Annular scanning type wing automatic spraying equipment and using method

Abstract

The invention discloses annular scanning type wing automatic spraying equipment and a using method. The annular scanning type wing automatic spraying equipment comprises an AGV, a moving mechanism carried on the AGV, an annular frame, a plurality of flexible spraying devices, a paint bucket and a plunger pump. A sliding rail and a lead screw in the moving mechanism are fixed to an AGV upper platform in the length direction of the AGV, and a moving tray of the moving mechanism is installed on the sliding rail in a sliding mode. The annular frame is fixed on a moving tray in the moving mechanism; the multiple flexible spraying devices are evenly distributed and fixed to the inner ring of the annular frame in the circumferential direction of the annular frame, and spraying guns of the flexible spraying devices face the inner side of the annular frame. The paint bucket and the plunger pump are fixedly mounted on the movable tray, the paint bucket is communicated with the plunger pump through a pipeline, and the plunger pump is communicated with spray guns of the multiple flexible spraying devices through pipelines; the spraying gun of each flexible spraying device has the multi-degree-of-freedom rotating capacity, all-directional spraying is achieved, and the plunger pump can pump paint out of the paint bucket, convey the paint to the spraying gun at high pressure and spray the paint out of the spraying gun. The automatic spraying equipment provided by the invention is safe and reliable to operate, high in universality and capable of greatly improving the working efficiency and the working quality of airplane product spraying.

Description

Technical Field

[0001] The present invention relates to the field of but not limited to the technical field of automated spraying of aircraft wings in the aviation industry, and in particular to a circular scanning type automated spraying device for wings and a method of using the device. Background Art

[0002] When spraying on the surface of an aircraft, there are often problems such as large spraying span, complex spraying profile, and complex spraying process flow. Not only is the spraying operation inconvenient, resulting in a long spraying cycle, but also during the spraying process, problems such as large fluctuations in spray coating thickness and poor uniformity are very likely to occur, making it difficult to meet the spraying quality requirements.

[0003] In order to achieve comprehensive spraying of the aircraft surface, the existing spraying system usually uses a gantry track combined with a spraying robot to spray the upper surface of the aircraft, and a ground track combined with a spraying robot to spray the lower surface of the aircraft. This method meets the spraying function requirements. The gantry track usually needs to be hoisted and installed in the paint shop, and the movable range of the gantry track should be able to cover the overall size of the aircraft. Due to the huge size of the aircraft in the wingspan direction, the gantry track requires a high bending section and a complex structure; it places high requirements on the height, space size, and top strength of the paint shop, which increases the construction cost of the entire spraying production line. In addition, in order to cover the lower surfaces of the left and right wings of the aircraft, two additional ground track spraying equipment are required, which increases the cost and limits the space for the aircraft landing gear to enter and exit. Therefore, this type of solution can only meet the spraying of a single model of aircraft products and has poor versatility. Summary of the invention

[0004] Purpose of the invention: In order to solve the above-mentioned technical problems, the embodiments of the present invention provide a circular scanning wing automatic spraying equipment and a method of use, so as to solve the problems that the gantry track in the existing spraying system has a high bending cross-section and a complex structure, and puts forward high requirements on the factory building, thereby increasing the cost of the entire spraying production line, and usually can only meet the spraying of a single model of aircraft products and has poor versatility.

[0005] Technical solution of the present invention: In a first aspect, an embodiment of the present invention provides a circular scanning wing automated spraying device, comprising: an AGV vehicle 1, a mobile mechanism 2 carried on the AGV vehicle 1, a circular frame 3, and a plurality of flexible spraying devices 4, a paint bucket 5 and a plunger pump 6;

[0006] The slide rail and the lead screw 2-3 in the mobile mechanism 2 are fixed to the upper platform of the AGV vehicle 1 along the length direction of the AGV vehicle 1, and the mobile tray 2-1 of the mobile mechanism 2 is slidably mounted on the slide rail;

[0007] The annular frame 3 is fixed on the moving tray 2-1 in the moving mechanism 2;

[0008] The plurality of flexible spraying devices 4 are evenly distributed along the circumference of the annular frame 3 and fixed to the inner circle of the annular frame 3, and the spray gun 4-1 of each flexible spraying device 4 faces the inner side of the annular frame 3;

[0009] The paint bucket 5 and the plunger pump 6 are fixedly installed on the mobile pallet 2-1. The paint bucket 5 is connected to the plunger pump 6 through a pipeline, and the plunger pump 6 is connected to the spray guns 4-1 of multiple flexible spray devices 4 through a pipeline; and the spray gun 4-1 of each flexible spray device 4 has multi-degree-of-freedom rotation capability to achieve all-round spraying. The plunger pump 6 can pump the paint out of the paint bucket 5, transport it to the spray gun 4-1 under high pressure, and spray it at the spray gun 4-1.

[0010] Optionally, in the above-mentioned annular scanning wing automated spraying equipment, the moving mechanism 2 includes: a moving tray 2-1, a slide rail and slider assembly 2-2, a lead screw 2-3, a motor 2-4, and a reducer 2-5;

[0011] Among them, at least two groups of slide rail slider assemblies 2-2 are arranged in parallel on the platform of the AGV vehicle 1 along the length direction, the bottom of the mobile pallet 2-1 is fixedly connected to the sliders on each slide rail, and the screw 2-3 is arranged in parallel between the two groups of slide rail slider assemblies 2-2. The screw 2-3 is connected to the motor 2-4 through the reducer 2-5, and the motor 2-4 drives the screw 2-3 to rotate through the reducer 2-5, thereby driving the mobile pallet 2-1 to move along the slide rail.

[0012] Optionally, in a circular scanning wing automated spraying equipment as described above, the annular frame 3 is configured as an octagonal frame welded from large square tubes, two square tubes are welded at the bottom of the frame as legs, and the frame is fixedly connected to the movable pallet 2-1 through the legs, and a plurality of lightening holes are opened on the annular frame 3; on both sides of the annular ring of the annular frame 3, a plurality of flexible spraying devices 4 are evenly arranged along the circumferential direction, and each flexible spraying device 4 avoids the position of each lightening hole of the annular frame 3.

[0013] Optionally, in the annular scanning wing automated spraying equipment as described above, each of the flexible spraying devices 4 includes a spray gun 4-1, an electric cylinder 4-2, a six-degree-of-freedom platform 4-3, a reinforcing rod 4-4, and a movable plate 4-5; two reinforcing rods 4-4 are arranged on both sides of the electric cylinder 4-2, the fixed ends of the reinforcing rods 4-4 and the cylinder body of the electric cylinder 4-2 are fixedly connected to the side wall of the annular frame 3, the movable end of the reinforcing rod 4-4 and the push rod end of the electric cylinder 4-2 are respectively fixedly connected to the movable plate 4-5, the six-degree-of-freedom platform 4-3 is fixedly connected to the bottom of the movable plate 4-5, and the spray gun 4-1 is fixed to the end of the six-degree-of-freedom platform 4-3;

[0014] Each of the flexible spraying devices 4 is used to drive the moving plate 4-5, the six-degree-of-freedom platform 4-3 and the spray gun 4-1 to perform overall telescopic movement through the electric cylinder 4-2, and to drive the spray gun 4-1 to achieve multi-degree-of-freedom movement through the six-degree-of-freedom platform 4-3.

[0015] Optionally, in the circular scanning wing automated spraying equipment as described above, laser radar sensors 7 are installed around the AGV vehicle 1 for navigation of the AGV vehicle 1 at the spraying station.

[0016] Optionally, in the circular scanning wing automated spraying equipment as described above, a plurality of sets of hydraulic cylinders are arranged between the wheels and the chassis of the AGV vehicle 1, and the upper platform of the AGV vehicle 1 is lifted and lowered as a whole by the hydraulic cylinders, thereby realizing the overall lifting and lowering of various components loaded on the upper platform.

[0017] Optionally, in the circular scanning wing automated spraying equipment as described above, the AGV vehicle 1 is configured as an explosion-proof AGV vehicle.

[0018] Optionally, in the circular scanning wing automated spraying equipment as described above, the motors in the moving mechanism 2, the electric cylinder 4-2, and the six-degree-of-freedom platform 4-3 are explosion-proof motors.

[0019] Optionally, in the annular scanning wing automated spraying equipment as described above, the inner circle size of the annular frame 3 is larger than the size of the wing root position of the spraying object.

[0020] In a second aspect, an embodiment of the present invention further provides a method for using a circular scanning wing automated spraying device, which is a method for using a circular scanning wing automated spraying device as described in any one of the above items, comprising the following steps:

[0021] Step 1, performing shape analysis and spraying offline programming on the wing 8 of the product to be sprayed;

[0022] Step 2: By means of laser navigation, the AGV 1 is automatically moved to the spraying station, that is, the AGV 1 is moved under the wing 8 and parallel to the wing 8, and the upper platform of the AGV 1 is raised so that the center position of the annular frame 3 is aligned with the wing tip of the wing 8;

[0023] Step 3, the electric cylinder 4-2 and the six-degree-of-freedom platform 4-3 in the multiple flexible spraying devices 4 adjust the position of the spray gun 4-1 nozzle and the surface of the wing 8 in real time, and coordinate the movement with the moving mechanism 2 to spray the wing 8 from the wing tip to the wing root according to the offline programmed spraying path;

[0024] Step 4, after the spraying is completed, transfer to the other wing 8 to complete the spraying according to steps 2-3;

[0025] Step 5: After the spraying is completed, the AGV vehicle 1 withdraws from the spraying station by laser navigation.

[0026] Beneficial effects of the present invention: The embodiment of the present invention provides a circular scanning type wing automated spraying equipment and a method of use. The wing automated spraying equipment provided by the present invention uses an AGV vehicle to transform the slide rail slider assembly originally fixed and pre-buried in the ground into a movable state, thereby enhancing the versatility of the equipment and the factory building; the mobile mechanism on the AGV vehicle enables the equipment to complete the wing spraying at a single station, thereby saving the transfer time while ensuring the spraying quality, thereby improving the spraying efficiency; the flexible spraying device can be telescopic and rotated with multiple degrees of freedom, and can be applied to different product objects. The device is safe and reliable to operate, meets the requirements of multi-product spraying, has strong applicability, saves factory resources, can greatly improve the spraying efficiency and quality, and has positive significance for the application of aircraft product spraying technology; it can be directly extended to other industries for the spraying of products with large slenderness ratio and regular appearance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0028] Figure 1 A schematic diagram of the three-dimensional structure of a circular scanning wing automatic spraying equipment provided by an embodiment of the present invention;

[0029] Figure 2 for Figure 1 The illustrated embodiment provides a schematic structural diagram of an annular frame and a flexible spraying device in an annular scanning wing automated spraying device;

[0030] Figure 3 for Figure 1 The illustrated embodiment provides a schematic structural diagram of a flexible spraying device in an annular scanning wing automated spraying device;

[0031] Figure 4 A schematic diagram of the initial spraying state of a wing being sprayed using the annular scanning wing automated spraying equipment provided by an embodiment of the present invention;

[0032] Figure 5 The present invention is a schematic diagram of a wing spraying process using the circular scanning wing automated spraying equipment provided in an embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 1AGV vehicle; 2mobile mechanism; 2-1mobile pallet; 2-2slide rail slider assembly; 2-3screw; 2-4motor; 2-5reducer; 3ring frame; 3-1leg; 4flexible spraying device; 4-1spray gun; 4-2electric cylinder; 4-3six-degree-of-freedom platform; 4-4reinforcing rod; 4-5mobile plate; 5paint bucket; 6piston pump; 7lidar sensor; 8wing. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0036] As described in the above background technology, the spray coating process on the aircraft surface is prone to problems such as large fluctuations in coating thickness and poor uniformity. The existing spraying system requires a high bending section and complex structure for the gantry track, and places high demands on the factory building, which increases the cost of the entire spraying production line and limits the access space for the aircraft landing gear. Therefore, the above spraying system can usually only meet the spraying of a single model of aircraft products and has poor versatility.

[0037] In the aircraft surface spraying scheme, the spraying operation of the aircraft wing part has a great influence on the economy, quality, efficiency, versatility and other aspects of the whole aircraft spraying scheme. For the spraying of aircraft wings, the embodiment of the present invention proposes a circular scanning wing automatic spraying equipment and a use method. The wing automatic spraying equipment is a special spraying equipment for the wing part in the aircraft surface spraying system. The wing automatic spraying equipment is flexible and can take into account the wing products of multiple models while ensuring the spraying accuracy and spraying efficiency.

[0038] The present invention provides the following specific embodiments which can be combined with each other. The same or similar concepts or processes may not be described in detail in some embodiments.

[0039] Figure 1 A schematic diagram of the three-dimensional structure of a circular scanning wing automatic spraying equipment provided by an embodiment of the present invention. Figure 1 As shown, the annular scanning wing automated spraying equipment provided in this embodiment includes an AGV vehicle 1, a mobile mechanism 2 carried on the AGV vehicle 1, an annular frame 3, and a plurality of flexible spraying devices 4, a paint bucket 5 and a plunger pump 6;

[0040] In a specific implementation, laser radar sensors 7 can be installed around the AGV vehicle 1 to navigate the AGV vehicle 1 at the spraying station; multiple sets of hydraulic cylinders are arranged between the wheels and the chassis of the AGV vehicle 1, and the upper platform of the AGV vehicle 1 is lifted and lowered as a whole by the hydraulic cylinders, thereby realizing the overall lifting and lowering of various components loaded on the upper platform; the AGV vehicle 1 is an explosion-proof AGV vehicle.

[0041] like Figure 1 As shown, the mobile mechanism 2 in the embodiment of the present invention includes: a mobile tray 2-1, a slide rail slider assembly 2-2, a lead screw 2-3, a motor 2-4, and a reducer 2-5. The upper platform of the AGV vehicle 1 is provided with at least two sets of slide rail slider assemblies 2-2 along the length direction. The bottom of the mobile tray 2-1 is fixedly connected to the sliders on each slide rail. The lead screw 2-3 is arranged in parallel between the two sets of slide rail slider assemblies 2-2. The lead screw 2-3 is connected to the motor 2-4 through the reducer 2-5. The motor 2-4 drives the lead screw 2-3 to rotate through the reducer 2-5, thereby driving the mobile tray 2-1 to move along the slide rail. The motor 2-4 in the mobile mechanism 2 is an explosion-proof motor. In addition, the annular frame 3 is fixed on the mobile tray 2-1 in the mobile mechanism 2.

[0042] Figure 2 for Figure 1 The illustrated embodiment provides a schematic structural diagram of an annular frame and a flexible spraying device in an annular scanning wing automated spraying equipment; a plurality of flexible spraying devices 4 in the embodiment of the present invention are evenly distributed and fixed on the inner circle of the annular frame 3 along the circumference of the annular frame 3, and a spray gun of each flexible spraying device 4 faces the inner side of the annular frame 3.

[0043] like Figure 1 As shown, the paint bucket 5 and the plunger pump 6 are fixedly installed on the mobile pallet 2-1, the paint bucket 5 is connected to the plunger pump 6 through a pipeline, the plunger pump 6 is connected to the spray guns 4-1 of multiple flexible spray devices 4 through a pipeline, and the spray guns of each flexible spray device 4 have multi-degree-of-freedom rotation capabilities to achieve all-round spraying. The plunger pump 6 can pump the paint out of the paint bucket 5, deliver it to the spray gun 4-1 under high pressure, and spray it at the spray gun 4-1.

[0044] See also Figure 2 As shown, the annular frame 3 is, for example, configured as an octagonal frame welded from large square tubes, two square tubes are welded at the bottom of the frame as legs, and the frame is fixedly connected to the movable pallet 2-1 through the legs, and a plurality of lightening holes are opened on the annular frame 3; a plurality of flexible spray devices 4 are evenly arranged along the circumferential direction on both sides of the annular ring of the annular frame 3, and each flexible spray device 4 avoids the position of each lightening hole of the annular frame 3, and the inner circle size of the annular frame 3 is larger than the size of the wing root position of the wing 8 of the spraying object.

[0045] Figure 3 for Figure 1The illustrated embodiment provides a schematic structural diagram of a flexible spraying device in an annular scanning wing automated spraying device; see Figure 3 As shown, the flexible spraying device 4 includes a spray gun 4-1, an electric cylinder 4-2, a six-degree-of-freedom platform 4-3, a reinforcing rod 4-4, and a movable plate 4-5. Two reinforcing rods 4-4 are arranged on both sides of the electric cylinder 4-2. The fixed ends of the reinforcing rods 4-4 and the cylinder body of the electric cylinder 4-2 are fixedly connected to the side wall of the annular frame 3. The movable end of the reinforcing rod 4-4 and the push rod end of the electric cylinder 4-2 are fixedly connected to the movable plate 4-5 respectively. The six-degree-of-freedom platform 4-3 is fixedly connected to the bottom of the movable plate 4-5. The spray gun 4-1 is fixed at the end of the six-degree-of-freedom platform 4-3. The motors in the electric cylinder 4-2 and the six-degree-of-freedom platform 4-3 are explosion-proof motors.

[0046] Each of the flexible spraying devices 4 is used to drive the moving plate 4-5, the six-degree-of-freedom platform 4-3 and the spray gun 4-1 to perform overall telescopic movement through the electric cylinder 4-2, and to drive the spray gun 4-1 to achieve multi-degree-of-freedom movement through the six-degree-of-freedom platform 4-3.

[0047] Figure 4 A schematic diagram of the initial spraying state of a wing being sprayed using the annular scanning wing automated spraying equipment provided by an embodiment of the present invention; Figure 5 The schematic diagram of the wing spraying process using the circular scanning wing automatic spraying equipment provided by the embodiment of the present invention. Figure 4-5 As shown, the method for using the above-mentioned annular scanning wing automatic spraying equipment also includes the following steps:

[0048] Step 1: Perform shape analysis and spraying offline programming on the wing 8 of the product to be sprayed;

[0049] Step 2: By means of laser navigation, the AGV 1 is automatically moved to the spraying station, that is, the AGV 1 is moved under the wing 8 and parallel to the wing 8, and the upper platform of the AGV 1 is raised so that the center position of the annular frame 3 is aligned with the wing tip of the wing 8;

[0050] Step 3, the electric cylinder 4-2 and the six-degree-of-freedom platform 4-3 in the multiple flexible spraying devices 4 adjust the positions of the spray gun nozzle 4-1 and the surface of the wing 8 in real time, and coordinate the movement with the moving mechanism 2 to spray the wing 8 from the wing tip to the wing root according to the offline programmed spraying path;

[0051] Step 4: After spraying is completed, transfer to the other wing 8 according to steps 2-3 to complete spraying;

[0052] Step 5: After the spraying is completed, the AGV vehicle 1 withdraws from the spraying station by means of laser navigation.

[0053] The embodiment of the present invention adopts a set of equipment combined with a method to achieve flexible automated spraying dedicated to wings in an aircraft spraying system; an AGV vehicle is used to transform the slide rail slider assembly originally fixed and pre-buried in the ground into a movable state, thereby enhancing the versatility of the equipment and the factory building; the moving mechanism on the AGV vehicle enables the equipment to complete the wing spraying at a single station, thereby ensuring the spraying quality while eliminating the transfer time and improving the spraying efficiency; the flexible spraying device can be extended and retracted and rotated with multiple degrees of freedom, and can be suitable for different product objects.

[0054] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any technician in the field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A circular scanning wing automatic spraying equipment, characterized in that: include: An AGV vehicle (1), a moving mechanism (2), a ring frame (3), and a plurality of flexible spraying devices (4), a paint bucket (5) and a plunger pump (6) mounted on the AGV vehicle (1); The slide rail and the lead screw (2-3) in the moving mechanism (2) are fixed to the upper platform of the AGV vehicle (1) along the length direction of the AGV vehicle (1), and the moving tray (2-1) of the moving mechanism (2) is slidably mounted on the slide rail; The annular frame (3) is fixed on the moving tray (2-1) in the moving mechanism (2); The plurality of flexible spraying devices (4) are evenly distributed along the circumference of the annular frame (3) and fixed on the inner circle of the annular frame (3), and the spray gun (4-1) of each flexible spraying device (4) faces the inner side of the annular frame (3); The paint bucket (5) and the plunger pump (6) are fixedly installed on the mobile tray (2-1); the paint bucket (5) is connected to the plunger pump (6) through a pipeline; the plunger pump (6) is connected to the spray guns (4-1) of multiple flexible spray devices (4) through the pipeline; and the spray guns (4-1) of each flexible spray device (4) have the ability to rotate with multiple degrees of freedom to achieve all-round spraying. The plunger pump (6) can pump paint out of the paint bucket (5), transport it to the spray gun (4-1) under high pressure, and spray it at the spray gun (4-1).

2. The circular scanning wing automatic spraying equipment according to claim 1 is characterized in that: The moving mechanism (2) comprises: a moving tray (2-1), a slide rail and slider assembly (2-2), a lead screw (2-3), a motor (2-4), and a reducer (2-5); The upper platform of the AGV vehicle (1) is provided with at least two sets of slide rail slider assemblies (2-2) in parallel along the length direction, the bottom of the mobile tray (2-1) is fixedly connected to the sliders on each slide rail, the lead screw (2-3) is arranged in parallel between the two sets of slide rail slider assemblies (2-2), the lead screw (2-3) is connected to the motor (2-4) through a reducer (2-5), and the motor (2-4) drives the lead screw (2-3) to rotate through the reducer (2-5), thereby driving the mobile tray (2-1) to move along the slide rail.

3. The circular scanning wing automatic spraying equipment according to claim 1 is characterized in that: The annular frame (3) is configured as an octagonal frame formed by welding large square tubes, two square tubes are welded at the bottom of the frame as legs, and the frame is fixedly connected to the movable tray (2-1) via the legs, and a plurality of lightening holes are provided on the annular frame (3); a plurality of flexible spray devices (4) are evenly arranged along the circumference on both sides of the annular ring of the annular frame (3), and each flexible spray device (4) avoids the position of each lightening hole of the annular frame (3).

4. The circular scanning wing automatic spraying equipment according to claim 1 is characterized in that: Each of the flexible spraying devices (4) comprises a spray gun (4-1), an electric cylinder (4-2), a six-degree-of-freedom platform (4-3), a reinforcing rod (4-4), and a movable plate (4-5); two reinforcing rods (4-4) are arranged on both sides of the electric cylinder (4-2); the fixed ends of the reinforcing rods (4-4) and the cylinder body of the electric cylinder (4-2) are fixedly connected to the side wall of the annular frame (3); the movable end of the reinforcing rod (4-4) and the push rod end of the electric cylinder (4-2) are respectively fixedly connected to the movable plate (4-5); the six-degree-of-freedom platform (4-3) is fixedly connected to the bottom of the movable plate (4-5); and the spray gun (4-1) is fixed to the end of the six-degree-of-freedom platform (4-3); Each of the flexible spraying devices (4) is used to drive the moving plate (4-5), the six-degree-of-freedom platform (4-3) and the spray gun (4-1) to perform overall telescopic movement through the electric cylinder (4-2), and to drive the spray gun (4-1) to achieve multi-degree-of-freedom movement through the six-degree-of-freedom platform (4-3).

5. The circular scanning wing automatic spraying equipment according to claim 1 is characterized in that: The AGV vehicle (1) is equipped with laser radar sensors (7) around its periphery for navigating the AGV vehicle (1) at the spraying station.

6. The circular scanning wing automatic spraying equipment according to claim 1 is characterized in that: A plurality of groups of hydraulic cylinders are arranged between the wheels and the chassis of the AGV vehicle (1), and the upper platform of the AGV vehicle (1) is lifted and lowered as a whole by means of the hydraulic cylinders, thereby achieving the overall lifting and lowering of various components loaded on the upper platform.

7. The circular scanning wing automatic spraying equipment according to claim 1 is characterized in that: The AGV vehicle (1) is configured as an explosion-proof AGV vehicle.

8. The circular scanning wing automatic spraying equipment according to claim 1 is characterized in that: The motors in the moving mechanism (2), the electric cylinder (4-2) and the six-degree-of-freedom platform (4-3) are explosion-proof motors.

9. The circular scanning wing automatic spraying equipment according to claim 1, characterized in that: The inner circle size of the annular frame (3) is larger than the root position size of the wing (8) to be sprayed.

10. A method for using a circular scanning wing automatic spraying device, characterized in that: The method for using the circular scanning wing automatic spraying equipment according to any one of claims 1 to 9 comprises the following steps: Step 1, performing shape analysis and spraying offline programming on the wing (8) of the product to be sprayed; Step 2, by means of laser navigation, the AGV vehicle (1) is automatically moved to the spraying station, that is, the AGV vehicle (1) is moved under the wing (8) and parallel to the wing (8), and the upper platform of the AGV vehicle (1) is raised so that the center position of the annular frame (3) is aligned with the wing tip of the wing (8); Step 3, the electric cylinder (4-2) and the six-degree-of-freedom platform (4-3) in the multiple flexible spraying devices (4) adjust the position of the spray gun (4-1) nozzle and the surface of the wing (8) in real time, and coordinate the movement with the moving mechanism (2) to spray the wing (8) from the wing tip to the wing root according to the offline programmed spraying path; Step 4, after the spraying is completed, transfer to the other wing (8) according to steps 2-3 to complete the spraying; Step 5: After the spraying is completed, the AGV vehicle (1) withdraws from the spraying station by means of laser navigation.

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