Shielding clamp for automatic spraying of aero-engine blade robot and spraying method of shielding clamp

Abstract

The invention relates to the technical field of robot automatic spraying, and particularly discloses a shielding clamp for aircraft engine blade robot automatic spraying and a spraying method thereof.The shielding clamp comprises a first mold and a second mold, and a plurality of blade containing grooves capable of containing blades are formed in the first mold and the second mold; the top of the first mold and the top of the second mold are rotationally connected through a rotating shaft, the blades are arranged in the blade containing grooves, and the second mold is locked and connected to the first mold through a lock catch assembly. The first mold and the second mold are arranged to jointly form the shielding clamp, the multiple blade containing grooves are formed in the shielding clamp, multiple sets of blades can be clamped at a time, meanwhile, the lock catch assembly is arranged at the bottom of the shielding clamp, and therefore opening, closing and clamping of the shielding clamp are convenient; according to the invention, the disadvantage caused by shielding spraying by manually pasting an adhesive tape is solved, the consistency of a spraying area is improved, and the spraying quality and spraying efficiency of the engine blade are obviously improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot automated spraying, and in particular to a shielding fixture for robot automated spraying of aircraft engine blades and a spraying method thereof. Background Art

[0002] In the aerospace field, spraying lubricant coating on the tenon of engine blades is a surface treatment process for blade manufacturing. This process requires spraying lubricant coating on both sides of the blade tenon or a certain area on the top. Therefore, it is necessary to protect the non-sprayed area. At present, the non-sprayed area of ​​the blade is manually pasted with tape. In this method, the accuracy of the tape position is not high, and the consistency of the tape position of the same batch of blades is poor. After spraying, the coating position needs to be trimmed to meet the process requirements. This process consumes a lot of man-hours and is very inefficient.

[0003] Therefore, the present invention proposes a masking fixture for automatic spraying of engine blades by robots, which is of great significance for accurately spraying engine blades. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a masking fixture and a spraying method for robotic automatic spraying of aircraft engine blades. A first mold and a second mold are arranged to jointly form a masking fixture, and a plurality of blade accommodating slots are arranged in the masking fixture. Multiple groups of blades can be clamped at one time, and the fixture is easy to open and close, which solves the shortcomings of traditional manual masking spraying with tape, greatly improves the spraying efficiency and the consistency of the spraying area, and improves the spraying quality and work efficiency.

[0005] The technical solution adopted by the present invention is a masking fixture for robot automatic spraying of aircraft engine blades, which includes a first mold and a second mold, each of the first mold and the second mold is provided with a plurality of blade receiving grooves that can accommodate blades, each of the blade receiving grooves is provided with a blade receiving portion and a blade tenon receiving portion, and a blade partition is provided on one side of the blade receiving portion, and a tenon mounting plate slot is provided on the blade tenon receiving portion on a side close to the blade receiving portion, the inner curved surface of the blade tenon receiving portion is adapted to the outer curved surface of the blade tenon, and a baffle is provided on one side of the blade tenon receiving portion, a lower spraying port is provided at the bottom of the blade tenon receiving portion and on a side close to the baffle, and a lower baffle is provided on one side of the lower spraying port, and a side spraying port is provided on the side of the blade tenon receiving portion; the top of the first mold and the top of the second mold are rotated by a rotating shaft. The blade is dynamically connected, the blade is arranged in the blade accommodating part of the blade accommodating groove, and the adjacent blades are separated by the blade partition, the blade tenon is arranged in the blade tenon accommodating part of the blade accommodating groove, and the blade tenon mounting plate is engaged in the tenon mounting plate slot, the second mold is buckled on the first mold and the first mold and the second mold are locked and connected by a locking assembly, when the first mold and the second mold are buckled, the blade tenon accommodating part and the blade tenon mounting plate slot on the first mold and the second mold clamp the blade tenon, which can keep the blade stable; the first mold and the second mold are arranged on a workbench, and spray guns are arranged at the side spray port and the lower spray port, the robot can grab the first mold and the second mold and move back and forth between the spray guns, and can spray both sides and the top of the blade tenon at the same time.

[0006] Furthermore, the locking assembly is symmetrically arranged at both ends of the bottom of the shielding clamp, and the locking assembly includes a support seat, a connecting rod and a connecting seat, the support seat is arranged on the first mold, the connecting rod is in a T-shaped structure, and the cross rod portion in the connecting rod is rotatably connected to the support seat, the first end of the vertical rod portion in the connecting rod is provided with a connecting thread, the connecting seat is arranged on the second mold, and the connecting seat is provided with a connecting groove, the vertical rod portion in the connecting rod can be accommodated in the connecting groove of the connecting seat, when the first mold and the second mold are buckled, the connecting rod is rotated to set the vertical rod portion in the connecting rod in the connecting groove, and a connecting piece is provided on the vertical rod portion of the connecting rod, and the connecting piece is threadedly connected to the vertical rod portion of the connecting rod.

[0007] Preferably, a transfer support that can be connected to a robot is provided on the top of the first mold, and positioning conical holes are symmetrically provided on both sides of the transfer support. Positioning blocks are also provided on both sides of the first mold, and the first mold and the second mold can be set on the positioning pins on the workbench through the positioning blocks.

[0008] Preferably, the interior of the first mold and the second mold is provided with a high temperature resistant coating, and the interior of the first mold and the second mold is also provided with a silicone layer for protecting the blades and the blade tenons.

[0009] Preferably, edge overlapping surfaces are provided at respective edges of the first mold and the second mold, and the edge overlapping surfaces of the first mold and the edge overlapping surfaces of the second mold are sealingly engaged.

[0010] Another aspect of the present invention provides a method for spraying a masking fixture for robotic automatic spraying of aircraft engine blades, comprising the following steps:

[0011] S1, placing the first mold and the second mold on a workbench in an open manner;

[0012] S2, placing the blades in the blade receiving grooves of the first mold in sequence, buckling the second mold onto the first mold, and locking the first mold and the second mold by a locking assembly;

[0013] S3, supporting the first mold and the second mold on the positioning pins of the workbench respectively;

[0014] S4, the robot gripper cylinder is opened, the positioning pin at the robot gripper is inserted into the positioning cone hole on the transfer support of the first mold and the second mold, and the robot gripper is locked with the first mold and the second mold respectively;

[0015] S5, after the robot grabs the first mold and the second mold, the first mold and the second mold are placed in an oven for preheating. When the preheating temperature is reached, the robot grabs the first mold and the second mold to a spraying station for spraying;

[0016] S6. According to the preset spraying parameters, multiple spraying guns are turned on at the same time. The robot can grab the first mold and the second mold and move back and forth between the multiple spraying guns to spray the two sides and the top of the blade tenon at the same time.

[0017] S7. After spraying is completed, the robot places the first mold and the second mold on the workbench, opens the robot gripper cylinder, and unlocks the robot gripper from the first mold and the second mold;

[0018] S8, opening the first mold and the second mold, taking out the sprayed blade from the first mold and the second mold, and completing the spraying of the aircraft engine blade.

[0019] The characteristics and beneficial effects of the present invention are:

[0020] 1. The masking fixture and the spraying method thereof for the automatic spraying of aircraft engine blades provided by the present invention are provided by setting a first mold and a second mold, and the first mold and the second mold are provided with a blade accommodating portion and a blade tenon accommodating portion, the blade is arranged in the blade accommodating portion and the blade is separated by a blade partition, and the blade tenon accommodating portion is provided with a curved surface adapted to the shape of the blade tenon and a blade tenon mounting plate clamping groove for limiting the blade tenon mounting plate, after the first mold and the second mold are buckled together, the blade tenon can be clamped to keep the blade stable, and it has the advantages of convenient clamping and positioning, etc.

[0021] 2. The masking fixture and spraying method for automatic robot spraying of aircraft engine blades provided by the present invention have spraying ports on both sides and the bottom of the masking fixture, and a spraying gun can be set at the spraying port. The robot can grab the masking fixture and move back and forth between the spraying guns to complete the spraying of the blades. This not only replaces the manual masking method of sticking tape to greatly improve work efficiency, but also ensures the consistency of the spraying position.

[0022] 3. The masking fixture and spraying method for the automatic robot spraying of aircraft engine blades provided by the present invention are provided with a locking assembly at the bottom of the masking fixture, which can be beneficial to the locking and fixation of the first mold and the second mold. At the same time, edge lap surfaces are provided at the edges of the first mold and the second mold, and the edge lap surfaces of the first mold and the edge lap surfaces of the second mold are sealed and joined, which can keep the masking fixture in a sealed state and prevent paint from being sprayed in.

[0023] 4. The present invention provides a masking fixture and a spraying method for the automatic robot spraying of aircraft engine blades. A plurality of blade receiving slots are arranged in the masking fixture, and multiple groups of blades of the same type can be clamped at one time. One spraying cycle can complete the spraying of multiple blades. Compared with the traditional manual spraying method, it can save labor hours and improve the spraying quality and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the masking fixture used for the automatic spraying of aircraft engine blades by robots according to the present invention;

[0025] Figure 2 is a structural schematic diagram of a first mold of a shielding fixture of the present invention;

[0026] Figure 3 is a schematic structural diagram of a second mold of the shielding fixture of the present invention;

[0027] Figure 4 It is a partial enlarged view of the spray port of the present invention;

[0028] Figure 5 is a cross-sectional view of a first mold and a second mold of the present invention;

[0029] Figure 6 It is a structural schematic diagram of the lock assembly of the present invention;

[0030] Figure 7 is a schematic diagram of the robot grasping the shielding fixture of the present invention;

[0031] Figure 8 It is a schematic diagram of the spraying direction of the spray gun of the present invention;

[0032] Fig. 9 It is a schematic diagram of the process of automatic spraying by the robot of the present invention;

[0033] Fig.10 It is a schematic flow diagram of the spraying method of the present invention.

[0034] Main reference numerals:

[0035] The first mold 1; the blade receiving groove 11; the blade receiving portion 12; the blade tenon receiving portion 13; the blade partition 14; the shielding plate 15; the lower spray port 16; the lower shielding plate 17; the side spray port 18; the adapter support 19; the positioning block 110; the positioning cone hole 111; the spraying station 112; the tenon mounting plate slot 113; the second mold 2; the blade 3; the blade tenon 4; the blade tenon mounting plate 41; the locking assembly 5; the support seat 51; the connecting rod 52; the horizontal rod portion 521; the vertical rod portion 522; the connecting seat 53; the connecting piece 54; the spray gun 6; the workbench 7; the robot gripper 8; the robot 9; the oven 10. DETAILED DESCRIPTION

[0036] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0037] A shielding fixture for automatic spraying of aircraft engine blades by a robot according to the present invention, such as Figure 1 As shown, it includes a first mold 1 and a second mold 2.

[0038] like Figure 2 to Figure 5As shown, the first mold 1 and the second mold 2 are both in a rectangular structure, and a plurality of blade receiving grooves 11 for accommodating blades are provided inside the first mold 1 and the second mold 2, each blade receiving groove 11 is provided with a blade receiving portion 12 and a blade tenon receiving portion 13, and a blade partition plate 14 is provided on one side of the blade receiving portion 12 for isolating the blades in adjacent blade receiving grooves 11, a tenon mounting plate card groove 113 is provided on the blade tenon receiving portion 13 on the side close to the blade receiving portion 12, the inner curved surface of the blade tenon receiving portion 13 is adapted to the outer curved surface of the blade tenon 4, and a baffle plate 15 is provided on one side of the blade tenon receiving portion 13, a lower spray port 16 is provided at the bottom of the blade tenon receiving portion 13 and on the side close to the baffle plate 15, and a lower baffle plate 17 is provided on one side of the lower spray port 16, and a side spray port 18 is provided on the side of the blade tenon receiving portion 13.

[0039] like Figure 2 to Figure 5 As shown, the top of the first mold 1 and the top of the second mold 2 are rotatably connected by a rotating shaft, the blade 3 is set in the blade receiving portion 12 of the blade receiving groove 11, and the adjacent two blades 3 are separated by a blade partition 14, the blade tenon 4 is set in the blade tenon receiving portion 13 of the blade receiving groove 11, and the blade tenon mounting plate 41 is engaged in the tenon mounting plate slot 113, which is used to position the blade 3 and keep the blade stable. The second mold 2 is buckled on the first mold 1 to form a shielding fixture, and the first mold 1 and the second mold 2 are locked and connected by a locking assembly 5. When the first mold 1 and the second mold 2 are buckled, the blade tenon receiving portion 13 and the blade tenon mounting plate slot 113 on the first mold 1 and the second mold 2 can clamp the blade tenon 4 to keep the blade 3 stable. The first mold 1 and the second mold 2 are placed on a workbench 7, and spray guns are set at the side spray ports 18 on both sides of the shielding fixture and the lower spray port 16 at the bottom of the shielding fixture. The robot can grab the shielding fixture and move back and forth between the spray guns 6, and can spray both side surfaces and the top of the blade tenon 4 at the same time.

[0040] like Figure 6 As shown, the locking assembly 5 is symmetrically arranged at both ends of the bottom of the shielding clamp, and the locking assembly 5 includes a support seat 51, a connecting rod 52 and a connecting seat 53. The support seat 51 is arranged on the first mold 1, and the connecting rod 52 is in a T-shaped structure. The horizontal rod portion 521 in the connecting rod 52 is rotatably connected to the support seat 51. The first end of the vertical rod portion 522 in the connecting rod 52 is provided with a connecting thread. The connecting seat 53 is arranged on the second mold 2, and the connecting seat 53 is provided with a connecting groove. The vertical rod portion 522 in the connecting rod 52 can be accommodated in the connecting groove of the connecting seat 53. When the first mold 1 and the second mold 2 are buckled, the connecting rod 52 is rotated to set the vertical rod portion 522 in the connecting rod 52 in the connecting groove, and a connecting piece 54 is provided on the vertical rod portion 522 of the connecting rod 52, and the connecting piece 54 is threadedly connected to the vertical rod portion 522 of the connecting rod 52.

[0041] like Figure 7 As shown, the top of the first mold 1 is also provided with an adapter support 19 that can be connected to the robot, and positioning conical holes 111 are symmetrically provided on both sides of the adapter support 19. Positioning blocks 110 are also provided on both sides of the first mold 1. The shielding fixture can be set on the positioning pins on the workbench 7 through the positioning blocks 110, and the positioning is accurate to facilitate the robot 9 to grasp.

[0042] In a preferred embodiment, the interior of the first mold 1 and the second mold 2 is provided with a high-temperature resistant coating, and the interior of the first mold 1 and the second mold 2 is also provided with a silicone layer for protecting the blade 3 and the blade tenon 4, which is used to compensate for the deviation between the tenon and the mold conformity and protect the blade body from scratches by the clamp.

[0043] In a preferred embodiment, edge overlap surfaces are provided at each edge of the first mold 1 and the second mold 2. The edge overlap surfaces of the first mold 1 and the edge overlap surfaces of the second mold 2 are sealed and joined, which can keep the shielding clamp in a sealed state to prevent paint from being sprayed in. The closed design of the clamp can achieve better protection for the non-spraying area of ​​the blade.

[0044] A second aspect of the present invention provides a method for spraying a masking fixture for automatic spraying of an aircraft engine blade by a robot, such as Figure 8 to Figure 10 As shown, it includes the following steps:

[0045] S1, placing the first mold 1 and the second mold 2 on a workbench 7 in an open manner;

[0046] S2, placing the blades 3 in the blade receiving grooves 11 of the first mold 1 in sequence, buckling the second mold 2 onto the first mold 1, and locking the first mold 1 and the second mold 2 by means of the locking assembly 5;

[0047] S3, supporting the first mold 1 and the second mold 2 on the positioning pins of the workbench 7;

[0048] S4, the cylinder of the robot gripper 8 is opened, the positioning pin at the robot gripper 8 is inserted into the positioning tapered hole 111 on the transfer support 19 of the first mold 1 and the second mold 2, and the robot gripper 8 is locked with the first mold 1 and the second mold 2 respectively;

[0049] S5, after the robot 9 grabs the masking fixture, it is placed in the oven 10 for preheating. When the preheating temperature is reached, the robot 9 grabs the masking fixture to the spraying station 112 for spraying;

[0050] S6. According to the preset spraying parameters, multiple spray guns are turned on at the same time. The robot 9 can grab the masking fixture and move back and forth between the multiple spray guns 6 to spray the sides and top of the blade tenon 4 at the same time.

[0051] S7, after spraying is completed, the robot 9 places the first mold 1 and the second mold 2 on the workbench 7, the cylinder of the robot 9 gripper 8 is opened, and the robot gripper 8 is unlocked from the first mold 1 and the second mold 2;

[0052] S8, opening the masking fixture, taking out the sprayed blade 3 from the first mold 1 and the second mold 2, and completing the blade spraying.

[0053] The specific operation steps of the present invention are as follows:

[0054] like Figures 1 to 10 As shown, a shielding fixture and a spraying method thereof for the automatic spraying of an aircraft engine blade robot of the present invention, the automatic spraying process of the blade tenon robot includes: loading, preheating, spraying, unloading, and the specific operation steps are as follows:

[0055] S1, open the shielding fixture and place it on the workbench 7;

[0056] S2, sequentially placing the blades 3 in the blade receiving grooves 11 of the first mold 1, buckling the second mold 2 onto the first mold 1, and locking the first mold 1 and the second mold 2 by means of the locking assembly 5;

[0057] S3, supporting the shielding fixture on the positioning pins of the workbench 7;

[0058] S4, the cylinder of the robot gripper 8 is opened, the positioning pin at the robot gripper 8 is inserted into the positioning cone hole 111 on the transfer support 19 in the shielding fixture, and the robot gripper 8 is locked with the shielding fixture;

[0059] S5, after the robot 9 grabs the masking fixture, it is placed in the oven 10 for preheating. When the preheating temperature is reached, the robot 9 grabs the masking fixture to the spraying station 112 for spraying;

[0060] S6. According to the preset spraying parameters, multiple spray guns are turned on at the same time. The robot 9 can grab the masking fixture and move back and forth between the multiple spray guns 6 to spray the sides and top of the blade tenon 4 at the same time.

[0061] S7, after spraying is completed, the robot 9 sets the shielding fixture on the workbench 7, the cylinder of the robot 9 gripper 8 is opened, and the robot gripper 8 and the shielding fixture are unlocked;

[0062] S8, opening the shielding fixture, taking out the sprayed blade 3 from the shielding fixture, and completing the blade spraying.

[0063] The present invention provides a first mold and a second mold, and the first mold and the second mold are provided with a blade receiving portion and a blade tenon receiving portion, the blade is provided in the blade receiving portion and the blade is separated by a blade partition, and the blade tenon receiving portion is provided with a curved surface adapted to the shape of the blade tenon and a blade tenon mounting plate clamping groove for limiting the blade tenon mounting plate, after the first mold and the second mold are buckled, the blade tenon can be clamped to keep the blade stable, and has the advantages of convenient clamping and positioning. At the same time, spray ports are provided on both sides and the bottom of the shielding fixture, and a spray gun can be provided at the spray port. The robot can grab the shielding fixture and move back and forth between the spray guns, and then complete the spraying of the blade, which not only replaces the manual tape masking method to improve work efficiency, but also ensures the consistency of the spraying position. In addition, a locking assembly is provided at the bottom of the masking fixture, which can facilitate the locking and fixing of the first mold and the second mold. At the same time, edge overlap surfaces are provided at each edge of the first mold and the second mold, and the edge overlap surfaces of the first mold and the edge overlap surfaces of the second mold are sealed and engaged, which can keep the masking fixture in a sealed state to prevent paint from being sprayed in. Finally, a plurality of blade receiving grooves are provided in the masking fixture, which can clamp multiple groups of blades of the same type at one time, and one spraying cycle can complete the spraying of multiple blades, which can save labor hours compared with the traditional manual spraying method, and improve the spraying quality and work efficiency.

[0064] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A masking fixture for automatic spraying of aircraft engine blades by robots, characterized in that: It includes a first mold and a second mold, The first mold and the second mold are both provided with a plurality of blade receiving grooves capable of accommodating blades, each of the blade receiving grooves is provided with a blade receiving portion and a blade tenon receiving portion, and a blade partition is provided on one side of the blade receiving portion, a tenon mounting plate card slot is provided on the blade tenon receiving portion on a side close to the blade receiving portion, the inner curved surface of the blade tenon receiving portion is adapted to the outer curved surface of the blade tenon, and a shielding plate is provided on one side of the blade tenon receiving portion, a lower spraying port is provided at the bottom of the blade tenon receiving portion and on a side close to the shielding plate, and a lower shielding plate is provided on one side of the lower spraying port, and a side spraying port is provided on the side of the blade tenon receiving portion; The top of the first mold and the top of the second mold are rotatably connected via a rotating shaft, the blade is arranged in the blade accommodating portion of the blade accommodating groove, and two adjacent blades are separated by the blade partition, the blade tenon is arranged in the blade tenon accommodating portion of the blade accommodating groove, and the blade tenon mounting plate is engaged in the tenon mounting plate slot, the second mold is buckled on the first mold and the first mold and the second mold are locked and connected via a locking assembly, when the first mold and the second mold are buckled, the blade tenon accommodating portion on the first mold and the second mold and the blade tenon mounting plate slot clamp the blade tenon, so as to keep the blade stable; The first mold and the second mold are arranged on a workbench, and spray guns are arranged at the side spray port and the lower spray port. The robot can grab the first mold and the second mold and move back and forth between the spray guns, and can spray both side surfaces and the top of the blade tenon at the same time.

2. The masking fixture for automatic robot spraying of aircraft engine blades according to claim 1 is characterized in that: The locking assembly is symmetrically arranged at both ends of the bottom of the shielding clamp, and the locking assembly includes a support seat, a connecting rod and a connecting seat. The support seat is arranged on the first mold, the connecting rod is in a T-shaped structure, and the cross rod portion in the connecting rod is rotatably connected to the support seat, the first end of the vertical rod portion in the connecting rod is provided with a connecting thread, the connecting seat is arranged on the second mold, and the connecting seat is provided with a connecting groove, the vertical rod portion in the connecting rod can be accommodated in the connecting groove of the connecting seat, when the first mold and the second mold are buckled, the connecting rod is rotated to set the vertical rod portion in the connecting rod in the connecting groove, and a connecting piece is provided on the vertical rod portion of the connecting rod, and the connecting piece is threadedly connected to the vertical rod portion of the connecting rod.

3. The masking fixture for automatic spraying of aircraft engine blades by robots according to claim 1 is characterized in that: A transfer support that can be connected to a robot is provided on the top of the first mold, and positioning conical holes are symmetrically provided on both sides of the transfer support. Positioning blocks are also provided on both sides of the first mold, and the first mold and the second mold can be set on the positioning pins on the workbench through the positioning blocks.

4. The masking fixture for the automatic spraying of aircraft engine blades by robots according to claim 3 is characterized in that: The first mold and the second mold are provided with a high temperature resistant coating inside, and the first mold and the second mold are also provided with a silicone layer for protecting the blades and the blade tenons inside.

5. The masking fixture for automatic spraying of aircraft engine blades by robots according to claim 4 is characterized in that: An edge overlap surface is provided at each edge of the first mold and the second mold, and the edge overlap surface of the first mold is sealingly joined with the edge overlap surface of the second mold.

6. A method for spraying a masking fixture for automatic spraying of aircraft engine blades by a robot according to any one of claims 1 to 5, characterized in that: It includes the following steps: S1, placing the first mold and the second mold on a workbench in an open manner; S2, placing the blades in the blade receiving grooves of the first mold in sequence, buckling the second mold onto the first mold, and locking the first mold and the second mold by a locking assembly; S3, supporting the first mold and the second mold on the positioning pins of the workbench respectively; S4, the robot gripper cylinder is opened, the positioning pin at the robot gripper is inserted into the positioning cone hole on the transfer support of the first mold and the second mold, and the robot gripper is locked with the first mold and the second mold respectively; S5, after the robot grabs the first mold and the second mold, the first mold and the second mold are placed in an oven for preheating. When the preheating temperature is reached, the robot grabs the first mold and the second mold to a spraying station for spraying; S6. According to the preset spraying parameters, multiple spraying guns are turned on at the same time. The robot can grab the first mold and the second mold and move back and forth between the multiple spraying guns to spray the two sides and the top of the blade tenon at the same time. S7. After spraying is completed, the robot places the first mold and the second mold on the workbench, opens the robot gripper cylinder, and unlocks the robot gripper from the first mold and the second mold; S8, opening the first mold and the second mold, taking out the sprayed blade from the first mold and the second mold, and completing the spraying of the aircraft engine blade.

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