A coating equipment for spraying whole aircraft

Abstract

The invention discloses a coating equipment for spraying a whole aircraft, comprising a gantry structure, a fuselage lower surface spraying system and an air intake duct spraying system, wherein the fuselage upper surface spraying structure is movably arranged on the gantry structure; for coating the upper surface of the aircraft, due to the large size of the aircraft, the gantry structure and the fuselage upper surface spraying structure are used, the gantry moves in the directions of the X-axis and the Y-axis, and the precision five-axis linkage spraying equipment moves precisely to ensure the precision of the spraying pattern; for coating the lower surface of the aircraft fuselage, the aircraft fuselage is lifted by a jacking mechanism, and the precision five-axis linkage fuselage lower surface spraying system equipped on an AGV trolley is used to realize precise spraying of the fuselage pattern; for spraying the air intake duct of the aircraft, the air intake duct spraying system equipped with a precision five-axis system on the AGV trolley is used to realize precise spraying, thereby solving the technical problem that the existing spraying equipment cannot realize the unshielded precision spraying of a large area of ​​a single color fuselage and a partial multi-color pattern of the fuselage.

Description

Technical Field

[0001] The invention belongs to the field of spraying and relates to coating equipment, in particular to coating equipment used for spraying of complete aircraft. Background Art

[0002] The spraying of multi-color patterns on the aircraft fuselage is an indispensable link in the field of aircraft painting. The existing technology is still mainly manual when spraying multi-color patterns on aircraft, and a mechanical arm structure is used for local single-color spraying. However, since the mechanical arm structure mainly uses rotational motion, has a slow operating speed, low precision, poor load-bearing capacity, complex motion trajectory planning, and is expensive, it is rarely used in actual aircraft spraying.

[0003] The existing spray guns used for spraying aircraft fuselages have simple driving methods, mainly pneumatic, switch control, and difficult to control the amount of spraying. Generally, conical mist paint is sprayed out, and the spraying point is circular with a diameter of 200-400mm. The spraying distance is generally around 300-500mm, which is easy to cause overspray. The spraying process is seriously damaged, with about 30% of the paint splashing loss. At the same time, it is easy to cause serious pollution to the working space. Operators must wear a full set of protective clothing to minimize health damage. When spraying multi-color patterns, masking tape must be manually covered to avoid the area where this color is not sprayed. After spraying, it is necessary to wait for the color to dry, then remove the tape, and then spray the second color. Repeat this process, the spraying efficiency is low, and it is difficult to achieve automatic intelligent spraying without masking and overspray. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a painting equipment for spraying the entire aircraft, so as to solve the technical problem that the spraying equipment in the prior art cannot achieve unobstructed and precise spraying of large-area single-color aircraft fuselage and local multi-color patterns on the fuselage.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0006] A coating equipment for whole aircraft spraying comprises a gantry structure, a fuselage lower surface spraying system and an air inlet spraying system, wherein the fuselage upper surface spraying structure is movably arranged on the gantry structure;

[0007] The gantry structure comprises two groups of gantry columns symmetrically arranged on the ground, each group of gantry columns is provided with a gantry Y-axis motion structure on the top, and two gantry X-axis motion structures are movably arranged on the two gantry Y-axis motion structures;

[0008] The upper surface spraying structure of the fuselage comprises a pair of upper surface spraying X-axis motion structures movably arranged on the gantry X-axis motion structure, an upper surface spraying Y-axis motion structure movably arranged on the pair of upper surface spraying X-axis motion structures, and an upper surface Z-axis spraying system fixedly arranged on the upper surface spraying Y-axis motion structure;

[0009] The upper surface Z-axis spraying system comprises an upper surface spraying Z-axis body whose upper end is fixed on the upper surface spraying Y-axis motion structure, a Z-axis telescopic rod is movably provided on the upper surface spraying Z-axis body, and a first nozzle system is provided at the end of the Z-axis telescopic rod;

[0010] The fuselage lower surface spraying system comprises an AGV trolley, the AGV trolley is provided with a pair of parallel lower surface spraying Y-axis motion structures, a movable lower surface spraying X-axis motion structure is commonly provided on the pair of lower surface spraying Y-axis motion structures, a lower surface spraying Z-axis motion structure is fixedly provided on the lower surface spraying X-axis motion structure, and a second spraying system is provided on the top of the lower surface spraying Z-axis motion structure;

[0011] The lower surface spraying Z-axis motion structure comprises a vertical mounting frame fixedly arranged on the AGV trolley, a vertical telescopic rod movably arranged in the vertical mounting frame, a nozzle mounting cross bar fixedly arranged on the top of the vertical telescopic rod, and a second nozzle system fixedly arranged at the end of the nozzle mounting cross bar;

[0012] The air intake duct spraying structure comprises a second AGV trolley, on which a rotating table is rotatably provided, a slide module bracket is fixed on the rotating table, a Z-axis lead screw slide module is fixed on the slide module bracket, an air intake duct spraying X-axis motion plate is provided on the top of the Z-axis lead screw slide module, and an air intake duct spraying Y-axis motion structure is movably provided on the air intake duct spraying X-axis motion plate;

[0013] The air intake duct spraying Y-axis motion structure comprises a Y-axis telescopic rod movably arranged on the air intake duct spraying X-axis motion plate, and a third nozzle system is arranged at the end of the Y-axis telescopic rod.

[0014] The present invention also includes the following technical features:

[0015] Each of the truss vehicle Y-axis motion structures comprises a first body, on which a parallel first linear guide rail, a first rack and a wheel groove are arranged;

[0016] Each of the truss X-axis motion structures comprises a second body, the side walls at both ends of the second body are provided with a first servo motor, the output shaft of the first servo motor is provided with a first reducer, and the first reducer is provided with a first gear;

[0017] The second body is provided with a first slider and a roller at both ends, and the first slider, the first gear and the roller are matched with the first linear guide rail, the first rack and the wheel groove respectively.

[0018] Each of the upper surface spraying X-axis motion structures comprises a third body, on which a fifth parallel linear guide rail and a second rack are arranged;

[0019] The upper surface spraying Y-axis motion structure includes a fourth body, and second servo motors are arranged at both ends of the fourth body. A second reducer is arranged on the output shaft of the second servo motor, and a second gear is arranged on the second reducer. The second gear cooperates with the corresponding second rack; a fifth slider is also arranged on the fourth body, and the fifth slider cooperates with the fifth linear guide rail.

[0020] The Z-axis telescopic rod includes a first-level telescopic rod movably arranged on the upper surface spraying Z-axis body, a second-level telescopic rod is arranged in the first-level telescopic rod, a third-level telescopic rod is arranged in the second-level telescopic rod, and the first nozzle system is arranged at the end of the third-level telescopic rod.

[0021] A motor is arranged on the upper surface sprayed Z-axis body, a third ball screw pair is fixedly arranged on the output shaft of the motor, and a nut of the third ball screw pair is fixedly connected to the Z-axis telescopic rod; a fourth linear guide is arranged on the upper surface sprayed Z-axis body, a fourth slider is arranged on the Z-axis telescopic rod, and the fourth slider cooperates with the fourth linear guide.

[0022] The vertical telescopic rod comprises a lower surface spraying Z-axis primary telescopic rod, in which a lower surface spraying Z-axis secondary telescopic rod is arranged, and the top of the lower surface spraying Z-axis secondary telescopic rod is fixedly provided with the nozzle mounting cross bar.

[0023] A motor is provided on one side of the lower surface spraying X-axis motion structure, a first ball screw pair is fixedly provided on the output shaft of the motor, and a nut of the first ball screw pair is fixedly connected to the vertical telescopic rod;

[0024] A second linear guide pair is arranged on the side wall of the vertical telescopic rod, and a second sliding block matched with the second linear guide pair is arranged on the inner wall of the vertical mounting frame.

[0025] The Y-axis telescopic rod comprises a first-stage telescopic cylinder for air intake duct spraying, a second-stage telescopic cylinder for air intake duct spraying and a third-stage telescopic cylinder for air intake duct spraying; the third nozzle system is arranged at the end of the third-stage telescopic cylinder for air intake duct spraying.

[0026] A third linear guide pair and a motor are arranged on the X-axis motion plate for spraying the air intake duct, a second ball screw pair is fixedly arranged on the output shaft of the motor, a nut of the second ball screw pair is fixedly connected to the Y-axis telescopic rod, a third slider is arranged at the bottom of the Y-axis telescopic rod, and the third slider cooperates with the third linear guide pair.

[0027] The first nozzle system, the second nozzle system or the third nozzle system has the same structure, including a rotating shaft swing head arranged at the end of the Z-axis telescopic rod, the top of the lower surface spraying Z-axis motion structure or the end of the Y-axis telescopic rod;

[0028] The rotating shaft swing head includes an L-shaped mounting frame, a first motor is arranged on the L-shaped mounting frame, an output shaft of the first motor extends out of the bottom of the L-shaped mounting frame and is fixed with a second motor mounting frame, a second motor is installed on the second motor mounting frame, the output shaft of the second motor is arranged along the Y-axis direction and a connecting rod is fixedly installed at its end, an automatic coating device mounting frame is arranged at the end of the connecting rod, and the automatic coating device is installed in the automatic coating device mounting frame.

[0029] Compared with the prior art, the present invention has the following beneficial technical effects:

[0030] In the present invention, for painting the upper surface of the aircraft, due to the large size of the aircraft fuselage, a gantry structure and a spray structure on the upper surface of the fuselage are utilized, the gantry performs large-scale movement in the X-axis and Y-axis directions, and the precision five-axis linkage spraying equipment performs precise size movement to ensure the accuracy of the spraying pattern; for painting the lower surface of the aircraft fuselage, the aircraft fuselage is lifted by a jacking mechanism, and the fuselage lower surface spraying system equipped with a precision five-axis linkage on the AGV trolley is used to achieve precise spraying of the fuselage pattern; for spraying the aircraft's air intake duct, an air intake duct spraying system equipped with a precision five-axis system is used for the AGV trolley to perform precise spraying in a narrow and long space, which solves the technical problem in the prior art that the spraying equipment cannot achieve unobstructed and precise spraying of a large area of ​​a single color on the aircraft fuselage and a local multi-color pattern on the fuselage. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of aircraft spraying of the present invention.

[0032] Figure 2 It is a schematic diagram of the motion structure of the gantry vehicle of the present invention.

[0033] Figure 3 It is a schematic diagram of the structure of the five-axis spraying system on the upper surface of the fuselage of the present invention.

[0034] Figure 4 for Figure 3 Schematic diagram of the structure of the Z-axis spraying system.

[0035] Figure 5 It is a schematic diagram of the structure of the five-axis spraying system for the lower surface of the fuselage of the present invention.

[0036] Figure 6 It is a structural schematic diagram of the five-axis spraying system for spraying an aircraft air inlet according to the present invention.

[0037] Figure 7 It is a schematic diagram of the structure of the rotating shaft swing head in the present invention.

[0038] The meanings of the numbers in the figure are: 1-IGPS positioning system, 2-truss structure, 3-monitoring system, 4-fuselage upper surface spraying system, 5-fuselage lower surface spraying system, 6-elevator, 7-control system, 8-air inlet spraying system, 9-lifting mechanism, 11-rotating axis swing head, 12-automatic painting device;

[0039] 201-column, 202-first body, 203-second body, 204-roller, 205-wheel groove, 206-servo motor, 207-reducer, 208-gear, 209-rack, 210-first slider, 211-first linear guide;

[0040] 401-second servo motor, 402-second reduction motor, 403-second gear, 404-upper surface spraying Y-axis motion structure, 405-fifth slider, 406-fifth linear guide, 407-second rack, 408-upper surface spraying X-axis motion structure, 409-upper surface spraying Z-axis body, 410-first telescopic rod, 411-second telescopic rod, 413-third telescopic rod, 414-first nozzle system, 415-third ball screw pair, 416-fourth linear guide;

[0041] 501-first AGV trolley, 502-lower surface spraying Y-axis motion structure, 503-lower surface spraying X-axis motion structure, 504-first ball screw pair, 505-vertical mounting frame, 506-second linear guide pair, 507-lower surface spraying Z-axis primary telescopic rod, 508-lower surface spraying Z-axis secondary telescopic rod, 509-spray head installation cross bar, 510-second spray head system;

[0042] 801-the second AGV trolley, 802-the rotating table, 803-the Z-axis screw slide module, 804-the X-axis motion plate for air inlet spraying, 805-the third linear guide pair, 806-the second ball screw pair, 807-the slide module bracket, 808-the first-stage cylinder for air inlet spraying Y-axis, 809-the second-stage cylinder for air inlet spraying Y-axis, 810-the third-stage cylinder for air inlet spraying Y-axis, 811-the third nozzle system;

[0043] 1101-L-shaped mounting frame, 1102-first motor, 1103-second motor mounting frame, 1104-second motor, 1105-connecting rod, 1106-mounting frame.

[0044] The specific contents of the present invention are further explained in detail below in conjunction with embodiments. DETAILED DESCRIPTION

[0045] It should be noted that, unless otherwise specified, all components in the present invention are components known in the art.

[0046] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0047] The present invention provides a coating equipment for whole aircraft spraying, comprising a truss structure 2, a fuselage lower surface spraying system 5 and an air inlet spraying system 8, wherein a fuselage upper surface spraying structure 4 is movably arranged on the truss structure 2;

[0048] The gantry structure 2 includes two groups of gantry columns 201 symmetrically arranged on the ground, each group of gantry columns 201 is provided with a gantry Y-axis motion structure on the top, and two gantry X-axis motion structures are movably arranged on the two gantry Y-axis motion structures;

[0049] The upper surface spraying structure 4 of the fuselage includes a pair of upper surface spraying X-axis motion structures 408 movably arranged on the gantry X-axis motion structure, an upper surface spraying Y-axis motion structure 404 movably arranged on the pair of upper surface spraying X-axis motion structures 408, and an upper surface Z-axis spraying system fixedly arranged on the upper surface spraying Y-axis motion structure 404;

[0050] The upper surface Z-axis spraying system includes an upper surface spraying Z-axis body 409 whose upper end is fixed on the upper surface spraying Y-axis motion structure 404, a Z-axis telescopic rod is movably provided on the upper surface spraying Z-axis body 409, and a first nozzle system 414 is provided at the end of the Z-axis telescopic rod;

[0051] The fuselage lower surface spraying system 5 includes an AGV trolley 501, on which a pair of parallel lower surface spraying Y-axis motion structures 502 are arranged, on which a movable lower surface spraying X-axis motion structure 503 is commonly arranged, on which the lower surface spraying X-axis motion structure 502 is fixedly arranged a lower surface spraying Z-axis motion structure, and on the top of the lower surface spraying Z-axis motion structure is arranged a second spraying system 510;

[0052] The lower surface spraying Z-axis motion structure includes a vertical mounting frame 505 fixedly mounted on the AGV trolley 501, a vertical telescopic rod movably mounted in the vertical mounting frame 505, a nozzle mounting cross bar 509 fixedly mounted on the top of the vertical telescopic rod, and a second nozzle system 510 fixedly mounted at the end of the nozzle mounting cross bar 510;

[0053] The air inlet duct spraying structure 8 comprises a second AGV trolley 801, on which a rotating table 802 is rotatably provided, on which a slide module bracket 807 is fixed, on which a Z-axis lead screw slide module 803 is fixed, on which the Z-axis lead screw slide module 803 is fixed, on which an air inlet duct spraying X-axis motion plate 804 is provided on the top, and on which an air inlet duct spraying Y-axis motion structure is movably provided;

[0054] The air intake duct spraying Y-axis motion structure comprises a Y-axis telescopic rod movably arranged on the air intake duct spraying X-axis motion plate 804, and a third nozzle system 811 is arranged at the end of the Y-axis telescopic rod;

[0055] See also Figure 1 For spraying on the upper surface of the fuselage, the gantry structure 2 and the upper surface spraying structure 4 are used in coordination, and the gear rack motion structure is used to perform a large range of X-axis and Y-axis motion, and the five-axis linkage motion equipment of the upper surface spraying structure 4 is used to perform spraying. For spraying on the lower surface of the fuselage, the lower surface spraying system 5 of the fuselage is used, which is coordinated by the AGV trolley and the five-axis linkage equipment above the vehicle body to achieve spraying of various parts of the lower surface of the fuselage. For spraying of the air intake, the air intake spraying system 8 is used, which is also carried out by an AGV trolley equipped with a five-axis linkage equipment. Its feature is that the retractable Y-axis can enter the air intake space of the aircraft to work. All motion equipment is set by the control system 7 to set the program and control the route to achieve the final motion requirements of the equipment.

[0056] The air intake spray system 8 is provided with a rotating table 802 at the bottom to ensure 360-degree rotation of the spray system. The Z-axis lead screw slide module 803 is fixed on the slide module bracket 806 to realize movement in the Z-axis direction.

[0057] It also includes a lifting mechanism 9, a lift 6, a control system 7 and an IGPS positioning system 1;

[0058] The control system 7 is used for the operation of the lifting mechanism 9, the elevator 6 and the IGPS positioning system 1; the IGPS positioning system 1 and the monitoring system 3 are used to ensure the spraying effect and position accuracy during the painting process. The IGPS positioning system 1 is used to assist the operator and the lifting mechanism 9 to level the aircraft and to locate the aircraft in the spraying equipment; the lifting mechanism 9 is used to support the aircraft when it is towed by a tractor into the spraying position and the front and main landing gear tires of the aircraft enter the predetermined spraying position. The positioning system measures the pitch angle data of the aircraft to assist the operator in raising and lowering the lifting mechanism until the pitch angle of the aircraft is adjusted to within the specified accuracy range. The elevator 6 is used for operators to get on and off the gantry;

[0059] For painting the upper surface of the aircraft, due to the large size of the aircraft fuselage, the gantry structure 2 and the upper surface spraying structure 4 of the fuselage are used. The gantry performs large-scale movement in the X-axis and Y-axis directions, and the precision five-axis linkage spraying equipment performs precise size movement to ensure the accuracy of the spraying pattern; for painting the lower surface of the aircraft fuselage, the aircraft fuselage is lifted by a jacking mechanism, and the fuselage lower surface spraying system 5 equipped with a precision five-axis linkage on the AGV trolley is used to achieve precise spraying of the fuselage pattern; for spraying the aircraft's air intake duct, an AGV trolley is equipped with a special precision five-axis system of the air intake duct spraying system 8 to perform precise spraying in narrow and long spaces, which solves the technical problem that the spraying equipment in the prior art cannot achieve unobstructed and precise spraying of large-area single-color aircraft fuselage and partial multi-color patterns of the fuselage.

[0060] Each gantry vehicle Y-axis motion structure includes a first body 202, on which a parallel first linear guide rail 211, a first rack 209 and a wheel groove 205 are provided;

[0061] Each gantry vehicle X-axis motion structure includes a second body 203, and first servo motors 206 are disposed on the side walls at both ends of the second body 203. A first reducer 207 is disposed on the output shaft of the first servo motor 206, and a first gear 208 is disposed on the first reducer 207.

[0062] The second body 203 is provided with a first slider 210 and a roller 204 at both ends. The first slider 210 , the first gear 208 and the roller 204 are matched with the first linear guide rail 211 , the first rack 209 and the wheel groove 205 respectively.

[0063] In the above technical solution, the control system controls the servo motor 206 to work, thereby driving the first reducer 207 and the first gear 208 to rotate, the first gear 208 meshes and rotates on the first rack 209, and cooperates with the fixed roller 204 to support and roll on the wheel groove 205, and the first slider 210 is rolling constrained on the first linear guide rail 211 to achieve reciprocating motion on the Y-axis motion structure 202 of the gantry vehicle, and the upper surface spray structure 4 of the fuselage moves on the X-axis motion structure 203 of the gantry vehicle in the same manner as above, thereby achieving a large range of X-axis and Y-axis motion of the gantry vehicle.

[0064] Each upper surface spraying X-axis motion structure 408 includes a third body, on which a parallel fifth linear guide rail 406 and a second rack 407 are provided;

[0065] The upper surface spraying Y-axis motion structure 404 includes a fourth body, and second servo motors 401 are arranged at both ends of the fourth body. The output shaft of the second servo motor 401 is provided with a second reducer 402, and the second reducer 402 is provided with a second gear 403, and the second gear 403 cooperates with the corresponding second rack 407; the fourth body is also provided with a fifth slider 405, and the fifth slider 405 cooperates with the fifth linear guide 406.

[0066] In the above technical solution, the second servo motor 401 drives the second reducer 402 and then drives the second gear 403 to rotate. The second gear 403 performs meshing motion on the second rack 407, cooperating with the constrained motion of the fifth slider 405 on the fifth linear guide 406 to realize the movement on the upper surface spraying X-axis motion structure 408. Its movement mode on the upper surface spraying Y-axis motion structure 404 is consistent with the above.

[0067] The Z-axis telescopic rod includes a primary telescopic rod 410 movably arranged on the upper surface spray Z-axis body 409, a secondary telescopic rod 411 is arranged in the primary telescopic rod 410, a tertiary telescopic rod 413 is arranged in the secondary telescopic rod 411, and a first nozzle system 414 is arranged at the end of the tertiary telescopic rod 413.

[0068] In the above technical solution, adjustment in the Z-axis direction is achieved by setting a three-stage extension and retraction of the Z-axis telescopic rod.

[0069] A motor is arranged on the upper surface sprayed Z-axis body 409, and a third ball screw pair 415 is fixedly arranged on the output shaft of the motor, and the nut of the third ball screw pair 415 is fixedly connected to the Z-axis telescopic rod; a fourth linear guide rail 416 is arranged on the upper surface sprayed Z-axis body 409, and a fourth slider is arranged on the Z-axis telescopic rod, and the fourth slider cooperates with the fourth linear guide rail 416.

[0070] In the above technical solution, the Z-axis telescopic rod performs telescopic movement in the Z-axis body direction of the upper surface spraying under the constraint movement of the ball screw pair 415 and the fifth slider 405 on the fifth linear guide 406, and cooperates with the first nozzle system 414 to complete the setting work.

[0071] The vertical telescopic rod includes a lower surface spraying Z-axis primary telescopic rod 508, in which a lower surface spraying Z-axis secondary telescopic rod 509 is arranged, and a nozzle mounting cross bar 510 is fixed on the top of the lower surface spraying Z-axis secondary telescopic rod 509.

[0072] In the above technical solution, adjustment in the Z-axis direction is achieved by setting a three-stage telescopic extension of the vertical telescopic rod.

[0073] A motor is provided on one side of the lower surface spraying X-axis motion structure 503, and a first ball screw pair 504 is fixedly provided on the output shaft of the motor, and a nut of the first ball screw pair 504 is fixedly connected to the vertical telescopic rod;

[0074] A second linear guide pair 506 is disposed on the side wall of the vertical telescopic rod, and a second sliding block cooperating with the second linear guide pair 506 is disposed on the inner wall of the vertical mounting frame 505 .

[0075] In the above technical scheme, large-scale ground movement is provided by the AGV trolley 501, while small-scale precision spraying is performed by the equipped five-axis linkage spraying equipment. The movement structures in the three directions are basically the same. Here, the Z-axis movement structure of the lower surface spraying is used to illustrate. The servo motor drives the first ball screw pair 504 to rotate, and the nozzle mounting cross bar 509 is moved under the constrained movement of the second linear guide pair 506, and then the second spraying system 510 is moved, cooperating with the movement mode of the same structure in the other two axis directions to realize the required set movement process.

[0076] The Y-axis telescopic rod includes an intake duct spraying Y-axis first-stage telescopic cylinder 808, an intake duct spraying Y-axis second-stage telescopic cylinder 809 and an intake duct spraying Y-axis third-stage telescopic cylinder 810 which are connected in sequence; a third nozzle system 811 is arranged at the end of the intake duct spraying Y-axis third-stage telescopic cylinder 810.

[0077] See also Figure 6 The equipment is an air intake spraying structure, mainly for aircraft air intakes that are narrow and long and enclosed spaces. The AGV 801 is equipped with a multi-axis linkage spraying device. Its main movement mode is that the large-scale ground movement is provided by the AGV 801, while the small-scale precision spraying is achieved by the equipped five-axis linkage spraying equipment;

[0078] In the above technical scheme, the intake duct spraying Y-axis first-stage telescopic cylinder 808, the intake duct spraying Y-axis second-stage telescopic cylinder 809 and the intake duct spraying Y-axis third-stage telescopic cylinder 810 move in coordination, wherein the third nozzle system 811 is fixed on the intake duct spraying Y-axis third-stage telescopic cylinder 810 to achieve precision spraying in a narrow and confined space.

[0079] A third linear guide pair 805 and a motor are arranged on the intake duct spraying X-axis motion plate 804, a second ball screw pair 806 is fixedly arranged on the output shaft of the motor, a nut of the second ball screw pair 806 is fixedly connected to the Y-axis telescopic rod, a third slider is arranged at the bottom of the Y-axis telescopic rod, and the third slider cooperates with the third linear guide pair 805.

[0080] In the above technical solution, for the intake duct spraying X-axis motion plate 804 , the motor drives the second ball screw pair 806 to rotate, and the Y-axis telescopic rod moves in the X-axis direction under the constraint of the linear guide pair 805 .

[0081] The first nozzle system 414, the second nozzle system 510 or the third nozzle system 811 have the same structure, including a rotating axis swing head 11 arranged at the end of the Z-axis telescopic rod, the top of the lower surface spraying Z-axis motion structure or the end of the Y-axis telescopic rod;

[0082] The rotating shaft swing head 11 includes an L-shaped mounting frame 1101, on which a first motor 1102 is arranged, the output shaft of the first motor 1102 extends out of the bottom of the L-shaped mounting frame 1101 and is fixed with a second motor mounting frame 1103, on which a second motor 1104 is mounted, the output shaft of the second motor 1104 is arranged along the Y-axis direction and a connecting rod 1105 is fixedly mounted at its end, an automatic coating device mounting frame 1106 is arranged at the end of the connecting rod 1105, and an automatic coating device 12 is installed in the automatic coating device mounting frame 1106.

Claims

1. A coating equipment for spraying complete aircraft, characterized in that: It comprises a truss structure (2), a fuselage lower surface spraying system (5) and an air inlet spraying system (8), wherein a fuselage upper surface spraying structure (4) is movably arranged on the truss structure (2); The gantry structure (2) comprises two groups of gantry columns (201) symmetrically arranged on the ground, each group of gantry columns (201) being provided with a gantry Y-axis motion structure on the top, and two gantry X-axis motion structures being movably arranged on the two gantry Y-axis motion structures; The upper surface spraying structure (4) of the fuselage comprises a pair of upper surface spraying X-axis motion structures (408) movably arranged on the gantry X-axis motion structure, an upper surface spraying Y-axis motion structure (404) movably arranged on the pair of upper surface spraying X-axis motion structures (408), and an upper surface Z-axis spraying system fixedly arranged on the upper surface spraying Y-axis motion structure (404); The upper surface Z-axis spraying system comprises an upper surface spraying Z-axis body (409) whose upper end is fixed on the upper surface spraying Y-axis motion structure (404); a Z-axis telescopic rod is movably arranged on the upper surface spraying Z-axis body (409); and a first spray head system (414) is arranged at the end of the Z-axis telescopic rod; The fuselage lower surface spraying system (5) comprises an AGV trolley (501), a pair of parallel lower surface spraying Y-axis motion structures (502) are arranged on the AGV trolley (501), a movable lower surface spraying X-axis motion structure (503) is commonly arranged on the pair of lower surface spraying Y-axis motion structures (502), a lower surface spraying Z-axis motion structure is fixedly arranged on the lower surface spraying X-axis motion structure (503), and a second spraying system (510) is arranged on the top of the lower surface spraying Z-axis motion structure; The lower surface spraying Z-axis motion structure comprises a vertical mounting frame (505) fixedly mounted on the AGV trolley (501), a vertical telescopic rod movably mounted in the vertical mounting frame (505), a nozzle mounting cross bar (509) fixedly mounted on the top of the vertical telescopic rod, and a second nozzle system (510) fixedly mounted at the end of the nozzle mounting cross bar (510); The air intake duct spraying structure (8) comprises a second AGV trolley (801), on which a rotating table (802) is rotatably provided, on which a slide module bracket (807) is fixed, on which a Z-axis lead screw slide module (803) is fixed, on which the slide module bracket (807) is fixed, and on which an air intake duct spraying X-axis motion plate (804) is disposed at the top of the Z-axis lead screw slide module (803), and on which an air intake duct spraying Y-axis motion structure is movably provided; The air intake duct spraying Y-axis motion structure comprises a Y-axis telescopic rod movably arranged on the air intake duct spraying X-axis motion plate (804), and a third nozzle system (811) is arranged at the end of the Y-axis telescopic rod.

2. The coating equipment for spraying the whole aircraft as claimed in claim 1, characterized in that: Each of the truss vehicle Y-axis motion structures comprises a first body (202), on which a parallel first linear guide rail (211), a first rack (209) and a wheel groove (205) are arranged; Each of the gantry vehicle X-axis motion structures comprises a second body (203), side walls at both ends of the second body (203) are provided with first servo motors (206), an output shaft of the first servo motor (206) is provided with a first reducer (207), and the first reducer (207) is provided with a first gear (208); A first slider (210) and a roller (204) are provided at both ends of the second body (203); the first slider (210), the first gear (208) and the roller (204) respectively cooperate with the first linear guide rail (211), the first rack (209) and the wheel groove (205).

3. The coating equipment for whole aircraft spraying as claimed in claim 1, characterized in that: Each of the upper surface spraying X-axis motion structures (408) comprises a third body, on which a parallel fifth linear guide rail (406) and a second rack (407) are arranged; The upper surface spraying Y-axis motion structure (404) comprises a fourth body, both ends of the fourth body are provided with a second servo motor (401), the output shaft of the second servo motor (401) is provided with a second reducer (402), the second reducer (402) is provided with a second gear (403), the second gear (403) cooperates with the corresponding second rack (407); the fourth body is also provided with a fifth slider (405), the fifth slider (405) cooperates with the fifth linear guide rail (406).

4. The coating equipment for spraying the whole aircraft as claimed in claim 1, characterized in that: The Z-axis telescopic rod comprises a primary telescopic rod (410) movably arranged on an upper surface spray Z-axis body (409), a secondary telescopic rod (411) being arranged in the primary telescopic rod (410), a tertiary telescopic rod (413) being arranged in the secondary telescopic rod (411), and the first nozzle system (414) being arranged at the end of the tertiary telescopic rod (413).

5. The coating equipment for whole aircraft spraying as claimed in claim 1, characterized in that: A motor is arranged on the upper surface sprayed Z-axis body (409), a third ball screw pair (415) is fixedly arranged on the output shaft of the motor, and a nut of the third ball screw pair (415) is fixedly connected to the Z-axis telescopic rod; a fourth linear guide rail (416) is arranged on the upper surface sprayed Z-axis body (409), a fourth slider is arranged on the Z-axis telescopic rod, and the fourth slider cooperates with the fourth linear guide rail (416).

6. The painting equipment for spraying the whole aircraft as claimed in claim 1, characterized in that: The vertical telescopic rod comprises a lower surface spraying Z-axis primary telescopic rod (508), a lower surface spraying Z-axis secondary telescopic rod (509) is arranged in the lower surface spraying Z-axis primary telescopic rod (508), and the nozzle mounting cross bar (510) is fixedly arranged on the top of the lower surface spraying Z-axis secondary telescopic rod (509).

7. The painting equipment for whole aircraft spraying as claimed in claim 1, characterized in that: A motor is arranged on one side of the lower surface spraying X-axis motion structure (503), a first ball screw pair (504) is fixedly arranged on the output shaft of the motor, and a nut of the first ball screw pair (504) is fixedly connected to the vertical telescopic rod; A second linear guide pair (506) is arranged on the side wall of the vertical telescopic rod, and a second sliding block cooperating with the second linear guide pair (506) is arranged on the inner wall of the vertical mounting frame (505).

8. The painting equipment for whole aircraft spraying as claimed in claim 1, characterized in that: The Y-axis telescopic rod comprises an intake duct spraying Y-axis primary telescopic cylinder (808), an intake duct spraying Y-axis secondary telescopic cylinder (809) and an intake duct spraying Y-axis tertiary telescopic cylinder (810) which are connected in sequence; the third nozzle system (811) is arranged at the end of the intake duct spraying Y-axis tertiary telescopic cylinder (810).

9. The painting equipment for whole aircraft spraying as claimed in claim 1, characterized in that: The air intake duct spraying X-axis motion plate (804) is provided with a third linear guide pair (805) and a motor, a second ball screw pair (806) is fixedly provided on the output shaft of the motor, a nut of the second ball screw pair (806) is fixedly connected to the Y-axis telescopic rod, a third slider is provided at the bottom of the Y-axis telescopic rod, and the third slider cooperates with the third linear guide pair (805).

10. The painting equipment for whole aircraft spraying as claimed in claim 1, characterized in that: The first nozzle system (414), the second nozzle system (510) or the third nozzle system (811) have the same structure, including a rotating shaft swing head (11) arranged at the end of the Z-axis telescopic rod, the top of the lower surface spraying Z-axis motion structure or the end of the Y-axis telescopic rod; The rotating shaft oscillating head (11) comprises an L-shaped mounting frame (1101), a first motor (1102) is arranged on the L-shaped mounting frame (1101), an output shaft of the first motor (1102) extends out of the bottom of the L-shaped mounting frame (1101) and is fixed with a second motor mounting frame (1103), a second motor (1104) is installed on the second motor mounting frame (1103), an output shaft of the second motor (1104) is arranged along the Y-axis direction and a connecting rod (1105) is fixedly installed at its end, an automatic coating device mounting frame (1106) is arranged at the end of the connecting rod (1105), and the automatic coating device (12) is installed in the automatic coating device mounting frame (1106).

Images