Movable automatic spraying system and method

Abstract

The invention belongs to the technical field of surface coating processing, and relates to a movable automatic spraying system and method. The automatic spraying system is adopted, the spraying period of the large-thickness coating on the outer surface is shortened to 35% of the original spraying period, the coating thickness precision is improved to + / -25 micrometers from original + / -50 micrometers, and the coating quality and the spraying efficiency are greatly improved; meanwhile, an operator does not need to stay in a paint mist scattering environment for a long time, so that the labor intensity of workers is reduced, and the working environment is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of surface coating processing and relates to a movable automatic spraying system and method. Background Art

[0002] Traditional spraying is done manually, with the operator holding a spray gun to spray. The operator's technique has a great impact on the spraying quality. At the same time, due to the splashing of paint mist and the volatilization of organic solvents, the spraying environment is very unfriendly to the operator.

[0003] For coatings with high coating thickness requirements, it is difficult to ensure uniform coating thickness using traditional manual spraying methods, and the pressure of rework and troubleshooting is high. In addition, when the coating is dry on the surface but not completely dry, the spraying workers cannot get on the plane to spray again, resulting in low coating spraying efficiency.

[0004] The automatic spraying system can achieve precise control over paint flow, spray gun atomization, spray gun fan width, spraying posture, spraying trajectory, gun speed, and spraying distance, and can complete the spraying operation of the entire machine's outer surface coating system while ensuring quality and efficiency. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an automatic spraying system and method for aircraft outer surface coating, which reduces the labor intensity of workers, improves the working environment, improves work efficiency, and significantly improves the spraying quality.

[0006] To solve the above problems, the specific technical solutions of the present invention are as follows:

[0007] A movable automatic spraying system, including an upper surface spraying system and a lower surface spraying system; the upper surface spraying system is a gantry robot, and the lower surface spraying system is three AGV robot;

[0008] The upper surface spraying system (see Figure 1 ) is responsible for the spraying of the upper surface of the aircraft, including the upper surface of the wing, the upper surface of the fuselage, and the left and right sides of the vertical tail. The upper surface spraying system includes a spraying robot system, a truss-type mobile mechanism, and a paint supply system.

[0009] The spraying robot system is composed of a 6-axis spraying robot arm;

[0010] The truss type moving mechanism is composed of an x ​​beam along the axial direction of the aircraft, a y beam along the wingspan direction of the aircraft, and a z beam along the vertical direction;

[0011] The paint delivery and supply system comprises a paint delivery and supply cabinet (including a paint storage tank, a supply and delivery pipeline, a valve group, a pump group, an explosion-proof automatic mixer) and a spray gun.

[0012] The lower surface spraying system includes three AGV spraying robots and a positioning system. The three AGV spraying robots are three independent spraying systems, namely the left wing lower surface spraying system, the right wing lower surface spraying system, and the belly lower surface spraying system, which are responsible for spraying the lower surface of the aircraft. Each spraying unit is composed of a spraying robot system, a mobile mechanism, and a paint supply system (see Figure 2).

[0013] The spraying robot system is composed of a 6-axis spraying robot arm.

[0014] The mobile mechanism: the AGV vehicle robot adopts the AGV mobile mechanism, the spraying system, the spraying robot vehicle-mounted control cabinet, the vehicle-mounted integrated control cabinet, and the spraying system positive pressure explosion-proof control cabinet are installed on the AGV mobile mechanism, and the AGV mobile mechanism travels on the factory floor, and after driving to the spraying station, it is fixed on the factory floor, and then the spraying operation is carried out.

[0015] The paint delivery and supply system comprises a paint delivery and supply cabinet (including a paint storage tank, a supply and delivery pipeline, a valve group, a pump group, an explosion-proof automatic mixer) and a spray gun.

[0016] The aircraft to be sprayed is parked at the predetermined position in the spraying workshop, and the automatic spraying program is started. The spraying robot sprays the outer surface of the aircraft according to the set trajectory and spraying parameters.

[0017] A method for spraying functional coating on the outer surface of an aircraft by an automated spraying system comprises the following steps. Figure 3 :

[0018] Step 1: Position division: According to the overall size, posture, lower surface status of the aircraft and the effective operating range of the robot arm, the AGV robot position is divided to ensure that the operation route of the aircraft lower surface spraying robot AGV is reasonable and efficient, and does not interfere with the aircraft and supporting structure.

[0019] Step 2: Trajectory planning: According to the shape of the aircraft, plan the operation trajectory of the spray robot to ensure that all spraying areas of the aircraft can be effectively sprayed, and the spray gun posture meets the requirements of the spraying process, and at the same time, the robot does not interfere with the aircraft.

[0020] Step 3: Setting spraying parameters: Set the process parameters according to the properties and quality requirements of the paint. The spraying process parameters of the gantry robot are: spraying distance 220-260mm, gun speed 160-240mm / s, paint atomization pressure 2.4V, fan width pressure 2.4V, paint output 115ml / min, and track spacing 100mm; the spraying process parameters of the AGV robot are: spraying distance 200-240mm, gun speed 160-240mm / s, paint atomization pressure 3.0V, fan width pressure 3.0V, paint output 160ml / min, and track spacing 100mm.

[0021] Step 4: Aircraft approach and posture adjustment: The aircraft enters the spraying workshop, parks at the set position, adjusts the aircraft height to the set height, and the status of other active parts of the aircraft is consistent with the programmed status.

[0022] Step 5: Posture confirmation: Use an industrial camera to take a photo of the adjusted aircraft, select two or more reference points, compare the difference between the aircraft's programmed posture and the actual posture, and compensate by adjusting the program.

[0023] Step 6: Program trial run and optimization: simulate the program on a parked aircraft, and monitor it manually at all times. If any abnormality occurs, stop the aircraft immediately, reprogram and correct it. The corrected program needs to be simulated again until the trajectory program is completely accurate.

[0024] Step 7: Paint protection: Use kraft paper and tape to protect the areas not to be painted, and replace the protective paper every 4-5 times of spraying.

[0025] Step 8: Grinding and cleaning: To enhance the adhesion of paint, use sandpaper with mesh size 180 or above to grind the substrate before painting.

[0026] Step 9: Preparation of coating: Mix the base material and curing agent of the functional coating in a weight ratio of 11:2, then add the matching diluent to adjust the viscosity to 13-14S, and use it after aging for 5-10min.

[0027] Step 10: Adding paint: Add the prepared paint to the paint storage tank of the automatic spraying system. There is a stirring device in the paint storage tank to prevent the paint from settling during the spraying process.

[0028] Step 11: Spraying: Start the automatic spraying program. During the spraying process, the image monitoring system can monitor the spraying process in real time. The paint is filled with a liquid level alarm, and an early warning will be given when the paint is insufficient; anti-collision tentacles are installed between the AGV car and the mechanical arm joints. When the tentacles are touched, the equipment will immediately stop. According to the characteristics of the paint, in order to ensure the appearance quality and thickness uniformity, the spraying thickness is about 34-38μm per time, and spraying is continuous 3-4 times a day.

[0029] Step 12: Drying: Dry at 40-45℃ for 10h.

[0030] Step 13: Spraying and drying: Repeat steps 8-12 until the required thickness is reached.

[0031] Step 14: Removal of protection and quality inspection: Remove and clean the paint protection and conduct quality inspection.

[0032] The implementation effect of the present invention:

[0033] The present invention adopts an automatic spraying system, and the spraying cycle of the thick coating on the outer surface is shortened to 35% of the original, and the coating thickness accuracy is improved from the original ±50μm to ±25μm, and the coating quality and spraying efficiency are greatly improved; at the same time, the operator does not need to be in an environment with paint mist for a long time, which reduces the labor intensity of the workers and improves the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the upper surface spraying system;

[0035] Figure 2 (a) Schematic diagram of the left side of the AGV spraying robot;

[0036] Figure 2(b) Schematic diagram of the right side of the AGV spraying robot;

[0037] Figure 2(c) Bottom view of the AGV painting robot;

[0038] Figure 3 Automatic spraying process flow chart.

[0039] In the figure: 1 is an X beam; 2 is a Y beam; 3 is a Z beam; 4 is a spraying robot system; 5 is a paint supply system; 6 is a spraying plant ceiling; 21 is an AGV vehicle; 22 is a cabinet for placing a take-up device; 23 is an electrical control cabinet; 24 is a paint cabinet; 25 is a process control cabinet; 26 is a robot control cabinet; 27 is a mobile track; 28 is a spraying robot; 29 is an electrical control cabinet on the top of the AGV vehicle. DETAILED DESCRIPTION

[0040] Automatic spraying of functional coatings on aircraft exterior surfaces includes the following steps:

[0041] 1. Programming and trajectory planning

[0042] The AGV robot station is divided according to the overall size, posture, and lower surface state of the aircraft to ensure that the AGV robot running route for the lower surface of the aircraft is reasonable and efficient, and does not interfere with the aircraft and supporting structures. The running trajectory of the spraying robot is planned according to the shape of the aircraft to ensure that all spraying areas of the aircraft can be effectively sprayed, and the spray gun posture meets the spraying process requirements, and the robot does not interfere with the aircraft. Set the process parameters according to the properties and quality requirements of the paint. The spraying process parameters of the gantry robot are: spraying distance 220-260mm, gun speed 160-240mm / s, paint atomization pressure 2.4V, fan pressure 2.4V, paint output 115ml / min, track spacing 100mm; AGV robot spraying process parameters: spraying distance 200-240mm, gun speed 160-240mm / s, paint atomization pressure 3.0V, fan pressure 3.0V, paint output 160ml / min, track spacing 100mm.

[0043] 2. Aircraft approach and procedure optimization

[0044] The aircraft enters the spraying workshop and parks at the set position. The aircraft height is adjusted to the set height, and the status of other active parts of the aircraft is consistent with the programmed status. The adjusted aircraft is photographed by an industrial camera, and more than 2 reference points are selected to compare the difference between the programmed posture of the aircraft and the actual posture, and compensated by adjusting the program. The program is simulated and run on the parked aircraft. During the simulation, it is monitored by humans at all times. If any abnormal situation occurs, the aircraft is immediately stopped and reprogrammed and corrected. The corrected program needs to be re-simulated and run until the trajectory program is completely accurate.

[0045] 3. Preparation before spraying

[0046] For areas that are not to be painted, use kraft paper and tape for protection, and replace the protective paper every 4-5 sprayings; to enhance the adhesion of the paint, use sandpaper with a mesh size of 180 or above to grind the substrate before painting; mix the base material and curing agent of the paint in a weight ratio of 11:2, and then add the matching thinner to adjust the viscosity to 13-14S, mature for 5-10 minutes, and then add the paint to the paint storage tank of the automatic spraying system. Keep the stirring device in the paint storage tank running during the spraying process.

[0047] 4. Spraying and quality inspection

[0048] Start the automatic spraying program. According to the characteristics of the paint, in order to ensure the appearance quality and thickness uniformity, the spraying thickness is about 34-38μm per time, and spraying is continuous 3-4 times a day. After spraying, dry it at 40-45℃ for 10 hours; before spraying the next day, use sandpaper with mesh size of 180 or above to grind the paint film surface, and repeat the spraying until the specified thickness is reached. Remove and clean the paint protection and conduct quality inspection.

Claims

1. A movable automatic spraying system, characterized in that: It includes an upper surface spraying system and a lower surface spraying system; the upper surface spraying system is a gantry robot, and the lower surface spraying system is three AGV robots; The upper surface spraying system is responsible for the spraying operation of the upper surface of the aircraft, including the upper surface of the wing, the upper surface of the fuselage, and the left and right sides of the vertical tail; the upper surface spraying system includes a spraying robot system, a truss-type moving mechanism, and a paint supply system; The spraying robot system is composed of a 6-axis spraying robot arm; The truss type moving mechanism is composed of an x ​​beam along the axial direction of the aircraft, a y beam along the wingspan direction of the aircraft, and a z beam along the vertical direction; The paint supply system includes a paint supply cabinet and a spray gun; The lower surface spraying system includes three AGV spraying robots and a positioning system; the three AGV spraying robots are three independent spraying systems, namely the left wing lower surface spraying system, the right wing lower surface spraying system, and the belly lower surface spraying system, which are responsible for spraying the lower surface of the aircraft; each spraying unit is composed of a spraying robot system, a moving mechanism, and a paint supply system; The spraying robot system is composed of a 6-axis spraying robot arm; The mobile mechanism: the AGV vehicle robot adopts the AGV mobile mechanism, the spraying system, the spraying robot vehicle-mounted control cabinet, the vehicle-mounted integrated control cabinet, and the spraying system positive pressure explosion-proof control cabinet are installed on the AGV mobile mechanism, and the AGV mobile mechanism travels on the factory floor, and after driving to the spraying station, it is fixed on the factory floor, and then the spraying operation is carried out.

2. A movable automatic spraying system as claimed in claim 1, characterized in that: The paint supply cabinet comprises a paint storage tank, a supply pipeline, a valve group, a pump group and an explosion-proof automatic mixer.

3. A coating method of a movable automatic spraying system according to claim 1 or 2, characterized in that: Here are the steps: Step 1: Position division: According to the overall size, posture, lower surface state of the aircraft and the effective operating range of the robot arm, the AGV robot position is divided; Step 2: Trajectory planning: According to the shape of the aircraft, plan the running trajectory of the spray robot to ensure that all spraying areas of the aircraft can be effectively sprayed, and the spray gun posture meets the requirements of the spraying process, and at the same time, the robot and the aircraft do not interfere; Step 3: spraying parameter setting; Step 4: Aircraft approach and posture adjustment: The aircraft enters the spraying workshop, parks at the set position, adjusts the aircraft height to the set height, and the status of other active parts of the aircraft is consistent with the programmed status; Step 5: Posture confirmation: Use an industrial camera to take a photo of the adjusted aircraft, select two or more reference points, compare the difference between the aircraft's programmed posture and the actual posture, and compensate by adjusting the program; Step 6: Program trial run and optimization: simulate the program on a parked aircraft, monitor it manually at all times, and immediately stop the aircraft in case of abnormality, reprogram and calibrate it. The calibrated program needs to be simulated again until the trajectory program is completely accurate. Step 7: Paint protection Step 8: Sanding and Cleaning Step 9: Mixing the paint Step 10: Adding paint: Add the prepared paint to the paint storage tank of the automatic spraying system. There is a stirring device in the paint storage tank to prevent the paint from settling during the spraying process. Step 11: Spraying: Start the automatic spraying program. During the spraying process, the image monitoring system can monitor the spraying process in real time. The paint is filled with a liquid level alarm, and an early warning will be issued when the paint is insufficient. Anti-collision tentacles are installed between the AGV car and the mechanical arm joints. When the tentacles are touched, the equipment will be immediately triggered to stop. Step 12: Drying: Dry at 40-45℃ for 10h; Step 13: Spraying and drying: Repeat steps 8-12 until the required thickness is reached; Step 14: Removal of protection and quality inspection: Remove and clean the paint protection and conduct quality inspection.

4. A coating method of a movable automatic spraying system as claimed in claim 3, characterized in that: The third step: spraying parameter setting, the specific operation is as follows: The spraying process parameters of the gantry robot are: spraying distance 220-260mm, gun speed 160-240mm / s, paint atomization pressure 2.4V, fan pressure 2.4V, paint output 115ml / min, track spacing 100mm; the spraying process parameters of the AGV robot are: spraying distance 200-240mm, gun speed 160-240mm / s, paint atomization pressure 3.0V, fan pressure 3.0V, paint output 160ml / min, track spacing 100mm.

5. A coating method of a movable automatic spraying system as claimed in claim 3, characterized in that: The seventh step: spray paint protection, the specific operation is as follows: for the area not to be sprayed with paint, use kraft paper and tape for protection, and replace the protection paper every 4-5 times of spraying.

6. A coating method of a movable automatic spraying system as claimed in claim 3, characterized in that: The eighth step: grinding and cleaning, the specific operation is as follows: before painting, use sandpaper with a mesh size of 180 or above to grind the substrate.

7. A coating method of a movable automatic spraying system as claimed in claim 3, characterized in that: The ninth step: the preparation of the coating, the specific operation is as follows: the base material and the curing agent of the functional coating are mixed in a weight ratio of 11:2, and then the supporting diluent is added to adjust the viscosity to 13-14S, and then used after aging for 5-10min.

8. A coating method of a movable automatic spraying system as claimed in claim 3, characterized in that: In the eleventh step, the spraying thickness is 34-38 μm per time, and the spraying is performed continuously 3-4 times per day.

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