A turbine guide vane multi-robot collaborative automated spraying system and method

Abstract

A turbine guide vane multi-robot collaborative automatic spraying system and method, the system is divided into feeding / discharging area, sand blasting area, spraying area and coating thickness detection area; the method is: part on-line→sand blasting→cleaning after sand blasting→sand blasting surface state detection→surface structure light detection→high-speed flame spraying→atmospheric plasma spraying surface structure light detection→part off-line.The turbine guide vane multi-robot collaborative automatic spraying system and method realize the multi-process integration of the turbine guide vane in the preparation of thermal barrier coating, through the automatic spraying of multi-robot collaboration, the thermal barrier coating prepared on the surface of the turbine guide vane has the characteristics of high stability and high qualified rate, the service temperature of the turbine guide vane is improved, the high temperature and high pressure working conditions of the turbine guide vane in the aero-engine are met, the turbine guide vane is avoided from being scrapped due to over-temperature ablation, the preparation qualified rate and production efficiency of the thermal barrier coating are improved, and the production cost of the turbine guide vane is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of manufacturing parts of an aero-engine, and particularly relates to a multi-robot collaborative automated spraying system and method for turbine guide vanes. BACKGROUND

[0002] An aero-engine is usually a turbofan engine, which is composed of a fan, a compressor, a combustion chamber, a turbine and an exhaust nozzle from front to back, wherein the turbine part needs to withstand high-temperature and high-pressure gas erosion up to 2000 DEG C. In order to ensure that the turbine guide vane can work normally in a harsh service environment, an MCrAlY / ZrO2 thermal barrier coating is generally prepared on the surface of the gas flow passage of the turbine guide vane to achieve heat insulation effect and improve the high-temperature oxidation resistance of the turbine guide vane.

[0003] The traditional thermal barrier coating preparation method can be divided into sandblasting before spraying, supersonic spraying of MCrAlY, atmospheric plasma spraying of ZrO2, cooling and cleaning, wherein the sandblasting before spraying is generally manual sandblasting, and the supersonic spraying of MCrAlY and the atmospheric plasma spraying of ZrO2 are single-process automated spraying.

[0004] However, the traditional thermal barrier coating preparation method has the following problems:

[0005] ① The thermal barrier coating preparation process of the turbine guide vane needs to use different process equipment and needs to be turned over between multiple processes, which is easy to cause pollution on the surface of the turbine guide vane and the surface of the coating, and thus causes the risk of decreasing the coating adhesion.

[0006] ② The thermal barrier coating preparation of the turbine guide vane belongs to single-piece production, which needs to be frequently disassembled and assembled during the process turnover, resulting in low production efficiency, and the spraying equipment needs to be frequently started and stopped, causing the service life of the spraying gun of the spraying equipment to be shortened.

[0007] ③ The turbine guide vane is a multi-curved complex surface part, and the coating thickness on the surface of the part cannot be directly detected, and the coating thickness is generally detected by using a patch, so there is a certain detection error, and the thickness at the detection position cannot represent the coating thickness at all surface positions of the turbine guide vane.

[0008] Due to the above problems of the traditional thermal barrier coating preparation method, the production of the turbine guide vane cannot meet the increasing task and product quality requirements. SUMMARY

[0009] In view of the problems in the prior art, the present application provides a turbine guide vane multi-robot collaborative automatic spraying system and method, realizing multi-process integration of the turbine guide vane in the preparation of the thermal barrier coating, through the multi-robot collaborative automatic spraying, the thermal barrier coating prepared on the surface of the turbine guide vane has the characteristics of high stability and high qualification rate, the service temperature of the turbine guide vane can be further improved, the high-temperature and high-pressure use conditions of the turbine guide vane in the aero-engine are met, the turbine guide vane is prevented from being scrapped due to over-temperature ablation, and through the improvement of the qualification rate and production efficiency of the thermal barrier coating preparation, the production cost of the turbine guide vane can be further reduced.

[0010] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a turbine guide vane multi-robot collaborative automatic spraying system is divided into an upper / lower feeding area, a sand blowing area, a spraying area and a coating thickness detection area.

[0011] The upper / lower feeding area comprises a speed chain, a part information visual acquisition subsystem, a PLC and a computer; the speed chain passes through the sand blowing area, the spraying area and the coating thickness detection area; the part information visual acquisition subsystem is in communication connection with the PLC and the computer;

[0012] The sand blowing area is divided into a sand blowing station and an inspection station, and the sand blowing station and the inspection station are distributed side by side; the sand blowing station comprises a sand blowing station robot, a sand blowing gun, a sand grit screening and recycling device and a dust removal subsystem; the inspection station comprises a sand blowing surface state visual inspection subsystem; the sand blowing station robot is arranged adjacent to the speed chain, the sand blowing gun is arranged adjacent to the sand blowing station robot, and a plurality of sand blowing guns are distributed in the circumferential direction; the sand grit screening and recycling device is arranged adjacent to the sand blowing station robot; the dust removal subsystem is arranged adjacent to the sand grit screening and recycling device; the sand blowing surface state visual inspection subsystem is arranged adjacent to the sand blowing station robot; the sand blowing area as a whole is closed by a soundproof board, and a linkage bin door is arranged on the soundproof board between the sand blowing station robot and the speed chain;

[0013] The spraying area is divided into a supersonic flame spraying station and an atmospheric plasma spraying station; the supersonic flame spraying station comprises a first supersonic flame spraying station robot, a second supersonic flame spraying station robot, a supersonic flame spraying gun and a first infrared thermal imaging temperature measurement subsystem; the first supersonic flame spraying station robot and the second supersonic flame spraying station robot are arranged side by side, and the supersonic flame spraying gun is installed on the first supersonic flame spraying station robot; the first infrared thermal imaging temperature measurement subsystem is arranged adjacent to the second supersonic flame spraying station robot, and the second supersonic flame spraying station robot is arranged adjacent to the speed chain; the atmospheric plasma spraying station comprises a first atmospheric plasma spraying station robot, a second atmospheric plasma spraying station robot, an atmospheric plasma spraying gun and a second infrared thermal imaging temperature measurement subsystem; the first atmospheric plasma spraying station robot and the second atmospheric plasma spraying station robot are arranged side by side, and the atmospheric plasma spraying gun is installed on the first atmospheric plasma spraying station robot; the second infrared thermal imaging temperature measurement subsystem is arranged adjacent to the second atmospheric plasma spraying station robot, and the second atmospheric plasma spraying station robot is arranged adjacent to the speed chain.

[0014] The coating thickness detection area comprises a surface structure light scanner, which is arranged adjacent to the supersonic flame spraying station and the atmospheric plasma spraying station.

[0015] A turbine guide vane multi-robot collaborative automatic spraying method adopts the turbine guide vane multi-robot collaborative automatic spraying system and comprises the following steps.

[0016] Step one: part online

[0017] An operator places the turbine guide vane on the speed chain, a part type and batch number of the turbine guide vane are recognized and collected by a part information vision acquisition subsystem, and the collected information is automatically transmitted to a database of a PLC and a computer, and then the PLC sends instructions to the equipment in the sandblasting area, the spraying area and the coating thickness detection area;

[0018] Step two: sandblasting

[0019] The turbine guide vane is moved to the front of the linkage door through the speed chain, then the linkage door is opened, the turbine guide vane is grabbed by the sandblasting station robot and transferred from the speed chain to the sandblasting station, and then the linkage door is closed; four sandblasting guns are arranged, the first sandblasting gun is aimed at the upper edge plate of the turbine guide vane, the second sandblasting gun is aimed at the lower edge plate of the turbine guide vane, the third and fourth sandblasting guns are aimed at the blade body of the turbine guide vane, the four sandblasting guns are started, and the surface of the turbine guide vane is sandblasted; the turbine guide vane is rotated by the sandblasting station robot during the sandblasting process until the sandblasting is completed.

[0020] Step three: cleaning after sanding

[0021] After sanding, the sand supply of the sanding gun is closed, only the compressed air supply of the sanding gun is kept, and the residual sand and dust on the surface of the turbine guide vane are blown away by compressed air;

[0022] Step four: sanding surface state detection

[0023] After blowing, the turbine guide vane is transferred to the inspection station by the sanding station robot, and the surface of the turbine guide vane is photographed by the sanding surface state visual inspection subsystem in the inspection station. At the same time, the collected pictures are compared with the standard sanding pictures stored in the sanding surface state visual inspection subsystem. If the comparison result is within the allowable difference range, it is determined to be sanding qualified; otherwise, it is determined to be unqualified, and the turbine guide vane needs to be transferred back to the sanding station for sanding again, and then re-detected until it is determined to be sanding qualified;

[0024] Step five: face structure light detection

[0025] After sanding, the turbine guide vane is transferred to the speed chain by the sanding station robot, and the turbine guide vane is moved to the front of the supersonic flame spraying station by the speed chain. Then the turbine guide vane is transferred to the coating thickness detection area by the second supersonic flame spraying station robot, and the turbine guide vane is scanned by the face structure light scanner to obtain the three-dimensional point cloud of the turbine guide vane before spraying;

[0026] Step six: supersonic flame spraying

[0027] After structure light scanning, the turbine guide vane is transferred back to the supersonic flame spraying station by the second supersonic flame spraying station robot, and the first supersonic flame spraying station robot clamps the supersonic flame spraying gun and cooperates with the second supersonic flame spraying station robot according to the set program path to spray the MCrAlY bottom layer on the turbine guide vane. During supersonic flame spraying, the turbine guide vane is monitored by the first infrared thermal imager temperature measurement subsystem, and the temperature of the turbine guide vane is required to be not more than 380℃;

[0028] Step seven: atmospheric plasma spraying

[0029] After the high-velocity oxygen fuel spraying is completed, the turbine guide vane is transferred to the speed chain by the second high-velocity oxygen fuel spraying station robot, the turbine guide vane is moved to the front of the atmospheric plasma spraying station by the speed chain, then the turbine guide vane is transferred to the atmospheric plasma spraying station by the second atmospheric plasma spraying station robot, meanwhile the atmospheric plasma spraying gun is clamped by the first atmospheric plasma spraying station robot, and the turbine guide vane is sprayed with a ZrO2 surface layer according to the set program path and the second atmospheric plasma spraying station robot cooperates; before the atmospheric plasma spraying, the turbine guide vane needs to be preheated, and the preheating temperature is 150-170 DEG C; during the atmospheric plasma spraying, the temperature of the turbine guide vane is monitored by the second infrared thermal imager temperature measurement subsystem, and the temperature of the turbine guide vane is required to be less than 380 DEG C.

[0030] Step eight: surface structure light detection

[0031] After the spraying is completed, the turbine guide vane is transferred to the coating thickness detection area by the second high-velocity oxygen fuel spraying station robot, the turbine guide vane is scanned by the surface structure light scanner, the three-dimensional point cloud of the turbine guide vane after spraying is obtained, and the three-dimensional point cloud data of the turbine guide vane before and after spraying is compared, so that the coating thickness of the turbine guide vane surface spraying area is automatically obtained.

[0032] Step nine: part offline

[0033] After the coating thickness detection is completed, the turbine guide vane is transferred to the speed chain by the second high-velocity oxygen fuel spraying station robot, the turbine guide vane is moved to the front of the operator by the speed chain, and the turbine guide vane is taken off from the speed chain by the operator.

[0034] Advantages of the present application:

[0035] The turbine guide vane multi-robot cooperative automatic spraying system and method of the present application realizes the multi-process integration of the turbine guide vane in the preparation of the thermal barrier coating, the thermal barrier coating prepared on the surface of the turbine guide vane has the characteristics of high stability and high qualification rate through the automatic spraying of the multi-robot cooperation, the service temperature of the turbine guide vane can be further improved, the high-temperature and high-pressure use conditions of the turbine guide vane in the aero-engine are met, the turbine guide vane is prevented from being scrapped due to over-temperature ablation, and the production cost of the turbine guide vane can be further reduced by improving the qualification rate and production efficiency of the thermal barrier coating preparation. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a schematic diagram of the turbine guide vane multi-robot cooperative automatic spraying system of the present application;

[0037] Figure 2 This is a schematic diagram of two robots working together.

[0038] Figure 3 Typical metallographic structure of the coating;

[0039] In the diagram, 1—double speed chain, 2—sandblasting station robot, 3—first supersonic flame spraying station robot, 4—second supersonic flame spraying station robot, 5—supersonic flame spray gun, 6—first atmospheric plasma spraying station robot, 7—second atmospheric plasma spraying station robot, 8—surface structured light scanner, 9—turbine guide vane. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0041] In this embodiment, the sandblasting robot 2, the first supersonic flame spraying robot 3, the second supersonic flame spraying robot 4, the first atmospheric plasma spraying robot 6, and the second atmospheric plasma spraying robot 7 are all ABB-IRB-2600 models, the supersonic flame spray gun 5 is a WokaStar-610 model, and the atmospheric plasma spray gun is a Triplax model. The spraying program paths when the first supersonic flame spraying robot 3 and the second supersonic flame spraying robot 4 work together, and the spraying program paths when the first atmospheric plasma spraying robot 6 and the second atmospheric plasma spraying robot 7 work together, are all automatically generated interference-free spraying program paths based on the secondary development of UG software as the programming environment, combined with the Eigen matrix operation library and the Opcode collision detection algorithm, based on the surface parameters of the turbine guide vane 9, and taking into account the spraying process parameters (spraying distance, spraying angle, etc.).

[0042] like Figure 1 As shown, a multi-robot collaborative automated spraying system for turbine guide vanes is divided into a loading / unloading area, a sandblasting area, a spraying area, and a coating thickness detection area.

[0043] The loading / unloading area includes a double-speed chain 1, a parts information visual acquisition subsystem, a PLC, and a computer; the double-speed chain 1 passes through a sandblasting area, a spraying area, and a coating thickness detection area; the parts information visual acquisition subsystem is communicatively connected to the PLC and the computer.

[0044] The sand blasting area is divided into a sand blasting station and an inspection station, and the sand blasting station and the inspection station are arranged side by side; the sand blasting station comprises a sand blasting station robot 2, a sand blasting gun, a sand grit screening and recycling device and a dust removal subsystem; the inspection station comprises a sand blasting surface state visual inspection subsystem; the sand blasting station robot 2 is arranged adjacent to the speed chain 1, the sand blasting gun is arranged adjacent to the sand blasting station robot 2, and a plurality of sand blasting guns are arranged in a circumferential direction; the sand grit screening and recycling device is arranged adjacent to the sand blasting station robot 2; the dust removal subsystem is arranged adjacent to the sand grit screening and recycling device; the sand blasting surface state visual inspection subsystem is arranged adjacent to the sand blasting station robot 2; the sand blasting area is entirely closed by soundproof boards, and a linkage door is arranged on the soundproof board between the sand blasting station robot 2 and the speed chain 1.

[0045] The spraying area is divided into a high-velocity oxy-fuel spraying station and an atmospheric plasma spraying station; the high-velocity oxy-fuel spraying station comprises a first high-velocity oxy-fuel spraying station robot 3, a second high-velocity oxy-fuel spraying station robot 4, a high-velocity oxy-fuel spraying gun 5 and a first infrared thermal imaging temperature measurement subsystem; the first high-velocity oxy-fuel spraying station robot 3 and the second high-velocity oxy-fuel spraying station robot 4 are arranged side by side, and the high-velocity oxy-fuel spraying gun 5 is installed on the first high-velocity oxy-fuel spraying station robot 3; the first infrared thermal imaging temperature measurement subsystem is arranged adjacent to the second high-velocity oxy-fuel spraying station robot 4, and the second high-velocity oxy-fuel spraying station robot 4 is arranged adjacent to the speed chain 1; the atmospheric plasma spraying station comprises a first atmospheric plasma spraying station robot 6, a second atmospheric plasma spraying station robot 7, an atmospheric plasma spraying gun and a second infrared thermal imaging temperature measurement subsystem; the first atmospheric plasma spraying station robot 6 and the second atmospheric plasma spraying station robot 7 are arranged side by side, and the atmospheric plasma spraying gun is installed on the first atmospheric plasma spraying station robot 6; the second infrared thermal imaging temperature measurement subsystem is arranged adjacent to the second atmospheric plasma spraying station robot 7, and the second atmospheric plasma spraying station robot 7 is arranged adjacent to the speed chain 1.

[0046] The coating thickness detection area comprises a surface structure light scanner 8, and the surface structure light scanner 8 is arranged adjacent to the high-velocity oxy-fuel spraying station and the atmospheric plasma spraying station.

[0047] A turbine guide vane multi-robot collaborative automatic spraying method, which adopts the turbine guide vane multi-robot collaborative automatic spraying system, comprises the following steps:

[0048] Step one: the part is put on line

[0049] The turbine guide vane 9 is placed on the speed chain 1 by the operator, the part type and batch number of the turbine guide vane 9 are recognized and collected by the part information visual collection subsystem, and the collected information is automatically transmitted to the database of the PLC and computer, and then the PLC sends instructions to the equipment in the sandblasting area, spraying area and coating thickness detection area;

[0050] Step two: sandblasting

[0051] The turbine guide vane 9 is moved to the front of the linkage door by the speed chain 1, then the linkage door is opened, the turbine guide vane 9 is grabbed by the sandblasting station robot 2, and the turbine guide vane 9 is transferred from the speed chain 1 to the sandblasting station, then the linkage door is closed; four sandblasting guns are provided, the first sandblasting gun is aimed at the upper edge plate of the turbine guide vane 9, the second sandblasting gun is aimed at the lower edge plate of the turbine guide vane 9, the third and fourth sandblasting guns are aimed at the blade body of the turbine guide vane 9, and the four sandblasting guns are started to sandblasting the surface of the turbine guide vane 9. During the sandblasting process, the turbine guide vane 9 is rotated by the sandblasting station robot 2 until the sandblasting is completed; specifically, the automatic closing of the linkage door can prevent sand from entering the speed chain 1 during sandblasting, preventing damage to the speed chain 1 due to sand entering;

[0052] Step three: sandblasting cleaning

[0053] After sandblasting, the sand supply of the sandblasting gun is turned off, only the compressed air supply of the sandblasting gun is retained, and the residual sand and dust on the surface of the turbine guide vane 9 are blown away by compressed air;

[0054] Step four: sandblasting surface state detection

[0055] After the blowing is completed, the turbine guide vane 9 is transferred to the inspection station by the sandblasting station robot 2, the surface of the turbine guide vane 9 is photographed by the sandblasting surface state visual inspection subsystem in the inspection station, and the photographed picture is compared with the standard sandblasting picture stored in the sandblasting surface state visual inspection subsystem. If the comparison result is within the allowable difference range, it is determined that the sandblasting is qualified; otherwise, it is determined that the sandblasting is unqualified, the turbine guide vane 9 needs to be transferred back to the sandblasting station for sandblasting again, and then the detection is performed again until the sandblasting is determined to be qualified;

[0056] Step five: face structure light detection

[0057] After sandblasting, the turbine guide vane 9 is transferred to the speed-up chain 1 by the sandblasting station robot 2, and the turbine guide vane 9 is moved to the front of the high-velocity oxygen-fuel spraying station by the speed-up chain 1, and then the turbine guide vane 9 is transferred to the coating thickness detection area by the second high-velocity oxygen-fuel spraying station robot 4, and the turbine guide vane 9 is scanned by the surface structured light scanner 8 to obtain the three-dimensional point cloud of the turbine guide vane 9 before spraying;

[0058] Step six: high-velocity oxygen-fuel spraying

[0059] After the structured light scanning is completed, the turbine guide vane 9 is transferred back to the high-velocity oxygen-fuel spraying station by the second high-velocity oxygen-fuel spraying station robot 4, and the first high-velocity oxygen-fuel spraying station robot 3 clamps the high-velocity oxygen-fuel spraying gun 5 and cooperates with the second high-velocity oxygen-fuel spraying station robot 4 according to the set program path to spray the MCrAlY bottom layer on the turbine guide vane 9, and the coating process parameters of MCrAlY are as shown in Table 1; as Figure 2 shown, it is a schematic diagram of the cooperation of the first high-velocity oxygen-fuel spraying station robot 3 and the second high-velocity oxygen-fuel spraying station robot 4; during the high-velocity oxygen-fuel spraying process, the temperature of the turbine guide vane 9 is monitored by the first infrared thermal imager temperature measurement subsystem, and the temperature of the turbine guide vane 9 is required to be not more than 380℃, so as to avoid that the coating forms a large internal stress due to the temperature being too high, and causes cracks or peeling;

[0060] Table 1. Coating process parameters of MCrAlY

[0061] Kerosene (l / h) O2 (NLPM) Scraper model Rotary speed (%) Spray distance (mm) Nickel-chromium-tungsten 18 830 NL 30 350

[0062] Step seven: atmospheric plasma spraying

[0063] After the high-velocity oxygen-fuel spraying is completed, the turbine guide vane 9 is transferred to the speed-up chain 1 by the second high-velocity oxygen-fuel spraying station robot 4, and the turbine guide vane 9 is moved to the front of the atmospheric plasma spraying station by the speed-up chain 1, and then the turbine guide vane 9 is transferred to the atmospheric plasma spraying station by the second atmospheric plasma spraying station robot 7, and the first atmospheric plasma spraying station robot 6 clamps the atmospheric plasma spraying gun and cooperates with the second atmospheric plasma spraying station robot 7 according to the set program path to spray the ZrO2 surface layer on the turbine guide vane 9, and the coating process parameters of ZrO2 are as shown in Table 2; before the atmospheric plasma spraying, the turbine guide vane 9 needs to be preheated, and the preheating temperature is 150℃-170℃, so as to improve the coating adhesion; during the atmospheric plasma spraying process, the temperature of the turbine guide vane 9 is monitored by the second infrared thermal imager temperature measurement subsystem, and the temperature of the turbine guide vane 9 is required to be not more than 380℃, so as to avoid that the coating forms a large internal stress due to the temperature being too high, and causes cracks or peeling;

[0064] Table 2. Coating process parameters of ZrO2

[0065]

[0066] Step eight: surface structure light detection

[0067] After the spraying is completed, the turbine guide vane 9 is transferred to the coating thickness detection area by the second supersonic flame spraying station robot 4, the turbine guide vane 9 is scanned by the surface structure light scanner 8, the three-dimensional point cloud of the profile of the turbine guide vane 9 after spraying is obtained, and the three-dimensional point cloud data of the profile of the turbine guide vane 9 before and after spraying is compared, and the coating thickness of the surface spraying area of the turbine guide vane 9 is automatically obtained.

[0068] Step nine: part off-line

[0069] After the coating thickness detection is completed, the turbine guide vane 9 is transferred to the speed chain 1 by the second supersonic flame spraying station robot 4, the turbine guide vane 9 is moved to the front of the operator by the speed chain 1, and the turbine guide vane 9 is taken off from the speed chain 1 by the operator.

[0070] The MCrAlY / ZrO2 thermal barrier coating of the turbine guide vane 9 prepared by the multi-robot collaborative automatic spraying method of the present application has a uniform white coating surface, and has no phenomena such as overburning discoloration, cracks, warping, and peeling. Subsequently, the turbine guide vane 9 after spraying was destructively sampled, and the microstructure was observed, as shown in FIG. 2, which is a typical metallographic structure of the coating under 200 times magnification, and the test results are shown in Table 3, which meet the standard requirements. Figure 3

[0071] Table 3. Coating microstructure inspection results

[0072]

[0073] The schemes in the examples are not used to limit the patent protection scope of the present application, and any equivalent implementation or modification made without departing from the present application is included in the patent scope of the present application.​

Claims

1. A turbine guide vane multi-robot collaborative automated spray system, characterized by: It is divided into feeding / discharging area, sand blasting area, spraying area and coating thickness detection area; The feeding / discharging area comprises speed-up chain, part information vision acquisition subsystem, PLC and computer; the speed-up chain passes through the sand blasting area, the spraying area and the coating thickness detection area; the part information vision acquisition subsystem is in communication connection with the PLC and the computer; The sand blasting area is divided into sand blasting station and inspection station, and the sand blasting station and the inspection station are distributed side by side; the sand blasting station comprises sand blasting station robot, sand blasting gun, sand grit screening and recycling device and dust removal subsystem; the inspection station comprises sand blasting surface state vision inspection subsystem; the sand blasting station robot is arranged adjacent to the speed-up chain, the sand blasting gun is arranged adjacent to the sand blasting station robot, and a plurality of sand blasting guns are distributed in the circumferential direction; the sand grit screening and recycling device is arranged adjacent to the sand blasting station robot; the dust removal subsystem is arranged adjacent to the sand grit screening and recycling device; the sand blasting surface state vision inspection subsystem is arranged adjacent to the sand blasting station robot; the sand blasting area is wholly closed by soundproof board, and a linkage door is arranged on the soundproof board between the sand blasting station robot and the speed-up chain; The spraying area is divided into supersonic flame spraying station and atmospheric plasma spraying station; the supersonic flame spraying station comprises first supersonic flame spraying station robot, second supersonic flame spraying station robot, supersonic flame spraying gun and first infrared thermal imaging temperature measurement subsystem; the first supersonic flame spraying station robot and the second supersonic flame spraying station robot are arranged side by side, and the supersonic flame spraying gun is installed on the first supersonic flame spraying station robot; the first infrared thermal imaging temperature measurement subsystem is arranged adjacent to the second supersonic flame spraying station robot, and the second supersonic flame spraying station robot is arranged adjacent to the speed-up chain; the atmospheric plasma spraying station comprises first atmospheric plasma spraying station robot, second atmospheric plasma spraying station robot, atmospheric plasma spraying gun and second infrared thermal imaging temperature measurement subsystem; the first atmospheric plasma spraying station robot and the second atmospheric plasma spraying station robot are arranged side by side, and the atmospheric plasma spraying gun is installed on the first atmospheric plasma spraying station robot; the second infrared thermal imaging temperature measurement subsystem is arranged adjacent to the second atmospheric plasma spraying station robot, and the second atmospheric plasma spraying station robot is arranged adjacent to the speed-up chain; The coating thickness detection area comprises surface structure light scanner, and the surface structure light scanner is arranged adjacent to the supersonic flame spraying station and the atmospheric plasma spraying station.

2. A method for multi-robot collaborative automated spray painting of turbine guide vanes, using the multi-robot collaborative automated spray painting system of claim 1, characterized in that The method comprises the following steps: Step one: feeding of parts An operator places turbine guide vane on the speed-up chain, the part information vision acquisition subsystem identifies and acquires the part type and batch number of the turbine guide vane, and automatically transmits the acquired information to the database of the PLC and the computer, and then the PLC sends instructions to the equipment in the sand blasting area, the spraying area and the coating thickness detection area; Step two: sand blasting The turbine guide vane is moved to the front of the linkage door by the speed chain, then the linkage door is opened, the turbine guide vane is grabbed by the sand blasting station robot, and the turbine guide vane is transferred from the speed chain into the sand blasting station, then the linkage door is closed; four sand blasting guns are arranged, the first sand blasting gun is aimed at the upper edge plate of the turbine guide vane, the second sand blasting gun is aimed at the lower edge plate of the turbine guide vane, the third and fourth sand blasting guns are aimed at the blade body of the turbine guide vane, the four sand blasting guns are started, and the surface of the turbine guide vane is sand blasted; the turbine guide vane is rotated by the sand blasting station robot during the sand blasting process until the sand blasting is completed; Step three: cleaning after sand blasting After sand blasting, the sand supply of the sand blasting gun is turned off, only the compressed air supply of the sand blasting gun is kept, and the residual sand and dust on the surface of the turbine guide vane are blown away by compressed air; Step four: sand blasting surface state detection After the blowing is completed, the turbine guide vane is transferred into the inspection station by the sand blasting station robot, the surface of the turbine guide vane is photographed by the sand blasting surface state visual inspection subsystem in the inspection station, and the photographed picture is compared with the standard sand blasting picture stored in the sand blasting surface state visual inspection subsystem; if the comparison result is within the allowable difference range, it is determined that the sand blasting is qualified; otherwise, it is determined that the sand blasting is unqualified, the turbine guide vane needs to be transferred back to the sand blasting station for sand blasting again, and then the detection is performed again until the sand blasting is determined to be qualified; Step five: face structure light detection After the sand blasting is qualified, the turbine guide vane is transferred onto the speed chain by the sand blasting station robot, the turbine guide vane is moved to the front of the supersonic flame spraying station by the speed chain, then the turbine guide vane is transferred to the coating thickness detection area by the second supersonic flame spraying station robot, the turbine guide vane is scanned by the face structure light scanner, and the three-dimensional point cloud of the profile of the turbine guide vane before spraying is obtained; Step six: supersonic flame spraying After the structure light scanning is completed, the turbine guide vane is transferred back to the supersonic flame spraying station by the second supersonic flame spraying station robot, the supersonic flame spraying gun is clamped by the first supersonic flame spraying station robot, and the turbine guide vane is sprayed with MCrAlY bottom layer according to the set program path and the second supersonic flame spraying station robot; during the supersonic flame spraying process, the temperature of the turbine guide vane is monitored by the first infrared thermal imager temperature measurement subsystem, and the temperature of the turbine guide vane is required to be not more than 380℃; Step seven: atmospheric plasma spraying After the high-velocity oxygen fuel spraying is completed, the turbine guide vane is transferred to the speed chain by the second high-velocity oxygen fuel spraying station robot, and the turbine guide vane is moved to the front of the atmospheric plasma spraying station by the speed chain, then the turbine guide vane is transferred to the atmospheric plasma spraying station by the second atmospheric plasma spraying station robot, and at the same time, the atmospheric plasma spraying gun is clamped by the first atmospheric plasma spraying station robot, and the second atmospheric plasma spraying station robot is cooperated according to the set program path to spray ZrO2 on the surface of the turbine guide vane; before the atmospheric plasma spraying, the turbine guide vane needs to be preheated, and the preheating temperature is 150-170℃; during the atmospheric plasma spraying, the temperature of the turbine guide vane is monitored by the second infrared thermal imaging temperature measurement subsystem, and the temperature of the turbine guide vane is required to be less than 380℃; Step eight: surface structure light detection After the spraying is completed, the turbine guide vane is transferred to the coating thickness detection area by the second high-velocity oxygen fuel spraying station robot, the surface structure light scanner is used to scan the turbine guide vane, the three-dimensional point cloud of the turbine guide vane after spraying is obtained, and the three-dimensional point cloud data of the turbine guide vane before and after spraying is compared to automatically obtain the coating thickness of the turbine guide vane surface spraying area; Step nine: part offline After the coating thickness detection is completed, the turbine guide vane is transferred to the speed chain by the second high-velocity oxygen fuel spraying station robot, and the turbine guide vane is moved to the front of the operator by the speed chain, and the turbine guide vane is taken off from the speed chain by the operator.

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