Spraying device and method for waterproof and anti-corrosion coating of aircraft skin

Abstract

The invention discloses a spraying device and method for a waterproof and anti-corrosion coating of an aircraft skin. The spraying device comprises two spraying mechanical arms, a moving mechanism, a spraying head and a scanning mechanism. A negative-pressure steady-flow guide-out mechanism is arranged outside the spray head; the negative-pressure steady-flow leading-out mechanism comprises a negative-pressure outer cover, a negative-pressure inner cover and a plurality of negative-pressure pipelines; the rear side of the negative-pressure outer cover is connected with the plurality of negative-pressure pipelines; a nozzle pipe hermetically penetrates through the bottoms of the negative-pressure outer cover and the negative-pressure inner cover, and a nozzle is fixed in the nozzle pipe. The method further comprises a plurality of spraying method steps. The negative-pressure steady-flow guiding-out mechanism is arranged outside the spray head, a negative-pressure vacuum pump is matched with a negative-pressure pipeline, negative pressure can be formed in an annular negative-pressure channel, flowing airflow and atomized spraying materials on the outer side of the optimal spraying coverage range can be guided out through the front side of the annular negative-pressure channel, and the spraying efficiency is improved while atomized paint in air is reduced. And gas flow in a spraying environment is reduced from the source, so that the wing skin spraying effect during continuous spraying operation is better guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft wing spraying, and in particular to a spraying device and method for a waterproof and anti-corrosion coating on an aircraft skin. Background Art

[0002] Aircraft skin refers to a dimensional component that surrounds the aircraft skeleton structure and is fixed to the skeleton with adhesives or rivets to form the aerodynamic shape of the aircraft. After the skin is subjected to aerodynamic force, it transmits the force to the connected fuselage and wing skeletons. The force is complex, and the skin is in direct contact with the outside world. Therefore, not only the skin material is required to have high strength and good plasticity, but also a smooth surface and high corrosion resistance. In the production and manufacturing of aircraft wings, it is necessary to apply a layer of waterproof and anti-corrosion primer on the skin surface of the aircraft wing. The waterproof and anti-corrosion primer can improve the rust resistance of the wing, enhance the adhesion of the paint layer, and provide a flat base for the subsequent topcoat. Certain harmful gases will be generated during the painting process, so the current wing primer spraying method is generally carried out in a relatively sealed environment. The traditional spraying method has a spraying speed of 10-30 meters per second, and the paint is atomized by compressed air, which is suitable for local repair of aircraft or small-area spraying; airless spraying uses a high-pressure pump to push the paint, and the spraying speed can reach 100 meters per second. The paint is atomized due to the high-speed collision with the air, which is suitable for high-viscosity primers or large-area coverage. Regardless of the aforementioned spraying method, the paint spraying speed is relatively fast. According to the Venturi effect, the airflow around the nozzle will be turbulent after the paint is sprayed. When spraying in a relatively sealed space, the turbulence of continuous spraying will make the airflow movement in the closed space become disordered, thereby affecting the spraying effect of continuous spraying in the closed area. At the same time, the atomized paint floating in the air will float everywhere and adhere, making the painting environment harsh. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides a device and method for spraying a waterproof and anti-corrosion coating on an aircraft skin.

[0004] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is: Provided are a spraying device and method for a waterproof and anti-corrosion coating on an aircraft skin, comprising two spraying mechanical arms and a moving mechanism for driving the two spraying mechanical arms to move in a horizontal plane; a nozzle is fixed to the execution end of each spraying mechanical arm, a scanning mechanism is arranged on each spraying mechanical arm, a negative pressure steady flow export mechanism is arranged outside each spray head, the negative pressure steady flow export mechanism is used to export atomized paint and turbulent airflow at the edge of the spraying area; the negative pressure steady flow export mechanism comprises a negative pressure outer cover, a negative pressure inner cover and a negative pressure pipeline, the negative pressure outer cover and the negative pressure inner cover are both barrel-shaped, the negative pressure outer cover is fixed in the negative pressure inner cover through a plurality of busbar connecting plates, an annular negative pressure channel is formed between the negative pressure outer cover and the negative pressure inner cover, a plurality of negative pressure pipelines are connected to the rear side of the negative pressure outer cover; the plurality of negative pressure pipelines are connected to a negative pressure vacuum pump, a nozzle pipe is penetrated through the bottom seal of the negative pressure outer cover and the negative pressure inner cover, and the nozzle is fixed in the nozzle pipe.

[0005] Furthermore, a paint mist felt filter is arranged between the negative pressure pipeline and the negative pressure vacuum pump, the air inlet end of the paint mist felt filter is connected to the negative pressure pipeline, and the air outlet end of the paint mist felt filter is connected to the negative pressure vacuum pump through a pipeline.

[0006] Furthermore, an annular support net is fixed to the front side of the annular negative pressure channel, and a paint mist felt filter net is arranged on the annular support net.

[0007] Further, the front side of the negative pressure inner cover protrudes from the front side of the negative pressure outer cover.

[0008] Furthermore, a horizontal guide cylinder is arranged on the front sides of the negative pressure outer cover and the negative pressure inner cover, and the horizontal guide cylinder of the negative pressure inner cover protrudes from the horizontal guide cylinder of the negative pressure outer cover.

[0009] Furthermore, the moving mechanism includes a Y-axis moving mechanism and an X-axis moving mechanism. The tops of the two spraying robot arms are slidably installed on the Y-axis moving mechanism. The Y-axis moving mechanism is used to drive the two spraying robot arms to move along the Y-axis direction. The Y-axis moving mechanism is slidably installed on the X-axis moving mechanism. The X-axis moving mechanism is used to drive the Y-axis moving mechanism to move along the X-axis direction.

[0010] Furthermore, the Y-axis moving mechanism includes a Y-axis guide rail with a sliding opening groove at the bottom, two Y-axis sliders, two Y-axis lead screws and a Y-axis drive motor. A robotic arm slider is fixed to the bottom of each Y-axis slider. The two Y-axis sliders are slidably installed in the Y-axis guide rail through the robotic arm slider. The ends of the two Y-axis lead screws are rotatably installed in the Y-axis guide rail. The Y-axis slider is provided with a Y-axis threaded hole that cooperates with the Y-axis lead screw. The output ends on both sides of the Y-axis drive motor are respectively connected to the two Y-axis lead screws, and the robotic arm slider is fixedly connected to the spraying robot arm.

[0011] Furthermore, the X-axis moving mechanism includes an X-axis guide rail with a sliding opening groove at the bottom, an X-axis slider, an X-axis lead screw and an X-axis drive motor. The X-axis slider slides in the X-axis guide rail, and both ends of the X-axis lead screw are rotatably installed in the X-axis guide rail. The X-axis slider is provided with an X-axis threaded hole that cooperates with the X-axis lead screw. One end of the X-axis lead screw is connected to the output end of the X-axis drive motor, and the bottom of the X-axis slider is fixedly connected to the Y-axis moving mechanism.

[0012] Furthermore, the spraying robot arm includes a main body, a main body motor, an upper arm, an upper arm motor, a small arm, a small arm motor, a rotating motor, a nozzle mounting arm and a nozzle mounting arm motor. The top of the main body is rotatably connected to the moving mechanism, the main body motor drives the main body to rotate in a horizontal plane, the bottom of the main body is connected to the upper arm, the upper arm motor drives the upper arm to rotate in a vertical plane, the bottom of the upper arm is connected to the small arm, the small arm motor drives the small arm to rotate in a vertical plane, the front end of the small arm is fixedly connected to the rotating motor, the output end of the rotating motor is hinged to the nozzle mounting arm, the rotating motor drives the nozzle mounting arm to rotate, and the nozzle mounting arm motor drives the nozzle mounting arm to rotate along the hinged rotation direction.

[0013] Furthermore, the scanning mechanism includes a scanning main arm, a main arm motor, a scanning sub-arm and a sub-arm motor. The bottom of the scanning main arm is rotatably connected to the spraying robot arm, the main arm motor drives the scanning main arm to rotate in a vertical plane, the bottom of the scanning sub-arm is rotatably connected to the top of the scanning main arm, the sub-arm motor drives the scanning sub-arm to rotate in a vertical plane, and a scanning component is provided at the front end of the scanning sub-arm.

[0014] A method for spraying a waterproof and anti-corrosion coating on an aircraft skin, comprising the following steps: S1. After the cleaned wing is fixed, it is moved to the spraying area of ​​two spraying robotic arms, and the two spraying robotic arms are on standby at the initial position; S2. After the wing reaches the spraying area, the spraying robot arm, the X-axis moving mechanism and the Y-axis moving mechanism move in coordination, and the scanning mechanism provided on the spraying robot arm is used to scan the outer contour of the wing to be sprayed, so as to obtain the outer contour information of the wing; S3, according to the obtained wing shape profile data information, control the spraying robot arm, X-axis moving mechanism and Y-axis moving mechanism to perform spraying operation; S4. During spraying, the negative pressure steady flow outlet mechanism performs negative pressure exhaust operation to outlet the atomized paint and turbulent airflow at the edge of the spraying area. At the same time, the spraying distance of the nozzle is kept within the optimal spraying distance range, and the front side of the negative pressure inner cover is always kept at a distance of 1-5 cm from the wing surface; S5. After the two spraying robotic arms cooperate to complete the spraying operation of the wing, the two spraying robotic arms are retracted to the initial position and the sprayed wing is transported out of the spraying area.

[0015] The beneficial effects of the present invention are: The present invention is provided with a negative pressure steady flow export mechanism on the outside of the nozzle, and the negative pressure steady flow export mechanism includes a negative pressure outer cover and a negative pressure inner cover which form an annular negative pressure channel. Negative pressure can be formed in the annular negative pressure channel through a negative pressure vacuum pump cooperating with a negative pressure pipeline. The front side of the annular negative pressure channel can be used to export the flowing airflow and atomized spray outside the optimal spray coverage range. While reducing the atomized paint in the air, the gas flow in the spraying environment is reduced at the source, thereby better ensuring the wing skin spraying effect during continuous spraying operations.

[0016] The spraying robot arm of the present invention is provided with five degrees of freedom. The X-axis moving mechanism and the Y-axis moving mechanism coordinated with the two spraying robot arms can realize the mobile spraying of the spraying robot arm on the two sides of the wing.

[0017] The spraying robot arm of the present invention is provided with a scanning mechanism, and the scanning mechanism cooperates with the spraying robot arm and the X-axis moving mechanism to scan the external contour of the wing, and obtains the external contour data of the wing.

[0018] The present invention uses the wing outer contour data obtained by the scanning mechanism to control the nozzle to maintain an optimal nozzle distance, thereby ensuring the spraying efficiency of the wing; at the same time, the negative pressure inner cover and the wing are always kept within the optimal gap range, so that the negative pressure steady flow export mechanism can cooperate with the spraying operation of the nozzle, realize the export of flowing airflow and atomized spray outside the optimal spray coverage range, and ensure the spraying effect during continuous spraying.

[0019] The aircraft skin waterproof and anti-corrosion coating spraying device of the present invention can not only be used for the primer spraying of aircraft wings, but also can be used for the primer spraying of cabins and tail wings in combination with different production mobile equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a partial structural schematic diagram of the present invention; Figure 4 Schematic diagram of the spraying robot arm structure Figure 1 ; Figure 5 Schematic diagram of the spraying robot arm structure Figure 2 ; Figure 6 Schematic diagram of negative pressure steady flow export mechanism Figure 1 ; Figure 7 Schematic diagram of negative pressure steady flow export mechanism Figure 2 ; Figure 8 It is a front view of the negative pressure steady flow export mechanism; Fig. 9 for Figure 8 AA section view in; Fig.10 is a schematic diagram of the structure of the wing fixing device; Fig.11 It is a schematic diagram of the structure of the transfer trolley; Fig.12 It is a working schematic diagram of the present invention; The main components in the figure are described as follows: 1. Nozzle; 2. Negative pressure steady flow outlet mechanism; 21. Negative pressure outer cover; 22. Negative pressure inner cover; 23. Nozzle pipe; 24. Annular negative pressure channel; 25. Negative pressure pipeline; 26. Paint mist felt filter; 27. Busbar connection plate; 3. Spraying robot arm; 31. Main body; 32. Main body motor; 33. Upper arm; 34. Upper arm motor; 35. Lower arm; 36. Lower arm motor; 37. Rotating motor; 38. Spray head mounting arm; 39. Spray head mounting arm motor; 4. X-axis moving mechanism; 41. X-axis guide rail; 42. X-axis slider; 43. X-axis lead screw; 44. X-axis driving motor; 5. Y-axis moving mechanism; 51. Y-axis guide rail; 52. Y-axis slider; 53. Y-axis lead screw; 54. Y-axis driving motor; 55. Robot arm slider; 6. Scanning mechanism; 61. Scanning main arm; 62. Main arm motor; 63. Scanning auxiliary arm; 64. Auxiliary arm motor; 65. Scanning assembly; 7. Wing fixing device; 71. Counterweight block; 72. Fixing column; 73. Fixing pin; 74. Lifting part; 8. Transfer trolley; 81. Wheel; 82. Track; 83. Traction wire rope; 84. Limit pin; 9. Wing. DETAILED DESCRIPTION

[0021] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0022] like Figure 1 and Figure 2As shown, the spraying device of the waterproof and anti-corrosion coating of the aircraft skin includes two spraying mechanical arms 3 and a moving mechanism that drives the two spraying mechanical arms 3 to move in the horizontal plane. The moving mechanism includes a Y-axis moving mechanism 5 and an X-axis moving mechanism 4. The Y-axis moving mechanism 5 and the X-axis moving mechanism 4 cooperate to realize the movement of the two spraying mechanical arms 3 to spray the wing 9. A nozzle 1 is fixed to the execution end of each spraying mechanical arm 3, and a scanning mechanism 6 is provided on each spraying mechanical arm 3. The scanning mechanism 6 can cooperate with the movement of the spraying mechanical arm 3 to scan the wing 9, so as to obtain the three-dimensional contour data of the wing 9, and then conveniently control the spraying mechanical arm 3 to move and spray the wing 9.

[0023] like Figure 3 As shown, the tops of the two spraying robot arms 3 are slidably mounted on the Y-axis moving mechanism 5, and the Y-axis moving mechanism 5 is used to drive the two spraying robot arms 3 to move along the Y-axis direction. The Y-axis moving mechanism 5 is slidably mounted on the X-axis moving mechanism 4, and the X-axis moving mechanism 4 is used to drive the Y-axis moving mechanism 5 to move along the X-axis direction.

[0024] The Y-axis moving mechanism 5 includes a Y-axis guide rail 51 with a sliding opening groove at the bottom, two Y-axis sliders 52, two Y-axis lead screws 53 and a Y-axis driving motor 54. A mechanical arm slider 55 is fixed at the bottom of each Y-axis slider 52. The two Y-axis sliders 52 are slidably installed in the Y-axis guide rail 51 through the mechanical arm slider 55. The ends of the two Y-axis lead screws 53 are rotatably installed in the Y-axis guide rail 51. The Y-axis slider 52 is provided with a Y-axis threaded hole that matches the Y-axis lead screw 53. The output ends of the Y-axis driving motor 54 are respectively connected to the two Y-axis lead screws 53. The mechanical arm slider 55 is fixedly connected to the spraying robot 3. The Y-axis driving motor 54 adopts a double-headed motor. The double-headed motor has two output ends, which can drive the two Y-axis lead screws 53 to rotate at the same time. The output end of the Y-axis driving motor 54 is connected to the two Y-axis lead screws 53 through a coupling, and the threads of the two Y-axis lead screws 53 are opposite. Specifically, the Y-axis driving motor 54 drives two Y-axis lead screws 53 to rotate, and the Y-axis lead screws 53 drive the Y-axis slider 52 to move. Under the limiting effect of the robot arm slider 55, the robot arm slider 55 drives the spray robot arm 3 to move in the Y-axis direction.

[0025] The X-axis moving mechanism 4 includes an X-axis guide rail 41 with a sliding opening groove at the bottom, an X-axis slider 42, an X-axis lead screw 43 and an X-axis driving motor 44. The X-axis slider 42 slides in the X-axis guide rail 41, and both ends of the X-axis lead screw 43 are rotatably installed in the X-axis guide rail 41. The X-axis slider 42 is provided with an X-axis threaded hole that cooperates with the X-axis lead screw 43. One end of the X-axis lead screw 43 is connected to the output end of the X-axis driving motor 44. The bottom of the X-axis slider 42 is fixedly connected to the Y-axis guide rail 51 of the Y-axis moving mechanism 5, and the connection between the X-axis slider 42 and the Y-axis guide rail 51 is located at a symmetrical position in the middle. An accordion protective cover is provided at the sliding opening groove of the X-axis guide rail 41 and the Y-axis guide rail 51. The accordion protective cover moves with the X-axis slider 42 and the Y-axis slider 52. Seals are provided at both ends of the X-axis guide rail 41 and the Y-axis guide rail 51 to cooperate with the accordion protective cover to form a relatively sealed space inside the X-axis guide rail 41 and the Y-axis guide rail 51, thereby ensuring the working environment of the X-axis moving mechanism 4 and the Y-axis moving mechanism 5. Specifically, the X-axis driving motor 44 drives the X-axis lead screw 43 to rotate, the X-axis lead screw 43 drives the X-axis slider 42 to move, and the X-axis slider 42 drives the Y-axis moving mechanism 5 to move as a whole, thereby realizing the movement of the spraying robot arm 3 in the X-axis direction. In order to further improve the stability of the movement of the Y-axis moving mechanism 5, the X-axis moving mechanism 4 can be evenly arranged at two locations, and the X-axis lead screw 43 in one of the X-axis moving mechanisms 4 is replaced with a guide rod, so that the top of the Y-axis moving mechanism 5 is evenly stressed, thereby improving the stability of the Y-axis moving mechanism 5 when moving.

[0026] like Figure 4 and Figure 5 As shown, the spraying robot arm 3 includes a main body 31, a main body motor 32, a large arm 33, a large arm motor 34, a small arm 35, a small arm motor 36, a rotating motor 37, a nozzle mounting arm 38 and a nozzle mounting arm motor 39. The top of the main body 31 is rotatably connected to the moving mechanism. Specifically, the top of the main body 31 is rotatably connected to the robot arm slider 55. The main body motor 32 drives the main body 31 to rotate in a horizontal plane. The bottom of the main body 31 is connected to the large arm 33. The large arm motor 34 drives the large arm 33 to rotate in a vertical plane. The bottom of the large arm 33 is connected to the small arm 35. The small arm motor 36 drives the small arm 35 to rotate in a vertical plane. The front end of the small arm 35 is fixedly connected to the rotating motor 37. The output end of the rotating motor 37 is hinged to the nozzle mounting arm 38. The rotating motor 37 drives the nozzle mounting arm 38 to rotate. The nozzle mounting arm motor 39 drives the nozzle mounting arm 38 to rotate along the hinged rotation direction. The nozzle mounting arm 38 is used to install and fix the nozzle 1. The spraying robot arm 3 has five degrees of freedom, which can satisfy a certain range and move the nozzle 1 to the periphery of the wing 9 for spraying. The spraying robot arm 3 can also use other existing five-degree-of-freedom or six-degree-of-freedom manipulators. The existing spraying robot arm 3 technology is very mature, and the specific control method can refer to the existing patent documents and literature.

[0027] The scanning mechanism 6 is arranged on the back side of the spraying mechanical arm 3. The scanning mechanism 6 includes a scanning main arm 61, a main arm motor 62, a scanning auxiliary arm 63 and an auxiliary arm motor 64. The bottom of the scanning main arm 61 is rotatably connected to the upper arm 33 of the spraying mechanical arm 3. The main arm motor 62 drives the scanning main arm 61 to rotate in a vertical plane. The bottom of the scanning auxiliary arm 63 is rotatably connected to the top of the scanning main arm 61. The auxiliary arm motor 64 drives the scanning auxiliary arm 63 to rotate in a vertical plane. The front end of the scanning auxiliary arm 63 is provided with a scanning component 65. The scanning component 65 can be reverse scanned and modeled by a three-dimensional scanning device or a three-dimensional laser scanner, so as to obtain the three-dimensional contour data of the wing 9 to be sprayed, which is used for the movement control of the spraying mechanical arm 3, so that the nozzle 1 is kept within the optimal spraying distance when spraying, and the spraying effect of the primer of the wing 9 is ensured. The optimal distance range of aircraft painting is usually 15-20 cm. When the distance is less than 15 cm, it is easy to cause paint accumulation and sagging. When the distance is greater than 25 cm, it may cause paint mist dispersion, uneven coating or granularity. Therefore, the painting distance is kept at a constant distance of 15-20 cm, and the uniform parallel movement of the nozzle 1 is coordinated. At this time, the atomized paint can form a uniform covering layer to avoid sagging due to being too close or waste of paint due to being too far. Specifically, with the swing of the scanning main arm 61, the swing of the scanning auxiliary arm 63, the rotation of the upper arm 33 and the rotation of the main body 31, the scanning component 65 can be moved to the vicinity of the surface of the wing 9, thereby realizing the collection of the three-dimensional contour data of the wing 9.

[0028] like Figures 6 to 9As shown, a negative pressure steady flow outlet mechanism 2 is arranged outside each nozzle 1, and the negative pressure steady flow outlet mechanism 2 is used to outlet the atomized paint and turbulent airflow at the edge of the spraying area. The negative pressure steady flow outlet mechanism 2 comprises a negative pressure outer cover 21, a negative pressure inner cover 22 and a negative pressure pipe 25. The shape of the negative pressure outer cover 21 and the negative pressure inner cover 22 can be truncated cone-shaped or prismatic. The negative pressure outer cover 21 and the negative pressure inner cover 22 are both barrel-shaped. The openings of the negative pressure outer cover 21 and the negative pressure inner cover 22 face the same direction. The negative pressure outer cover 21 is fixed in the negative pressure inner cover 22 through a plurality of busbar connecting plates 27. The busbar connecting plates 27 are sheet-shaped. The inner and outer sides of the busbar connecting plates 27 are respectively fixedly connected to the negative pressure inner cover 22 and the negative pressure outer cover 21. An annular negative pressure channel 24 is formed between the negative pressure outer cover 21 and the negative pressure inner cover 22. The rear side of the negative pressure outer cover 21 is connected to a plurality of negative pressure pipes 25, and the plurality of negative pressure pipes 25 are connected to a negative pressure vacuum pump. The front side of the negative pressure inner cover 22 protrudes flush with the front side of the negative pressure outer cover 21, so that the negative pressure effect on the front side of the annular negative pressure channel 24 will not affect the gas flow in the negative pressure inner cover 22. The negative pressure pipeline 25 can be evenly arranged at least one place, preferably at least three places, so that the negative pressure of each part in the annular negative pressure channel 24 is more consistent, and the front side of the annular negative pressure channel 24 has a uniform negative pressure adsorption force. The bottom seal of the negative pressure outer cover 21 and the negative pressure inner cover 22 is penetrated by a nozzle pipe 23, the nozzle 1 is fixed in the nozzle pipe 23, the negative pressure outer cover 21 is fixed to the outside of the nozzle 1 through the nozzle pipe 23, and the nozzle 1 is fixed to the execution end of the spraying robot arm 3. A paint mist felt filter is arranged between the negative pressure pipeline 25 and the negative pressure vacuum pump, the air inlet of the paint mist felt filter is connected to the negative pressure pipeline 25, and the air outlet end of the paint mist felt filter is connected to the negative pressure vacuum pump through a pipeline. An annular support net is fixed on the front side of the annular negative pressure channel 24, and a paint mist felt filter net 26 is arranged on the annular support net. The annular support net is made of iron sheet mesh into an annular shape and fixed on the front side of the annular negative pressure channel 24. A horizontal guide cylinder is arranged on the front side of the negative pressure outer cover 21 and the negative pressure inner cover 22. The horizontal guide cylinder of the negative pressure inner cover 22 protrudes from the horizontal guide cylinder of the negative pressure outer cover 21, and the horizontal guide cylinder is a hollow annular structure. When spraying the wings of an aircraft, the optimal coverage radius range of the nozzle 1 is 20-30cm. The opening side diameter of the negative pressure outer cover 21 is determined according to the optimal coverage range of the nozzle 1 actually used. The opening side diameter of the negative pressure outer cover 21 is larger than the optimal coverage radius of the nozzle 1. The opening side diameter of the negative pressure outer cover 21 is preferably 1.1 to 1.5 times the optimal coverage radius of the nozzle 1. The thickness of the annular negative pressure channel 24 is preferably 1-5cm, preferably 2cm.Specifically, the nozzle 1 is driven by the spraying mechanical arm 3 to move and spray the wing 9. The distance between the nozzle 1 and the surface of the wing 9 is 15-20 cm. The negative pressure outer cover 21 and the negative pressure inner cover 22 always maintain a gap of 2-3 cm with the surface of the wing to be sprayed. When the nozzle 1 sprays paint on the surface of the wing 9, the negative pressure vacuum pump generates negative pressure in the annular negative pressure channel 24 through the negative pressure pipe 25, and the front side of the annular negative pressure channel 24 generates negative pressure adsorption force. The front side of the annular negative pressure channel 24 is always located at the side of the best coverage range of the nozzle 1. According to the Venturi effect, after the nozzle 1 sprays the paint, the jet overflow airflow and atomized paint in the negative pressure inner cover 22 float out from the gap between the front side of the annular negative pressure channel 24 and the wing 9. The negative pressure in the annular negative pressure channel 24 sucks the jet overflow airflow and atomized paint. The paint mist felt filter 26 on the front side of the annular negative pressure channel 24 can filter most of the atomized paint. The airflow after preliminary filtration is exported through the negative pressure pipe 25. The airflow after preliminary filtration is subsequently filtered again through the paint mist felt filter, and then exported through the negative pressure vacuum pump. The negative pressure steady flow export mechanism 2 can export most of the flowing airflow generated by the nozzle 1 and the atomized paint on the side of the best coverage range. While reducing the atomized paint in the air, it also reduces the gas flow in the spraying environment at the source, thereby better ensuring the spraying effect of the wing 9 during continuous spraying operations.

[0029] like Fig.11 As shown, it also includes a transfer trolley 8 and a C-shaped track 82. The transfer trolley 8 includes a body and a plurality of wheels 81 installed at the bottom of the body. The wheels 81 are slidably installed in the track 82. A limiting pin 84 is set on the top of the body. A traction wire rope 83 is fixed to the bottom of the body. Both ends of the traction wire rope 83 are connected to a traction winch. The traction winch cooperates with the traction winch to pull the mobile transfer trolley 8, thereby moving the transfer trolley 8 and the wing 9 to move the position, which is convenient for transferring or rotating the wing 9 to the spraying area.

[0030] like Fig.10 As shown, the wing fixing device 7 also includes a counterweight 71 and a fixing column 72. The counterweight 71 is fixedly connected to the fixing column 72. The fixing column 72 is provided with a plurality of latch holes, and a fixing latch 73 is provided in the latch hole. A limiting hole is provided at the bottom of the counterweight 71, and a limiting pin 84 is provided on the transfer trolley 8 to cooperate with the limiting hole. The limiting hole at the bottom of the counterweight 71 cooperates with the limiting pin 84, so that the counterweight 71 can be conveniently installed on the transfer trolley 8, and the counterweight 71 is conveniently separated from the transfer trolley 8 to realize the transfer of the wing 9. The top of the counterweight 71 is also provided with a plurality of lifting parts 74, and the lifting parts 74 are preferably provided at least two places, preferably three places or four places. The counterweight 71 and the wing 9 are lifted as a whole by a crane or a crane in cooperation with the lifting parts 74, so that the wing 9 can be lifted and moved conveniently.

[0031] A method for spraying a waterproof and anti-corrosion coating on an aircraft skin, comprising the following steps: S1, after the cleaned wing 9 is fixed, it is moved to the spraying area of ​​the two spraying robot arms 3, and the two spraying robot arms 3 are on standby at the initial position; Fig.12 As shown, S2. After the wing 9 reaches the spraying area, the spraying robot arm 3, the X-axis moving mechanism 4 and the Y-axis moving mechanism 5 move in coordination, and the scanning mechanism 6 provided on the spraying robot arm 3 is used to scan the outer contour of the wing 9 to be sprayed, so as to obtain the outer contour information of the wing 9; when the scanning mechanism 6 is used for scanning, the upper arm 33 of the spraying robot arm 3 is rotated so that the scanning component 65 on the spraying robot arm 3 is directed toward one side of the wing 9 for scanning operation. When the scanning operation is completed, the upper arm 33 of the spraying robot arm 3 is rotated so that the scanning mechanism 6 is rotated to the side away from the wing 9, and then the scanning mechanism 6 is folded and stored on the upper arm 33, and the normal spraying operation of the spraying robot arm 3 can be carried out; S3, according to the obtained wing shape profile data information, control the spraying robot arm 3, the X-axis moving mechanism 4 and the Y-axis moving mechanism 5 to perform the spraying operation; S4. During spraying, the negative pressure steady flow outlet mechanism 2 performs negative pressure exhaust operation to outlet the atomized paint and turbulent airflow at the edge of the spraying area. At the same time, the spraying distance of the nozzle 1 is kept within the optimal spraying distance range, and the front side of the negative pressure inner cover 22 is always kept at a distance of 1-5 cm from the surface of the wing 9. The best way is to control it within 1-3 cm, so that the effect of the negative pressure steady flow outlet mechanism 2 can be optimal. S5. After the two spraying robot arms 3 cooperate to complete the spraying operation of the wing 9, the two spraying robot arms 3 are retracted to the initial position to transport the sprayed wing 9 out of the spraying area.

Claims

1. A spraying device for waterproof and anti-corrosion coating of aircraft skin, characterized in that: The invention comprises two spraying mechanical arms (3) and a moving mechanism for driving the two spraying mechanical arms (3) to move in a horizontal plane; a spray head (1) is fixed to the execution end of each of the spraying mechanical arms (3); a scanning mechanism (6) is arranged on each of the spraying mechanical arms (3); a negative pressure steady flow outlet mechanism (2) is arranged outside each of the spray heads (1); the negative pressure steady flow outlet mechanism (2) is used to outlet atomized paint and turbulent airflow at the edge of the spraying area; The negative pressure steady flow outlet mechanism (2) comprises a negative pressure outer cover (21), a negative pressure inner cover (22) and a negative pressure pipeline (25); the negative pressure outer cover (21) and the negative pressure inner cover (22) are both barrel-shaped; the negative pressure outer cover (21) is fixed in the negative pressure inner cover (22) via a plurality of busbar connecting plates (27); an annular negative pressure channel (24) is formed between the negative pressure outer cover (21) and the negative pressure inner cover (22); the rear side of the negative pressure outer cover (21) is connected to a plurality of negative pressure pipelines (25); the plurality of negative pressure pipelines (25) are connected to a negative pressure vacuum pump; a nozzle pipe (23) is penetrated through the bottom seal of the negative pressure outer cover (21) and the negative pressure inner cover (22); the nozzle (1) is fixed in the nozzle pipe (23).

2. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 1 is characterized in that: A paint mist felt filter is provided between the negative pressure pipeline (25) and the negative pressure vacuum pump, the air inlet end of the paint mist felt filter is connected to the negative pressure pipeline (25), and the air outlet end of the paint mist felt filter is connected to the negative pressure vacuum pump via a pipeline.

3. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 1 is characterized in that: An annular support net is fixed to the front side of the annular negative pressure channel (24), and a paint mist felt filter net (26) is arranged on the annular support net.

4. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 1 is characterized in that: The front side of the negative pressure inner cover (22) protrudes from the front side of the negative pressure outer cover (21).

5. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 1, characterized in that: The moving mechanism comprises a Y-axis moving mechanism (5) and an X-axis moving mechanism (4); the tops of the two spraying robot arms (3) are slidably mounted on the Y-axis moving mechanism (5); the Y-axis moving mechanism (5) is used to drive the two spraying robot arms (3) to move along the Y-axis direction; the Y-axis moving mechanism (5) is slidably mounted on the X-axis moving mechanism (4); the X-axis moving mechanism (4) is used to drive the Y-axis moving mechanism (5) to move along the X-axis direction.

6. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 5, characterized in that: The Y-axis moving mechanism (5) comprises a Y-axis guide rail (51) having a sliding opening groove at the bottom, two Y-axis sliders (52), two Y-axis lead screws (53) and a Y-axis driving motor (54). A mechanical arm slider (55) is fixed to the bottom of each Y-axis slider (52). The two Y-axis sliders (52) are slidably mounted in the Y-axis guide rail (51) through the mechanical arm sliders (55). The ends of the two Y-axis lead screws (53) are rotatably mounted in the Y-axis guide rail (51). The Y-axis slider (52) is provided with a Y-axis threaded hole that matches the Y-axis lead screw (53). The output ends of the Y-axis driving motor (54) on both sides are respectively connected to the two Y-axis lead screws (53). The mechanical arm slider (55) is fixedly connected to the spraying mechanical arm (3).

7. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 5, characterized in that: The X-axis moving mechanism (4) comprises an X-axis guide rail (41) having a sliding opening groove at the bottom, an X-axis slider (42), an X-axis lead screw (43) and an X-axis driving motor (44); the X-axis slider (42) slides in the X-axis guide rail (41); both ends of the X-axis lead screw (43) are rotatably mounted in the X-axis guide rail (41); an X-axis threaded hole matching the X-axis lead screw (43) is provided on the X-axis slider (42); one end of the X-axis lead screw (43) is connected to the output end of the X-axis driving motor (44); and the bottom of the X-axis slider (42) is fixedly connected to the Y-axis moving mechanism (5).

8. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 1, characterized in that: The spraying robot arm (3) comprises a main body (31), a main body motor (32), an upper arm (33), an upper arm motor (34), a lower arm (35), an lower arm motor (36), a rotating motor (37), a nozzle mounting arm (38) and a nozzle mounting arm motor (39); the top of the main body (31) is rotatably connected to a moving mechanism; the main body motor (32) drives the main body (31) to rotate in a horizontal plane; the bottom of the main body (31) is connected to the upper arm (33); the upper arm motor (34) drives the upper arm The upper arm (33) is connected to a lower arm (35) at the bottom of the upper arm (33), the lower arm motor (36) drives the lower arm (35) to rotate in the vertical plane, the front end of the lower arm (35) is fixedly connected to a rotating motor (37), the output end of the rotating motor (37) is hinged to the nozzle mounting arm (38), the rotating motor (37) drives the nozzle mounting arm (38) to rotate, and the nozzle mounting arm motor (39) drives the nozzle mounting arm (38) to rotate along the hinged rotation direction.

9. The spraying device for waterproof and anti-corrosion coating of aircraft skin according to claim 1, characterized in that: The scanning mechanism (6) comprises a scanning main arm (61), a main arm motor (62), a scanning auxiliary arm (63) and an auxiliary arm motor (64); the bottom of the scanning main arm (61) is rotatably connected to the spraying mechanical arm (3); the main arm motor (62) drives the scanning main arm (61) to rotate in a vertical plane; the bottom of the scanning auxiliary arm (63) is rotatably connected to the top of the scanning main arm (61); the auxiliary arm motor (64) drives the scanning auxiliary arm (63) to rotate in a vertical plane; and a scanning component (65) is provided at the front end of the scanning auxiliary arm (63).

10. A method for spraying a waterproof and anti-corrosion coating on aircraft skin according to any one of claims 1 to 9, characterized in that: The steps include: S1, after the cleaned wing (9) is fixed, it is moved to the spraying area of ​​two spraying mechanical arms (3), and the two spraying mechanical arms (3) are on standby at the initial position; S2, after the wing (9) reaches the spraying area, the spraying mechanical arm (3), the X-axis moving mechanism (4) and the Y-axis moving mechanism (5) move in coordination, and the scanning mechanism (6) provided on the spraying mechanical arm (3) is used to scan the outer contour of the wing (9) to be sprayed, so as to obtain the outer contour information of the wing (9); S3, according to the acquired wing shape profile data information, controlling the spraying robot arm (3), the X-axis moving mechanism (4) and the Y-axis moving mechanism (5) to perform the spraying operation; S4. During spraying, the negative pressure steady flow outlet mechanism (2) performs a negative pressure exhaust operation to outlet the atomized paint and turbulent airflow at the edge of the spraying area. At the same time, the spraying distance of the nozzle (1) is maintained within the optimal spraying distance range, and the front side of the negative pressure inner cover (22) always maintains a distance of 1-5 cm from the surface of the wing (9); S5. After the two spraying mechanical arms (3) cooperate to complete the spraying operation of the wing (9), the two spraying mechanical arms (3) are retracted to the initial position and the wing (9) that has been sprayed is transported out of the spraying area.

Images