so that the actual robot's spraying position and spraying time are consistent with the robot station model in the simulation software.

[0087] Step (5) Large component digital model processing and spraying trajectory design:

[0088] Step (51) Use 3D modeling software such as SolidWorks, CATIA or UG to process the digital model of the large parts to be sprayed, retain the effective parts, and import the digital model into the simulation software after converting it into STL format.

[0089] Step (52) Based on the areas that need to be masked and sprayed during the actual spraying process, the digital model is divided into two parts: masking and spraying.

[0090] Step (53) Based on the shape and surface of the large part to be painted, write the initial TCP trajectory program for the robot's motion.

[0091] Step (6) Simulation of coating thickness on the surface of large components:

[0092] Step (61) involves setting the boundary conditions and initial spraying parameters in the simulation software. The specific parameters to be set are shown in the table below:

[0093]

[0094] Step (62) import the robot's TCP trajectory, brush table and model into the simulation software at the same time, establish the simulation solution domain, and perform spray coating thickness simulation.

[0095] Step (63) Obtain the cloud map distribution of the paint film thickness on the surface of the large component from the simulation results, intuitively show the spraying effect, and evaluate the quality risk areas and film thickness uniformity, such as Figure 7 As shown.

[0096] Step (7) Robot motion simulation:

[0097] Step (71) Set the safe distance between the robot and large components of the aircraft or other interference objects. Use the robot motion simulation module to simulate and calculate the robot's motion state, obtain the solutions for each robot to the input trajectory, and analyze the robot's accessibility. The specific accessibility distribution is as follows: Figure 8 As shown, green represents N robot postures that can guarantee the spraying of the trajectory, and red represents the robot's current state as unreachable.

[0098] Step (72) optimizes the unreachable spraying trajectory TCP points and repeatedly calculates reachability by solving the inverse problem of the robot motion equations. The reachability is repeatedly calculated using the algebraic solution method in the robot motion simulation module, i.e., the position matrix of the TCP trajectory point coordinate system in the robot coordinate system is known. 0 T6 solves for the values ​​of the robot's joint variables θ1, θ2, θ3, θ4, θ5, and θ6 until all trajectory points have corresponding solutions.

[0099] The position matrix 0 T6 equals the transformation matrix of each coordinate system. i-1 A i The product of consecutive products: 0 T6 = 0 A1 1 A2 2 A3 3 A4 4 A5 5 A6, the position matrix of any point 0 T6 can be represented as:

[0100]

[0101] In the formula, n x n y n z o x o y o z Let be the direction cosine of the coordinate axes of the TCP trajectory point coordinate system in the robot coordinate system, representing the TCP attitude;

[0102] Coordinate system transformation matrix i-1 A i It can be represented as:

[0103]

[0104] In the formula, p x p y p z This represents the position of the origin of the TCP trajectory point coordinate system in the robot coordinate system.

[0105] The parameters of each link and joint variables of the robot are shown in the table below:

[0106] Joint i <![CDATA[θ i0 ]]> <![CDATA[d i ]]> <![CDATA[a i ]]> <![CDATA[α i ]]> Joint variables 1 0 0 0 π / 2 <![CDATA[θ1]]> 2 π / 2 0 <![CDATA[a2]]> 0 <![CDATA[θ2]]> 3 -π / 2 <![CDATA[d3]]> 0 -π / 2 <![CDATA[θ3]]> 4 0 <![CDATA[d4]]> 0 π / 2 <![CDATA[θ4]]> 5 0 0 0 -π / 2 <![CDATA[θ5]]> 6 0 <![CDATA[d6]]> 0 0 <![CDATA[θ6]]>

[0107] A TCP point location matrix 0 Substitute the T6 parameters and the parameters in the table. 0 T6 = 0 A1 1 A2 2 A3 3 A4 4 A5 5 A6 can be used to obtain the values ​​of each joint variable.

[0108] Step (73) Use the robot motion simulation module to assign the painting task sequence of each robot, balance the workload of each robot (the cycle time is automatically calculated based on the robot gun speed), and plan the collision-free robot transition trajectory.

[0109] Step (74) Based on the simulation results, optimize the areas where the film thickness is not up to standard by adjusting parameters such as trajectory, TCP distance, TCP speed, spraying pressure, and spraying flow rate.

[0110] Step (8) Offline program output verification of spraying trajectory:

[0111] Step (81) The optimized TCP trajectory program is directly exported to the robot's offline control terminal for application using simulation software.

[0112] Step (82) Check the status of the robot painting system equipment and the integrity of its configured instruments.

[0113] Step (83) Check the outer surface of the large components and the antenna for serious oil stains and large-area damage.

[0114] Step (84) Use the teach pendant to test the trajectory program, confirm that the robot's motion posture is normal, and then run the robot trajectory program in automatic mode to test whether the program is normal.

[0115] After the robot completes the spraying trajectory program in step (85), it will be leveled at room temperature for 1 hour and then dried at 40℃~50℃ for no less than 12 hours.

[0116] Step (86) Check the appearance quality of the primer and topcoat to see if the color is consistent and whether there are defects such as drips, roughness, impurities, or missed spots.

[0117] Step (87) Use a coating thickness gauge to measure the thickness of the paint film. Check whether the thickness of the primer is controlled within the quality standard set in step (1). Verify whether the film thickness simulation and the actual film thickness match the requirements. If the comparison results show that the film thickness error of more than 90% of the measurement points is within 10%, it means that the confidence of the film thickness simulation meets the requirements. If the film thickness error exceeds the range, the simulation brush table will be recalibrated.

[0118] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely prisms of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for simulating and evaluating the coating quality of large aircraft components, characterized in that: Includes the following steps: Step (1) Establishing spraying quality standards: This includes the thickness of the primer coating, the thickness of the topcoat coating, and the appearance quality and color tone of the primer and topcoat. Step (2) Basic data collection for spraying: This includes the viscosity, density, and solid content of the primer and topcoat; the digital models, models, quantities, and positional relationships of the robots and spray guns; and the temperature, humidity, and airflow velocity of the spraying plant. Step (3) Establish a brush table for the spray plate experiment: Step (31) Using robots and paints on the production site, spraying experiments were conducted on the test board with different spraying parameter ratios on the horizontal and vertical surfaces according to the pressure set by the robot spraying system. After the experimental panel is sprayed in step (32), it is leveled at room temperature for 1 hour and then dried at 40℃~50℃ for no less than 12 hours. After the experimental plate is sprayed to the required film thickness in step (33), the film thickness value of the coating is recorded every 10 mm using a coating thickness gauge perpendicular to the direction of spray gun movement. Step (34) Organize film thickness data, draw film thickness distribution curves, and establish a film thickness database for each group of coatings with different spraying parameters; Step (35) Perform a simulation of spraying on the experimental board in the simulation software. Compare the film thickness curve generated by the software with the film thickness data of the experimental board. Adjust the particle size distribution coefficient built into the software until the simulated film thickness curve matches the actual sprayed board film thickness curve. This completes the establishment of the spraying simulation brush table. Step (4) Model building of the robot spraying station: including: Step (41) Model the large components of the aircraft, tooling fixtures, and obstacles that affect the robot's movement; Step (42) Establish a robot model based on the six-axis attributes, dimensions, six-axis flange center coordinate system direction, and base center coordinate system direction of the robot on the production site; Step (43) Establish a model of the spray gun based on the digital model, model, and positional relationship between the spray gun and the front end of the robot at the production site; Step (44) corrects the position and axis speed of the robot model so that the actual robot's spraying position and spraying time are consistent with the robot station model in the simulation software. Step (5) Large component digital model processing and spraying trajectory design: Step (51) Use 3D modeling software to process the digital model of the large parts to be sprayed, retain the effective parts, and import the digital model into the simulation software after converting it into STL format; Step (52) Based on the areas that need to be masked and sprayed during the actual spraying process, the digital model is divided into two parts: masking and spraying. Step (53) Based on the shape and surface of the large part to be painted, write the initial TCP trajectory program for the robot's motion; Step (6) Simulation of coating thickness on the surface of large components: Step (61) Set the boundary conditions and initial spraying parameters in the simulation software; Step (62) Import the robot's TCP trajectory, brush table and model into the simulation software at the same time, establish the simulation solution domain, and perform spray coating thickness simulation. Step (63) Obtain the cloud map distribution of the paint film thickness on the surface of the large component from the simulation results, intuitively show the spraying effect, and evaluate the quality risk area and film thickness uniformity. Step (7) Robot motion simulation: Step (71) Set a safe distance between the robot and large parts of the aircraft or other interference objects, use the robot motion simulation module to simulate and calculate the robot's motion state, obtain the solutions of each robot for the input trajectory, and analyze the robot's reachability; Step (72) optimizes the unreachable spraying trajectory TCP points and repeats the reachability calculation until all trajectory points have corresponding solutions; Step (73) Use the robot motion simulation module to assign the painting task sequence of each robot, balance the workload of each robot, and plan the collision-free robot transition trajectory. Step (74) Based on the simulation results, optimize the areas where the film thickness is not up to standard by adjusting the trajectory, TCP distance, TCP speed, spraying pressure, and spraying flow rate parameters. Step (8) Offline program output verification of spraying trajectory: Step (81) The optimized TCP trajectory program is directly exported to the robot's offline control terminal for application using simulation software; Step (82) Check the status of the robot painting system equipment and the integrity of its configured instruments; Step (83) Inspect the outer surface of large components and the antenna for severe oil stains and large-area damage; Step (84) Use the teach pendant to test the trajectory program, confirm that the robot's motion posture is normal, and then run the robot trajectory program in automatic mode to test whether the program is normal. After the robot completes the spraying trajectory program in step (85), it will be leveled at room temperature for 1 hour and then dried at 40℃~50℃ for no less than 12 hours. Step (86) Check whether the appearance quality of the primer and topcoat is consistent in color; Step (87) Use a coating thickness gauge to measure the thickness of the paint film, and verify whether the thickness of the primer spraying is controlled within the quality standard set in step (1), and whether the film thickness simulation and the actual consistency meet the requirements.

2. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: In step (1), the thickness of the primer spraying should be controlled between 20μm and 40μm, and the thickness of the topcoat spraying should be controlled between 40μm and 60μm.

3. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: In step (1), the appearance quality and color tone of the primer and topcoat must be consistent, and there should be no sagging, roughness, or exposed substrate.

4. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: The size of the experimental plate in step (31) shall not be less than 80mm × 20mm.

5. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: The spraying experiment test in step (31) includes: before turning on the spray gun, setting the pressure, flow rate, TCP distance, and TCP speed for this spraying experiment, turning on the spray gun at a position about 50mm away from the spraying test board, keeping the spray gun moving at a constant speed according to the set TCP speed, and turning off the spray gun when it moves to a position 50mm away from the spray gun.

6. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: In step (51), the 3D modeling software includes SolidWorks, CATIA, or UG.

7. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: The spraying parameters in step (61) include a primer viscosity of 20s and a primer density of 1.20g / cm³. 3 The coating solids content is 60%, the air supply velocity is 0.3 m / s, the spraying pressure is 0.6 MPa, the spraying flow rate is 50 ml / min, the TCP distance is 300 mm, the TCP speed is 400 m / s, and the trajectory overlap rate is 45%. The topcoat has a viscosity of 15s and a density of 1.15 g / cm³. 3 The coating solids content is 55%, the air supply velocity is 0.3 m / s, the spraying pressure is 0.6 MPa, the spraying flow rate is 50 ml / min, the TCP distance is 300 mm, the TCP speed is 400 m / s, and the trajectory overlap rate is 45%.

8. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: The optimization process in step (72) is as follows: the inverse solution of the robot motion equations is used to solve the problem, and the reachability is repeatedly calculated using the algebraic solution method in the robot motion simulation module, that is, the position matrix of the known TCP trajectory point coordinate system in the robot coordinate system. 0 T6 solves for the values ​​of the robot's joint variables θ1, θ2, θ3, θ4, θ5, and θ6 until all trajectory points have corresponding solutions.

9. The method for simulating and evaluating the coating quality of large aircraft components according to claim 8, characterized in that: Position matrix 0 T6 equals the transformation matrix of each coordinate system. i-1 A i The product of consecutive products: 0 T6 = 0 A1 1 A2 2 A3 3 A4 4 A5 5 A6, the position matrix of any point 0 T6 can be represented as: In the formula, n x n y n z o x o y o z Let be the direction cosine of the coordinate axes of the TCP trajectory point coordinate system in the robot coordinate system, representing the TCP attitude; Coordinate system transformation matrix i-1 A i It can be represented as: In the formula, p x p y p z This represents the position of the origin of the TCP trajectory point coordinate system in the robot coordinate system.

10. The method for simulating and evaluating the coating quality of large aircraft components according to claim 1, characterized in that: If the comparison results of the film thickness simulation and the actual film thickness in step (87) show that the film thickness error of more than 90% of the measurement points is within 10%, it means that the confidence level of the film thickness simulation meets the requirements. If the film thickness error exceeds the range, the simulation brush table will be recalibrated.

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