Shielding fixture for robot automatic spraying of aero-engine blade and spraying method thereof

Abstract

The present application relates to the technical field of robot automatic spraying, and discloses a shielding clamp for robot automatic spraying of an aero-engine blade and a spraying method thereof, which comprises a first mold and a second mold, wherein a plurality of blade accommodating grooves capable of accommodating blades are arranged, 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 accommodating grooves, and the second mold is locked and connected to the first mold through a lock buckle assembly. The first mold and the second mold are arranged to jointly form the shielding clamp, a plurality of blade accommodating grooves are arranged in the shielding clamp, a plurality of groups of blades can be clamped at a time, the lock buckle assembly is arranged at the bottom of the shielding clamp, and the shielding clamp is convenient to open, close and clamp. The present application solves the problems caused by manual adhesive tape pasting and shielding spraying, improves the consistency of the spraying area, and significantly improves the spraying quality and spraying efficiency of the engine blades.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot automatic spraying technology, in particular to a shielding clamp for robot automatic spraying of an aero-engine blade and a spraying method thereof. BACKGROUND

[0002] In the field of aerospace, spraying a lubricant coating on the tenon of an engine blade is a surface treatment process of blade manufacturing. This process requires spraying a lubricant coating on both sides or a certain area on the top of the blade tenon. Therefore, the non-spraying area needs to be protected. At present, the non-spraying area of the blade is protected by manually pasting adhesive tape. This method has low precision in pasting the adhesive tape, and the consistency of the pasting position of the adhesive tape for 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 large amount of manual labor and has low efficiency.

[0003] Therefore, the present application provides a shielding clamp for robot automatic spraying of an engine blade, which is of great significance for accurately spraying the engine blade. SUMMARY

[0004] In view of the problems in the prior art, the present application provides a shielding clamp for robot automatic spraying of an aero-engine blade and a spraying method thereof. The first mold and the second mold are arranged to form the shielding clamp, and a plurality of blade accommodating grooves are arranged in the shielding clamp. A plurality of groups of blades can be clamped at a time, the clamping and unclamping of the clamp is convenient, the deficiencies caused by the traditional manual pasting of adhesive tape for shielding spraying are solved, the spraying efficiency and the consistency of the spraying area are greatly improved, and the spraying quality and the work efficiency are improved.

[0005] The technical scheme adopted by the present application is a shielding clamp for robot automatic spraying of an aero-engine blade, which comprises a first mold and a second mold, the first mold and the second mold are both provided with a plurality of blade accommodating grooves capable of accommodating blades, each blade accommodating groove is provided with a blade accommodating portion and a blade tenon accommodating portion, one side of the blade accommodating portion is provided with a blade partition plate, one side of the blade tenon accommodating portion close to the blade accommodating portion is provided with a tenon mounting plate clamping groove, the internal curved surface of the blade tenon accommodating portion is adapted to the external curved surface of a blade tenon, one side of the blade tenon accommodating portion is provided with a shielding plate, one side of the bottom of the blade tenon accommodating portion close to the shielding plate is provided with a lower spraying port, one side of the lower spraying port is provided with a lower shielding plate, and the side surface of the blade tenon accommodating portion is provided with a side spraying port; 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 accommodating portions of the blade accommodating grooves, and the adjacent two blades are separated by the blade partition plates, the blade tenons are arranged in the blade tenon accommodating portions of the blade accommodating grooves, and the blade tenon mounting plates are clamped in the tenon mounting plate clamping grooves, the second mold is buckled on the first mold, and the first mold and the second mold are locked and connected through a lock buckle assembly, when the first mold and the second mold are buckled, the blade tenon accommodating portions and the blade tenon mounting plate clamping grooves on the first mold and the second mold clamp the blade tenons, so that the blades can be kept stable; the first mold and the second mold are arranged on a workbench, and spraying guns are arranged at the side spraying ports and the lower spraying ports, a robot can grab the first mold and the second mold to move back and forth between the spraying guns, so that the two side surfaces and the top of the blade tenon can be sprayed at the same time.

[0006] Further, the lock buckle assembly is symmetrically arranged at both ends of the bottom of the shielding clamp, and the lock buckle assembly comprises a supporting seat, a connecting rod and a connecting seat, the supporting seat is arranged on the first mold, the connecting rod has a T-shaped structure, the horizontal rod part of the connecting rod is rotationally connected with the supporting seat, the first end of the vertical rod part of 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 part of 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, the vertical rod part of the connecting rod is arranged in the connecting groove, and a connecting piece is arranged on the vertical rod part of the connecting rod, the connecting piece is threadedly connected with the vertical rod part of the connecting rod.

[0007] Preferably, the top of the first mold is provided with an adapter support capable of being connected with a robot, and the two sides of the adapter support are symmetrically provided with positioning cone holes, and the two sides of the first mold are also provided with positioning blocks, the first mold and the second mold can be arranged on the positioning pins of the workbench through the positioning blocks.

[0008] Preferably, the interior of the first and second molds is provided with a high-temperature-resistant coating, and the interior of the first and second molds is further provided with a silica gel layer for protecting the blade and the blade tenon.

[0009] Preferably, each edge of the first and second molds is provided with an edge lap surface, and the edge lap surfaces of the first and second molds are sealingly engaged.

[0010] In another aspect of the present application, a spraying method of a shielding clamp for robot automatic spraying of an aero-engine blade is provided, which comprises the following steps:

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

[0012] S2, the blade is arranged in the blade accommodating groove of the first mold in sequence, the second mold is buckled on the first mold, and the first mold and the second mold are locked through the lock buckle assembly;

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

[0014] S4, the robot gripper cylinder is opened, the positioning pin at the robot gripper is clamped into the positioning cone hole on the adapter 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 grasps the first mold and the second mold, the first mold and the second mold are placed in an oven for preheating, and when the preheating temperature is reached, the robot grasps the first mold and the second mold to a spraying station for spraying;

[0016] S6, multiple spraying guns are opened according to the pre-set spraying parameters, the robot can grasp the first mold and the second mold to move back and forth between the multiple spraying guns, and can simultaneously spray the two side surfaces and the top of the blade tenon;

[0017] S7, after the spraying is completed, the robot sets the first mold and the second mold on the workbench, the robot gripper cylinder is opened, and the robot gripper is unlocked with the first mold and the second mold;

[0018] S8, the first mold and the second mold are opened, the sprayed blade is taken out from the first mold and the second mold, and the aero-engine blade spraying is completed.

[0019] The characteristics and advantages of the present application are:

[0020] 1. The shielding clamp for robot automatic spraying of an aero-engine blade and the spraying method thereof, the shielding clamp comprises a first mold and a second mold, the first mold and the second mold are provided with a blade accommodating portion and a blade tenon accommodating portion, the blades are arranged in the blade accommodating portion and are separated by a blade partition plate, the blade tenon accommodating portion is provided with a curved surface matched with the shape of the blade tenon and a blade tenon mounting plate clamping groove for limiting the blade tenon mounting plate, and the first mold and the second mold are buckled to clamp the blade tenon, so that the blade is stable, and the clamping and positioning are convenient.

[0021] 2. The shielding clamp for robot automatic spraying of an aero-engine blade and the spraying method thereof, the shielding clamp is provided with spraying ports on both sides and the bottom, spraying guns are arranged at the spraying ports, the robot can move back and forth between the spraying guns while holding the shielding clamp, and then the spraying of the blades is completed, which not only greatly improves the work efficiency by replacing the manual adhesive tape shielding mode, but also ensures the consistency of the spraying position.

[0022] 3. The shielding clamp for robot automatic spraying of an aero-engine blade and the spraying method thereof, the shielding clamp is provided with a lock assembly at the bottom, which is beneficial to the locking and fixing of the first mold and the second mold, the edges of the first mold and the second mold are provided with edge lap surfaces, the edge lap surfaces of the first mold and the second mold are sealingly connected, and the shielding clamp can be kept in a sealed state to prevent paint from being sprayed in.

[0023] 4. The shielding clamp for robot automatic spraying of an aero-engine blade and the spraying method thereof, a plurality of blade accommodating grooves are arranged in the shielding clamp, the same type of multiple sets of blades can be clamped at one time, and the spraying of multiple blades can be completed in one spraying cycle, which can save manual labor time, improve the spraying quality and work efficiency compared with the traditional manual spraying mode. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the overall structure schematic diagram of the shielding clamp for robot automatic spraying of an aero-engine blade of the present application;

[0025] Figure 2 It is the structure schematic diagram of the first mold of the shielding clamp of the present application;

[0026] Figure 3 It is the structure schematic diagram of the second mold of the shielding clamp of the present application;

[0027] Figure 4 It is the local enlarged view of the spraying port;

[0028] Figure 5 It is the sectional view of the first mold and the second mold of the present application;

[0029] Figure 6 is a structural schematic diagram of the locking assembly of the present application;

[0030] Figure 7 is a schematic diagram of the robot gripping and shielding clamp of the present application;

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

[0032] Figure 9 is a schematic diagram of the process of the robot automatic spraying of the present application;

[0033] Figure 10 is a schematic diagram of the process of the spraying method of the present application.

[0034] Main reference signs:

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

[0036] To fully understand the technical content, structural features, purposes achieved and effects of the present application, the following will be described in detail in combination with the drawings of the specification.

[0037] A shielding clamp for robot automatic spraying of an aero-engine blade of the present application, as shown in Figure 1 , comprises a first mold 1 and a second mold 2.

[0038] As shown in Figures 2-5As shown, the first mold 1 and the second mold 2 are both cuboid structures, and the first mold 1 and the second mold 2 are internally provided with a plurality of blade accommodating grooves 11 capable of accommodating blades, each blade accommodating groove 11 is provided with a blade accommodating portion 12 and a blade tenon accommodating portion 13, and one side of the blade accommodating portion 12 is provided with a blade partition plate 14 for isolating the blades in adjacent blade accommodating grooves 11, the blade tenon accommodating portion 13 is provided with a tenon mounting plate clamping groove 113 on the side close to the blade accommodating portion 12, the internal curved surface of the blade tenon accommodating portion 13 is adapted to the external curved surface of the blade tenon 4, and the blade tenon accommodating portion 13 is provided with a shielding plate 15 on one side, the bottom of the blade tenon accommodating portion 13 is provided with a lower spraying port 16 close to the shielding plate 15, and one side of the lower spraying port 16 is provided with a lower shielding plate 17, and the side surface of the blade tenon accommodating portion 13 is provided with a side spraying port 18.

[0039] As shown in Figures 2-5 The top of the first mold 1 and the top of the second mold 2 are connected by a rotating shaft, the blades 3 are arranged in the blade accommodating portions 12 of the blade accommodating grooves 11, and the adjacent two blades 3 are separated by the blade partition plates 14, the blade tenons 4 are arranged in the blade tenon accommodating portions 13 of the blade accommodating grooves 11, and the blade tenon mounting plates 41 are clamped in the tenon mounting plate clamping grooves 113 for positioning the blades 3 and keeping the blades stable. The second mold 2 is buckled on the first mold 1 to form a shielding clamp, and the first mold 1 and the second mold 2 are connected by the locking buckle assembly 5, when the first mold 1 and the second mold 2 are buckled, the blade tenon accommodating portions 13 and the tenon mounting plate clamping grooves 113 on the first mold 1 and the second mold 2 can clamp the blade tenons 4 to keep the blades 3 stable. The first mold 1 and the second mold 2 are arranged on the workbench 7, and the spraying guns are arranged at the side spraying ports 18 on both sides of the shielding clamp and the lower spraying port 16 at the bottom of the shielding clamp, and the robot can move the shielding clamp back and forth between the spraying guns 6 to spray the two side surfaces and the top of the blade tenon 4 at the same time.

[0040] As shown in Figure 6 The locking buckle assembly 5 is symmetrically arranged at both ends of the bottom of the shielding clamp, and the locking buckle 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, the connecting rod 52 is in T-shaped structure, and the horizontal rod part 521 of the connecting rod 52 is rotatably connected with the support seat 51, the first end of the vertical rod part 522 of 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 part 522 of 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, the vertical rod part 522 of the connecting rod 52 is arranged in the connecting groove, and the connecting part 54 is arranged on the vertical rod part 522 of the connecting rod 52, and the connecting part 54 is threadedly connected with the vertical rod part 522 of the connecting rod 52.

[0041] As shown in Figure 7 The top of the first mold 1 is also provided with an adapter support 19 connected with the robot, and the adapter support 19 is symmetrically provided with a positioning taper hole 111 on both sides, and the first mold 1 is also provided with a positioning block 110, and the shielding clamp can be positioned on the positioning pin on the workbench 7 through the positioning block 110, and the positioning is accurate and convenient for the robot 9 to grab.

[0042] In a preferred mode, the first mold 1 and the second mold 2 are internally provided with a high-temperature-resistant coating, and the first mold 1 and the second mold 2 are also internally provided with a silica gel layer for protecting the blade 3 and the blade tenon 4, which can compensate for the deviation of the tenon from the mold, and can also protect the blade body from being scratched by the clamp.

[0043] In a preferred mode, the first mold 1 and the second mold 2 are each provided with an edge lap surface at the edge, and the edge lap surfaces of the first mold 1 and the second mold 2 are sealingly engaged, which can keep the shielding clamp in a sealed state to prevent paint from being sprayed in, and the clamp is designed in a closed manner to better protect the non-spraying area of the blade.

[0044] The second aspect of the present application provides a spraying method for a shielding clamp for robot automatic spraying of an aero-engine blade, as shown in Figures 8-10 The spraying method comprises the following steps:

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

[0046] S2, the blade 3 is arranged in the blade accommodating groove 11 of the first mold 1 in sequence, the second mold 2 is buckled on the first mold 1, and the first mold 1 and the second mold 2 are locked by the lock buckle assembly 5;

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

[0048] S4, the robot gripper 8 cylinder is opened, the positioning pin at the robot gripper 8 is clamped into the positioning taper hole 111 on the adapter 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 shielding clamp, the shielding clamp is arranged in the oven 10 for preheating, and when the preheating temperature is reached, the robot 9 grabs the shielding clamp to the spraying station 112 for spraying;

[0050] S6, according to the pre-set spraying parameters, multiple spraying guns are opened at the same time, the robot 9 can move back and forth between the multiple spraying guns 6 with the shielding clamp, and can simultaneously spray the two side surfaces and the top of the blade tenon 4.

[0051] S7、after spraying, the robot 9 sets the first mold 1 and the second mold 2 on the workbench 7, the robot gripper 8 cylinder is opened, the robot gripper 8 is unlocked with the first mold 1 and the second mold 2;

[0052] S8, open the shielding clamp, take out the sprayed blade 3 from the first mold 1 and the second mold 2, complete the blade spraying.

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

[0054] As shown in Figures 1-10 The automatic spraying shielding clamp for the blade robot of the aero-engine and the spraying method thereof, the blade tenon robot automatic spraying process flow includes: feeding, preheating, spraying, discharging, and the specific operation steps are as follows:

[0055] S1, open the shielding clamp and set it on the workbench 7;

[0056] S2, the blade 3 is arranged in the blade containing groove 11 of the first mold 1 in turn, the second mold 2 is buckled on the first mold 1, and the first mold 1 and the second mold 2 are locked through the lock buckle assembly 5;

[0057] S3, support the shielding clamp on the positioning pin of the workbench 7;

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

[0059] S5, after the robot 9 grabs the shielding clamp, the shielding clamp is set in the oven 10 for preheating, when the preheating temperature is reached, the robot 9 grabs the shielding clamp to the spraying station 112 for spraying;

[0060] S6, according to the pre-set spraying parameters, multiple spraying guns are opened at the same time, the robot 9 can grab the shielding clamp to move back and forth between the multiple spraying guns 6, and can spray the two sides and the top of the blade tenon 4 at the same time;

[0061] S7, after spraying, the robot 9 sets the shielding clamp on the workbench 7, the robot gripper 8 cylinder is opened, and the robot gripper 8 is unlocked with the shielding clamp;

[0062] S8, open the shielding clamp, take out the sprayed blade 3 from the shielding clamp, complete the blade spraying.

[0063] The present application sets the first mold and the second mold, and the first mold and the second mold are provided with the blade accommodating part and the blade tenon accommodating part, the blade is arranged in the blade accommodating part and is separated by the blade partition plate, and the blade tenon accommodating part is provided with the curved surface suitable for the shape of the blade tenon and the 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 the clamping and positioning are convenient. Meanwhile, the spraying port is arranged on both sides and the bottom of the shielding clamp, the spraying gun is arranged at the spraying port, the robot can move the shielding clamp back and forth between the spraying guns, and then the spraying of the blade is completed. This not only replaces the manual adhesive tape shielding method to improve the work efficiency, but also ensures the consistency of the spraying position. In addition, the locking assembly is arranged at the bottom of the shielding clamp, which can be beneficial to the locking and fixing of the first mold and the second mold. Meanwhile, the edge lap surface is arranged at each edge of the first mold and the second mold, and the edge lap surface of the first mold and the edge lap surface of the second mold are sealingly engaged, so that the shielding clamp can be kept in a sealed state to prevent paint from being sprayed in. Finally, a plurality of blade accommodating grooves are arranged in the shielding clamp, and the same type of multiple groups of blades can be clamped at one time, and one spraying cycle can complete the spraying of multiple blades. Compared with the traditional manual spraying method, the present application can save labor time, improve the spraying quality and work efficiency.

[0064] The above embodiments only describe the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements of the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A masking fixture for robotic automatic spray painting of an aeroengine blade, characterized in that, It comprises a first mold and a second mold, The first mold and the second mold are both provided with a plurality of blade accommodating grooves capable of accommodating blades, each blade accommodating groove is provided with a blade accommodating portion and a blade tenon accommodating portion, one side of the blade accommodating portion is provided with a blade partition plate, one side of the blade tenon accommodating portion close to the blade accommodating portion is provided with a tenon mounting plate clamping groove, the inner surface of the blade tenon accommodating portion is adapted to the outer surface of the blade tenon, one side of the blade tenon accommodating portion is provided with a shielding plate, one side of the bottom of the blade tenon accommodating portion close to the shielding plate is provided with a lower spraying port, and one side of the lower spraying port is provided with a lower shielding plate, and the side surface of the blade tenon accommodating portion is provided with a side spraying port; The top of the first mold and the top of the second mold are connected by a rotating shaft, the blades are arranged in the blade accommodating portions of the blade accommodating grooves, and the adjacent two blades are separated by the blade partition plates, the blade tenons are arranged in the blade tenon accommodating portions of the blade accommodating grooves, and the blade tenon mounting plates are clamped in the tenon mounting plate clamping grooves, the second mold is clamped on the first mold, and the first mold and the second mold are connected by the lock buckle assembly, when the first mold and the second mold are clamped, the blade tenon accommodating portions and the blade tenon mounting plate clamping grooves on the first mold and the second mold clamp the blade tenons, so that the blades can be kept stable; The first mold and the second mold are arranged on the workbench, and spraying guns are arranged at the side spraying ports and the lower spraying ports, and the robot can move the first mold and the second mold back and forth between the spraying guns to simultaneously spray the two side surfaces and the top of the blade tenon.

2. The masking fixture for robotic automatic spray painting of aero-engine blade according to claim 1, characterized in that, The lock buckle assembly is symmetrically arranged at both ends of the bottom of the shielding clamp, and the lock buckle assembly comprises a supporting seat, a connecting rod and a connecting seat, the supporting seat is arranged on the first mold, the connecting rod has a T-shaped structure, the horizontal rod portion of the connecting rod is rotatably connected with the supporting seat, the first end of the vertical rod portion of 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 of the connecting rod can be accommodated in the connecting groove of the connecting seat, when the first mold and the second mold are clamped, the connecting rod is rotated, the vertical rod portion of the connecting rod is arranged in the connecting groove, and a connecting piece is arranged on the vertical rod portion of the connecting rod, and the connecting piece is threadedly connected with the vertical rod portion of the connecting rod.

3. The masking fixture for robotic automatic spray painting of aircraft engine blade according to claim 1, characterized in that, The top of the first mold is provided with a connecting seat capable of being connected with a robot, and the two sides of the connecting seat are symmetrically provided with positioning taper holes, and the two sides of the first mold are also provided with positioning blocks, and the first mold and the second mold can be arranged on the positioning pins on the workbench through the positioning blocks.

4. The masking fixture for robotic automatic spray painting of aero-engine blade according to claim 3, characterized in that, The inside of the first mold and the second mold is provided with a high-temperature-resistant coating, and the inside of the first mold and the second mold is also provided with a silica gel layer for protecting the blades and the blade tenons.

5. The masking fixture for robotic automatic spray painting of aero-engine blade according to claim 4, characterized in that, The edge of the first mold and the second mold is provided with an edge lap surface, and the edge lap surfaces of the first mold and the second mold are sealingly connected.

6. A painting method for a masking fixture for the robotized painting of aeroengine blade machines according to one of claims 1 to 5, characterized in that, It comprises the following steps: S1, the first mold and the second mold are arranged on the workbench in an open manner; S2, the blades are arranged in the blade accommodating grooves of the first mold in sequence, the second mold is buckled on the first mold, and the first mold and the second mold are locked through the lock buckle assembly; S3, the first mold and the second mold are respectively supported on the positioning pins of the workbench; S4, the robot gripper cylinder is opened, the positioning pins at the robot gripper are clamped into the positioning conical holes on the adapter supports 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 grasps the first mold and the second mold, the first mold and the second mold are placed in an oven for preheating, and when the preheating temperature is reached, the robot grasps the first mold and the second mold to a spraying station for spraying; S6, multiple spraying guns are opened at the same time according to the pre-set spraying parameters, the robot can grasp the first mold and the second mold to move back and forth between the multiple spraying guns, and can spray the two side surfaces and the top of the blade tenon at the same time; S7, after spraying is completed, the robot sets the first mold and the second mold on the workbench, the robot gripper cylinder is opened, and the robot gripper is unlocked with the first mold and the second mold; S8, the first mold and the second mold are opened, the sprayed blade is taken out from the first mold and the second mold, and the aviation engine blade spraying is completed.

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