A method for automatically painting a composite material main blade

Abstract

The embodiment of the application discloses an automatic paint spraying method for a composite material main blade, comprising the following steps: step 1, an automatic paint spraying track of the composite material main blade is designed and planned by controlling a running track of a 6-axis automatic paint spraying robot, and the automatic paint spraying track is an integral spraying track reciprocally moving along a length direction of the main blade; step 2, a distance and an angle of the robot arm for automatically spraying paint on the composite material main blade are adjusted by controlling an arm posture of the 6-axis automatic paint spraying robot; and step 3, the opening degrees of a fan electromagnetic valve, an atomization electromagnetic valve and a flow regulating valve are controlled, so that paint mist meeting atomization requirements, spraying range requirements and stable flow is obtained. The technical scheme provided by the embodiment of the application solves the problems that the quality and efficiency of manual paint spraying of the composite material main blade are greatly influenced by human operation modes and technical proficiency of an operator, and the spraying distance between a spray gun and the main blade is difficult to keep consistent in the manual paint spraying process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of composite material main propeller blade surface treatment, in particular to an automatic paint spraying method for a composite material main propeller blade. BACKGROUND

[0002] Currently, the spraying of the composite material main propeller blade is mainly completed manually by using a spray gun, and the manual paint spraying technology is the mainstream technology for the paint spraying of the composite material main propeller blade.

[0003] Taking a main propeller blade of a certain type of aircraft as an example, the main requirements and the paint spraying mode of the manual paint spraying of the main propeller blade are described as follows:

[0004] 1. A gravity type spray gun or a siphon type spray gun is used, the air inlet pressure is set, the fan adjusting knob (i.e., the radiation area of the paint spraying is adjusted), the paint adjusting valve (i.e., the flow of the paint is adjusted), the degree of atomization of the paint (i.e., the particle size of the atomization) and the spray area (i.e., the atomization radiation area) are adjusted, and the spraying distance between the spray gun and the main propeller blade is controlled to be about 250 mm.

[0005] 2. The spraying distance between the spray gun and the main propeller blade is artificially controlled by an operator.

[0006] However, the quality and efficiency of the manual paint spraying of the composite material main propeller blade are greatly affected by the artificial operation mode and the technical proficiency of the operator, and the spraying distance between the spray gun and the main propeller blade is difficult to keep consistent during the manual paint spraying process. SUMMARY

[0007] The present application aims to solve the above technical problems, and provides an automatic paint spraying method for a composite material main propeller blade to solve the problems that the quality and efficiency of the manual paint spraying of the composite material main propeller blade are greatly affected by the artificial operation mode and the technical proficiency of the operator, and the spraying distance between the spray gun and the main propeller blade is difficult to keep consistent during the manual paint spraying process.

[0008] The technical scheme of the present application is as follows: the present application provides an automatic paint spraying method for a composite material main propeller blade, and a 6-axis automatic paint spraying robot is used to perform the automatic paint spraying of the composite material main propeller blade, and the automatic paint spraying process method comprises the following steps.

[0009] Step 1: The automatic paint spraying track of the composite material main propeller blade is designed and planned by controlling the running track of the 6-axis automatic paint spraying robot, and the automatic paint spraying track is an integral spraying track that reciprocally moves along the length direction of the main propeller blade.

[0010] Step 2: The distance and the angle of the automatic paint spraying between the robot arm and the composite material main propeller blade are adjusted by controlling the arm posture of the 6-axis automatic paint spraying robot.

[0011] Step 3, control the opening of the fan electromagnetic valve, atomization electromagnetic valve and flow regulating valve to obtain paint mist meeting the atomization requirements, spraying requirements and stable flow.

[0012] Optionally, in the automatic paint spraying method of the composite main propeller blade as described above, the step 1 comprises:

[0013] The running track of the 6th axis of the robot is controlled by the controller (PLC) and the robot running track to reciprocate along the length direction of the composite main propeller blade, and the automatic spraying track of the composite main propeller blade is designed as an integrated spraying track.

[0014] Optionally, in the automatic paint spraying method of the composite main propeller blade as described above, the step 2 comprises:

[0015] The rotation of the 1st to 5th axes of the robot is controlled by the controller (PLC) to realize the up-down and left-right movement of the robot arm, and the distance and angle adjustment between the robot arm and the main propeller blade.

[0016] Optionally, in the automatic paint spraying method of the composite main propeller blade as described above, before the step 2, it further comprises:

[0017] Based on the surface structure of the composite main propeller blade, a path node is designed at the position where the surface changes, so as to adjust the actual spraying path in the automatic spraying track, so as to control the distance and angle between the robot arm and the main propeller blade through the adjusted spraying path.

[0018] Optionally, in the automatic paint spraying method of the composite main propeller blade as described above, the step 3 comprises:

[0019] The fan electromagnetic valve and atomization electromagnetic valve on the robot arm spray gun are controlled by air pressure, and the flow regulating valve on the robot arm spray gun is controlled by the controller (PLC), so as to obtain paint mist meeting the atomization requirements, spraying requirements and stable flow.

[0020] Optionally, in the automatic paint spraying method of the composite main propeller blade as described above, the step 3 comprises:

[0021] Based on the automatic spraying track, the spraying parameters of each spraying track are set according to the characteristics of the paint.

[0022] Optionally, in the automatic paint spraying method of the composite main propeller blade as described above,

[0023] In step 1, the integral spraying track on one side of the main blade is designed as follows: taking the tip of the chord line on one side of the main blade as the starting point, moving along the length of the blade to the position of the blade root to form the 1# track, taking the end point of the 1# track as the starting point, moving along the chord line to another side by a preset interval to form the 2# track, taking the end point of the 2# track as the starting point, moving along the length of the blade to the position of the blade tip to form the 3# track, and then the 5 tracks along the length of the blade and the 4 tracks along the chord line by a preset interval are designed in sequence, which are respectively the 1# track to the 9# track; and for the end surface of the blade root, taking one side of the blade root as the starting point, moving along the change position of the blade root surface to form the 10# track and the 11# track.

[0024] Optionally, in the automatic paint spraying method of the composite main blade, the spraying parameters set for the 1# track to the 11# track are as follows:

[0025] Index 1# trajectory 2# trajectory 3# trajectory 4# trajectory 5# trajectory 6# trajectory Flow (ml / min) 40 40 40 40 40 40 Sector (0.1 ba) 45 45 45 45 45 45 Atomization (0.1 ba) 45 45 45 45 45 45 Index 7# trajectory 8# trajectory 9# trajectory 10# trajectory 11# trajectory / Flow (ml / min) 40 40 40 30 30 / Sector (0.1 ba) 45 45 45 45 45 / Atomization (0.1 ba) 45 45 45 45 45 /

[0026] Optionally, in the automatic paint spraying method of the composite main blade, the process flow of the automatic paint spraying method is as follows:

[0027] S1, cleaning, polishing and cleaning the surface of the composite main blade;

[0028] S2, spraying primer on the surface of the composite main blade by a robot according to the pre-set automatic spraying track and path node, and drying to show defects;

[0029] S3, polishing, cleaning, puttying and drying the surface of the composite main blade;

[0030] S4, polishing and cleaning the surface of the composite main blade;

[0031] S5, spraying primer on the surface of the composite main blade by a robot according to the pre-set automatic spraying track and path node, and drying;

[0032] S6, after drying, polishing and cleaning the surface of the composite main blade, spraying topcoat on the surface of the composite main blade by a robot according to the pre-set automatic spraying track and path node, and drying.

[0033] The automatic paint spraying method of the composite main blade provided by the embodiment of the application effectively improves the paint spraying efficiency of the composite main blade by planning the integral spraying track suitable for the movement of the robot; the adaptability of the paint spraying path to the posture of the robot arm is accurately adjusted by designing the path node, so that the distance between the spray gun and the blade and the spraying angle are accurately controlled, and the spraying quality is improved; the traditional blade spraying integral process is improved, the difficulty of puttying is reduced, the manual workload is reduced, and the stability of the quality of the paint layer on the surface of the composite blade is further improved.

[0034] In addition, the automatic paint spraying method of the composite main blade provided by the embodiment of the present application is verified, the overall paint spraying process of the composite blade and the automatic paint spraying track of the composite main blade are re-planned by using a 6-axis automatic paint spraying robot, and the automatic paint spraying parameters are formulated, so that the design requirements of the composite main blade, such as the uniformity of the surface paint thickness of the composite main blade ±5 μm and the overall paint layer weight ≤500 g, are met, and the automatic paint spraying operation of the composite main blade with high quality, high efficiency and stable quality is completed. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification, and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0036] Figure 1 It is a schematic diagram of the composite main blade and the paint spraying requirements thereof in the embodiment of the present application;

[0037] Figure 2 It is a track diagram of the existing manual paint spraying of the composite main blade in the embodiment of the present application;

[0038] Figure 3 It is a flowchart of the automatic paint spraying method of the composite main blade provided by the embodiment of the present application;

[0039] Figure 4 It is a schematic diagram of the overall spraying track and spraying path designed by the automatic paint spraying method of the composite main blade provided by the embodiment of the present application

[0040] Figure 5 It is a schematic diagram of the overall spraying track and spraying path designed by the automatic paint spraying method of the composite main blade provided by the embodiment of the present application Figure 4 It is a schematic diagram of the spraying angle of the spraying path of the overall spraying track in the embodiment.

[0041] Reference signs:

[0042] 1 - composite main blade cross-sectional view;

[0043] 2 - spraying angle and position;

[0044] 3 - composite main blade;

[0045] 4 - overall spraying track;

[0046] 5 - main blade paint spraying track starting point;

[0047] 6, 7, 8, 9, 10 - main blade deformation track adjustment points, i.e. path nodes, affected by gravity;

[0048] 11 - main blade paint spraying track end point;

[0049] 12, 13, 14 - Path nodes of the root end face spraying of the paddle;

[0050] 15 - End point of the paddle root end face spraying trajectory. DETAILED DESCRIPTION

[0051] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other in any manner without conflict.

[0052] As described in the above background, in the prior art, the manual paint spraying technology is the mainstream technology for spraying paint on the composite material main paddle, such as Figure 1 As shown in FIG. 1, it is a schematic diagram of the composite material main paddle and the paint spraying requirements thereof in the embodiments of the present application. However, the manual paint spraying of the composite material main paddle has the following problems: on the one hand, the quality and efficiency of the manual paint spraying of the composite material main paddle are greatly affected by the human operation mode and the technical proficiency of the operator; on the other hand, it is difficult to keep the spraying distance between the spray gun and the main paddle consistent during the manual paint spraying process.

[0053] As shown in FIG. 2, it is a trajectory diagram of the existing manual paint spraying of the composite material main paddle in the embodiments of the present application. For the composite material main paddle shown in FIG. 1, the manual paint spraying trajectory shown in FIG. 2 is used for paint spraying. Figure 2 Figure 1 As shown in FIG. 2, it is a trajectory diagram of the existing manual paint spraying of the composite material main paddle in the embodiments of the present application. For the composite material main paddle shown in FIG. 1, the manual paint spraying trajectory shown in FIG. 2 is used for paint spraying. Figure 2

[0054] 1) The surface of the composite material paddle is cleaned, polished and cleaned;

[0055] 2) The putty is scraped on the surface of the composite material paddle and dried;

[0056] 3) The surface of the composite material paddle is polished and cleaned;

[0057] 4) The primer is sprayed on the surface of the composite material paddle and dried;

[0058] 5) Defects are found;

[0059] 6) The defects are polished, cleaned, supplemented with scraped putty, and the putty is dried;

[0060] 7) After drying, the surface of the composite material paddle is sprayed with topcoat and dried.

[0061] ​​With the development of industrial automation and intelligence, and the need for harmful operation modification, automated operation has gradually developed and grown. Moreover, based on the characteristics of composite material main blade that has similar shape size and mass production, the automatic painting operation of the composite material main blade is proposed in the embodiment of the application.

[0062] In view of the problems existing in the manual painting of the composite material main blade and the automatic painting demand of the composite material main blade, the embodiment of the application provides an automatic painting method for the composite material main blade.

[0063] The following specific embodiments provided by the application can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments.

[0064] Figure 3 The flow chart of the automatic painting method for the composite material main blade provided by the embodiment of the application is shown in FIG. 1. Figure 3 As shown in FIG. 1, the automatic painting method for the composite material main blade provided by the embodiment of the application adopts a 6-axis automatic painting robot to perform the automatic painting process, and the implementation steps of the automatic painting method can include:

[0065] Step 1: The automatic painting trajectory of the composite material main blade is designed and planned by controlling the running track of the 6-axis automatic painting robot.

[0066] In this step, the running track of the 6th axis of the robot is controlled by the controller (PLC) and the robot running track, that is, the robot moves back and forth along the length direction of the composite material main blade, and the automatic painting trajectory of the composite material main blade is designed as an integral painting trajectory, rather than a segmented painting trajectory of manual painting. Figure 2 and Figure 4 As shown in FIG. 2, the integral painting trajectory designed by the automatic painting method for the composite material main blade provided by the embodiment of the application and the painting path are shown in FIG. 3. Figure 4 As shown in FIG. 3, the integral painting trajectory designed by the automatic painting method for the composite material main blade provided by the embodiment of the application and the painting path are shown in FIG. 3.

[0067] Step 2: The distance and angle of the automatic painting between the robot arm and the composite material main blade are adjusted by controlling the arm posture of the 6-axis automatic painting robot.

[0068] In this step, the flexible rotation of the other 5 axes (i.e., the 1st axis to the 5th axis) of the robot is controlled by the controller (PLC), so as to realize the up-down and left-right movement similar to the human arm movement, and realize the distance adjustment and angle adjustment between the robot arm (and the spray gun) and the main blade painting surface.

[0069] It should be noted that in the embodiment of the application, the distance and angle between the robot automatic arm and the main blade can also be controlled by designing the path node, that is, the path node can be planned in advance before step 2. The specific mode is:

[0070] Based on the profile structure of the composite material main blade, a path node is designed at the position where the profile changes, so as to adjust the actual spraying path in the automatic spraying trajectory, so as to control the distance and angle between the robot arm and the main blade through the adjusted spraying path. Figure 5 As shown in the embodiment, the spraying angle of the spraying path of the integral spraying trajectory is shown schematically. Figure 4 As shown in the embodiment, the spraying angle of the spraying path of the integral spraying trajectory is shown schematically.

[0071] Referring to Figure 4 And Figure 5 It can be seen that in the embodiment of the application, the automatic spraying trajectory is designed and planned as an integral spraying trajectory, and a path node is designed at the position where the profile of the composite material main blade changes in the integral spraying trajectory, so as to form the actual spraying path of the robot arm, that is, the path node is added in the integral spraying trajectory.

[0072] It should be noted that since the main blade has its own weight, there will be deformation in the middle, and by designing a path node at the position where the profile changes in the middle of the blade, the distance and angle between the robot arm and the main blade can be adjusted to achieve precise control of the distance and angle between the robot arm and the main blade.

[0073] Step 3, control the fan electromagnetic valve and the atomization electromagnetic valve on the robot arm spray gun through air pressure, and control the flow regulating valve on the robot arm spray gun through the controller (PLC), so as to obtain paint mist meeting the atomization requirements, the spraying requirements, and stable flow.

[0074] Based on the automatic paint spraying method for the composite material main blade realized by the 6-axis robot provided in the embodiment of the application, the embodiment of the application further provides a paint spraying process of the automatic paint spraying method for the composite material main blade, including the following steps:

[0075] S1, cleaning, polishing and cleaning treatment are performed on the surface of the composite material main blade;

[0076] S2, a robot sprays primer on the surface of the composite material main blade according to the pre-set automatic spraying trajectory and path node, and performs drying to show defects;

[0077] S3, polishing, cleaning, putty scraping and drying are performed on the surface of the composite material main blade;

[0078] S4, polishing and cleaning treatment are performed on the surface of the composite material main blade;

[0079] S5, a robot sprays primer on the surface of the composite material main blade according to the pre-set automatic spraying trajectory and path node, and performs drying;

[0080] S6, after drying, polishing and cleaning the surface of the composite main blade, using a robot to spray the topcoat according to the pre-set automatic spraying track and path node, and drying.

[0081] It should be noted that in the adjusted paint spraying process in the embodiment of the application, a primer spraying is added before the putty hanging, which optimizes the surface state before the putty is applied, reduces the difficulty of putty scraping, and reduces the labor workload.

[0082] The automatic paint spraying method for the composite main blade provided by the embodiment of the application effectively improves the paint spraying efficiency of the composite main blade by planning the overall spraying track suitable for the movement of the robot; the adaptability of the spraying path and the posture of the robot arm is accurately adjusted by designing the path node, so that the distance between the spray gun and the blade and the spraying angle are accurately controlled, and the spraying quality is improved; by improving the traditional overall spraying process of the blade, the difficulty of putty scraping is reduced, the labor workload is reduced, and the stability of the surface paint layer quality of the composite blade is further improved.

[0083] In addition, the automatic paint spraying method for the composite main blade provided by the embodiment of the application has been verified, and the overall paint spraying process of the composite blade and the automatic paint spraying track of the composite main blade are re-planned by using a 6-axis automatic paint spraying robot, and the automatic paint spraying parameters are formulated, which meets the design requirements of the composite main blade, such as the uniformity of the surface paint thickness of the composite main blade ±5μm, and the overall paint layer weight of the composite main blade ≤500g, and completes the automatic paint spraying operation of the composite main blade with high quality and high efficiency, and stable quality.

[0084] The implementation of the automatic paint spraying method for the composite main blade provided by the embodiment of the application will be described below by an implementation example.

[0085] Implementation Example

[0086] In this implementation example, a 6-axis automatic paint spraying robot is used to implement the automatic paint spraying of the composite main blade, including the following steps:

[0087] Step 1, based on the action characteristics of the 6-axis robot and the characteristics of the long length of the composite main blade, in order to adapt to the robot spraying operation, the automatic paint spraying track of the composite main blade is designed as an overall spraying track instead of a segmented spraying track, i.e. a spraying track that moves back and forth along the length direction of the composite main blade, as shown in Figure 4 .

[0088] In specific implementation, the 6th axis of the robot is controlled by the controller (PLC) and the robot running track to move back and forth along the length direction of the composite main blade.

[0089] Step 2, path nodes are designed at the positions where the profile of the main blade of the composite material changes, and the actual spraying path in the automatic spraying track is adjusted, for precisely controlling the distance and angle between the robot arm and the main blade, and the design of the path nodes is as shown in Figure 4 .

[0090] Step 3, based on the automatic spraying track, the spraying parameters of each spraying track are set according to the characteristics of the paint.

[0091] As Figure 4 each arrow is a track, from the starting point ⑤ of the spraying path to the end point of the spraying path , there are 11 spraying paths in total, and the spraying parameters of each spraying path are shown in the following table.

[0092] Index 1# trajectory 2# trajectory 3# trajectory 4# trajectory 5# trajectory 6# trajectory Flow (ml / min) 40 40 40 40 40 40 Sector (0.1 ba) 45 45 45 45 45 45 Atomization (0.1 ba) 45 45 45 45 45 45 Index 7# trajectory 8# trajectory 9# trajectory 10# trajectory 11# trajectory / Flow (ml / min) 40 40 40 30 30 / Sector (0.1 ba) 45 45 45 45 45 / Atomization (0.1 ba) 45 45 45 45 45 /

[0093] In the setting of the above spraying parameters, the spraying path at the root end surface is relatively short, and the flow of the spraying track at the root end is adjusted accordingly to improve the spraying quality.

[0094] The automatic paint spraying method for the main blade of the composite material provided in the embodiments of the present application has been verified, the overall paint spraying process of the main blade of the composite material and the automatic paint spraying track of the main blade of the composite material are re-planned by using a 6-axis automatic paint spraying robot, and the automatic paint spraying parameters are formulated, so that the design requirements of the main blade of the composite material, such as the uniformity of the paint thickness on the surface of the main blade of the composite material ±5μm and the overall weight of the paint layer ≤500g, are met, and the automatic paint spraying operation of the main blade of the composite material with high quality, high efficiency and stable quality is completed.

[0095] The automatic paint spraying method for the main blade of the composite material provided in the embodiments of the present application has been applied to the batch production of the main blades of Z10 type machines, the paint spraying efficiency of the main blades of the composite material is effectively improved by planning the spraying track suitable for the movement of the robot, the distance and angle between the spray gun and the main blade are precisely controlled by adjusting the paint spraying path and the shape of the robot through the design of the path nodes, and the spraying quality is improved, the difficulty of putty scraping is reduced, the amount of manual work is reduced, and the quality stability of the paint layer on the surface of the main blade of the composite material is further improved by improving the overall process of the traditional main blade spraying.

[0096] Although the embodiments of the present application are disclosed as above, the content is only the embodiments adopted for the purpose of facilitating the understanding of the present application, and is not used to limit the present application. Any person skilled in the art of the present application can make any modification and change in the form and details without departing from the spirit and scope of the present application, but the patent protection scope of the present application shall be subject to the scope defined by the appended claims.

Claims

1. A method of automatically painting a composite material main blade, characterized by, The application discloses an automatic paint spraying method for a composite main blade, and the automatic paint spraying method comprises the following steps: Step 1: the automatic paint spraying track of the composite main blade is designed and planned by controlling the running track of the 6-axis automatic paint spraying robot, and the automatic paint spraying track is an integral spraying track which reciprocally moves along the length direction of the main blade; Step 2: the distance and angle of automatic paint spraying between the robot arm and the composite main blade are adjusted by controlling the arm posture of the 6-axis automatic paint spraying robot; Step 3: the opening degrees of the fan electromagnetic valve, the atomization electromagnetic valve and the flow regulating valve are controlled, so that the paint mist which meets the atomization requirement, the spraying range requirement and the stable flow is obtained; Before the step 2, the method further comprises the following steps: Based on the surface structure of the composite main blade, the path nodes are designed at the positions where the surface changes, so that the actual spraying path in the automatic paint spraying track is adjusted, and the distance and angle between the robot arm and the main blade are controlled through the adjusted spraying path; In the step 1, the integral spraying track on one side of the main blade is designed as follows: the integral spraying track starts from the tip of the main blade on one side of the chord line, moves to the root position along the length direction of the main blade to form a 1# track, starts from the end point of the 1# track, moves to another side along the chord line by a preset interval to form a 2# track, starts from the end point of the 2# track, moves to the tip position along the length direction of the main blade to form a 3# track, and the integral spraying track is designed to obtain five tracks along the length direction of the main blade and four tracks along the chord line by a preset interval, which are respectively a 1# track to a 9# track; the integral spraying track on the root end surface of the main blade starts from one side of the root, moves along the surface change position of the root to form a 10# track and an 11# track.

2. The automatic paint spraying method of a composite material main blade according to claim 1, characterized by, In the step 1, the method comprises the following steps: The running track of the sixth axis of the robot is controlled by the controller PLC and the robot running track, and the running track of the sixth axis of the robot is designed to reciprocally move along the length direction of the composite main blade, so that the automatic spraying track of the composite main blade is designed to be an integral spraying track.

3. The automatic paint spraying method of a composite material main blade according to claim 2, characterized by, In the step 2, the method comprises the following steps: The rotation of the first axis to the fifth axis of the robot is controlled by the controller PLC, so that the up-down and left-right movements of the robot arm are realized, and the distance adjustment and angle adjustment between the robot arm and the main blade are realized.

4. The automatic paint spraying method of a composite material main blade according to claim 1, characterized by, In the step 3, the method comprises the following steps: The fan electromagnetic valve and the atomization electromagnetic valve on the robot arm spraying gun are controlled by air pressure, and the flow regulating valve on the robot arm spraying gun is controlled by the controller PLC, so that the paint mist which meets the atomization requirement, the spraying range requirement and the stable flow is obtained.

5. The automatic paint spraying method of a composite material main blade according to claim 1, characterized by, In the step 3, the method comprises the following steps: Based on the automatic spraying track, the spraying parameters of each spraying track are set according to the paint characteristics.

6. The automatic paint spraying method of a composite material main blade according to claim 1, characterized by, For the 1# track to the 11# track, the spraying parameters are set as follows: 。 7. The automatic paint spraying method of a composite material main blade according to any one of claims 1 to 6, characterized by, The process flow of the automatic paint spraying method is as follows: S1: the surface of the composite main blade is cleaned, polished and cleaned; S2: the robot sprays the surface of the composite main blade with a primer according to the pre-set automatic spraying track and path node, and the defects are shown after drying; S3: the surface of the composite main blade is polished, cleaned, scraped with putty and dried; S4: the surface of the composite main blade is polished and cleaned; S5, adopting the robot to spray primer on the surface of the composite main blade according to the preset automatic spraying trajectory and path node, and drying; S6, after polishing and cleaning the surface of the composite main blade after drying, adopting the robot to spray finish according to the preset automatic spraying trajectory and path node, and drying.

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