Laser removal system and method for removing aircraft skin coating

Abstract

The invention relates to a laser removing system and method for removing a skin coating of an aircraft, the laser removing system for removing the skin coating of the aircraft comprises an array type point light source generating device, a mechanical arm and a control system, the array type point light source generating device is installed on the mechanical arm, and the control system is installed on the mechanical arm. The control system is connected with the mechanical arm; the array type point light source generating device is used for generating closely-arranged array type laser spots, and laser in-situ removal of a coating of a block-shaped projection area with a set area is achieved; the mechanical arm is used for moving the array type point light source generating device; and the control system is used for controlling the mechanical arm to move. According to the method, the skin coating of the complex shape of the aircraft can be efficiently and accurately removed.

Description

Technical Field

[0001] This application relates to the technical field of laser removal / cleaning, and particularly to a laser removal system and method for removing the coating on the skin of an aircraft. Background Art

[0002] At present, the new generation of aircraft skin coating removal technology represented by laser cleaning / removal has gradually replaced the original sandblasting removal technology with its characteristics such as green and flexible. The existing laser removal method for skin coating is as follows: A single-beam pulsed laser (such as a nanosecond pulse) is used as the only light source. Through the high-frequency yawing of a galvanometer, the single-beam light source acting on the coating macroscopically changes from a "point" to a "line", and then under the drive of a motion mechanism (a manipulator or a machine tool), the "line" becomes a "strip", and finally, through the reciprocating superposition motion of the motion mechanism, the large-area laser removal of the skin coating component is realized. Currently, nanosecond pulsed lasers are mostly used for laser coating removal, with a power of 500 - 2000W, and the single-time coating removal amount is only a dozen to dozens of μm. On the one hand, the removal efficiency is low, and on the other hand, this requires moving the processing head to the initial position of the processing trajectory for repeated removal. The lack of repeated positioning of the relevant motion mechanism will cause a certain deviation in each removal position. To eliminate such a deviation, a higher-precision motion mechanism is required, which increases the cost of the processing equipment. The existing single-beam point light source + galvanometer yawing scanning method for laser removal cannot achieve the high-efficiency and precise laser removal of the aircraft skin coating, whether in terms of removal accuracy, removal efficiency, or the corresponding motion method. Summary of the Invention

[0003] To solve the above problems, this application provides a laser removal system and method for removing the coating on the skin of an aircraft.

[0004] In a first aspect, this application provides a laser removal system for removing the coating on the skin of an aircraft, including an arrayed point light source generating device, a robotic arm, and a control system. The arrayed point light source generating device is installed on the robotic arm, and the control system is connected to the robotic arm;

[0005] The arrayed point light source generating device is used to generate an array of laser light points arranged closely, so as to realize the in-situ laser removal of the coating in a set-area block projection region; the robotic arm is used to move the arrayed point light source generating device; the control system is used to control the movement of the robotic arm.

[0006] Further, the arrayed point light source generating device includes 30×20 arrayed and closely arranged light points with a diameter of 1.5 mm;

[0007] The arrayed point light source generating device is used to realize the in-situ laser removal of the coating in a 45 mm×30 mm block projection region.

[0008] Furthermore, the control system is used to set and convey a motion control program to the robotic arm, and to set a control signal for triggering the motion control program.

[0009] Furthermore, it further includes a thickness monitoring system, and the thickness monitoring system is installed on the robotic arm;

[0010] The thickness monitoring system is used to detect the thickness change of the skin coating removal, and when the coating is thinned to a preset thickness threshold, it provides a control signal to the control system.

[0011] Furthermore, it further includes a contour measurement system, and the contour measurement system is installed on the robotic arm;

[0012] The contour measurement system is used to measure the skin contour, correspondingly analyze and restore the point cloud shape of the measured skin, and provide the measurement result to the control system.

[0013] Furthermore, it further includes a dust suction and cooling system, and the dust suction and cooling system is installed on the robotic arm;

[0014] The dust suction and cooling system is used to absorb the soot generated during the laser coating removal process and suppress the heat generated during the laser coating removal process.

[0015] In a second aspect, the present application provides a laser removal method for removing the skin coating of an aircraft, which is implemented by the above-mentioned laser removal system for removing the skin coating of an aircraft;

[0016] The laser removal method for removing the skin coating of an aircraft includes:

[0017] Using an arrayed point light source generating device to generate arrayed laser light points acting on the skin coating to achieve in-situ laser removal of the coating in a block projection area with a set area;

[0018] Controlling the movement of the robotic arm through the control system to move the arrayed point light source generating device to the next position until the coating removal of all areas of the skin is completed.

[0019] Furthermore, before using the arrayed point light source generating device to generate arrayed laser light points acting on the skin coating to achieve in-situ laser removal of the coating in a block projection area with a set area, it further includes:

[0020] Measuring the skin contour through the contour measurement system, correspondingly analyzing and restoring the point cloud shape of the measured skin, and providing the measurement result to the control system;

[0021] The control system partitions the skin projection according to the measurement result and plans the order for the robotic arm to perform cleaning according to the partition positions respectively.

[0022] Further, the use of the array point light source generating device to generate array laser light points acting on the skin coating to achieve in-situ laser removal of the coating in a block projection area of a set area includes:

[0023] Analyze the shape of the skin contour point cloud at the corresponding position through the control system, calculate the distance between the single removal area and the light source, and match it with the laser defocus amount;

[0024] Adjust the focal length of the array light source specifically to ensure that the array light source reaches the coating position within a suitable defocus amount range.

[0025] Further, after using the array point light source generating device to generate array laser light points acting on the skin coating to achieve in-situ laser removal of the coating in a block projection area of a set area, it further includes:

[0026] Real-time monitor the coating thickness through the thickness monitoring system, and when the coating is thinned to a preset thickness threshold, provide a control signal to the control system.

[0027] The above technical solution of the present application has the following advantages:

[0028] The laser removal system and method for removing the skin coating of an aircraft provided by the present application, by using the array point light source generating device to generate array laser light points acting on the skin coating to achieve in-situ laser removal of the coating in a block projection area of a set area, and then controlling the movement of the robotic arm through the control system to move the array point light source generating device to the next position until the coating removal of all areas of the skin is completed. Compared with the traditional single-beam point light source + galvanometer deflection scanning method, it can directly achieve surface irradiation of the removal area. The array point light source continuously outputs pulsed energy in-situ to a single coating area, can continuously remove the coating, and finally achieve efficient removal of a large-thickness coating, solves the problem of uneven cleaning caused by the "line" light source, realizes single-time large-area coating removal, reduces the dependence on the repeated positioning trajectory accuracy of the processing head, and realizes efficient and precise removal of the skin coating with a complex shape of the aircraft. Description of the Drawings

[0029] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0030] Figure 1 Schematic diagram of skin coating removal by the traditional single-beam point light source + galvanometer deflection scanning method;

[0031] Figure 2 It is a schematic diagram of the spatial position relationship between the trajectory cross-section of the galvanometer mirror's yaw within an extremely short time and the skin cross-section;

[0032] Figure 3 It is a schematic diagram of the point light source generating device provided by the present application;

[0033] Figure 4 It is a schematic diagram of the fiber optic bundle packaging module structure provided by the present application;

[0034] Figure 5 It is a schematic diagram of the end cap output beam provided by the present application;

[0035] Figure 6 It is a schematic diagram of the end cap arrangement provided by the present application;

[0036] Figure 7 It is a schematic diagram of the laser spot overlap provided by the present application;

[0037] Figure 8 It is a schematic diagram of the titanium alloy hyperbolic skin of the aircraft provided by the present application;

[0038] Figure 9 It is a schematic diagram of the skin cleaning scenario provided by the present application. Detailed implementation manners

[0039] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0040] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0041] In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0042] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that specific features, structures, or characteristics described in connection with that embodiment are included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but rather mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized. "Plurality" means "two or more".

[0043] The purpose of this application is to design a laser removal system and method for aircraft skin coatings. By using the dense arrangement of an array of point light sources and the method of removing the skin coating in a segmented and partitioned manner, the problem of uneven cleaning caused by "line" light sources is solved, single - time large - area coating removal is achieved, the dependence on the accuracy of the repeated positioning trajectory of the processing head is reduced, the poor removal effect caused by the local position of the skin exceeding the effective range of laser focusing is eliminated, and the efficient and precise removal of the skin coating with complex shapes of aircraft is realized.

[0044] The following will further describe in detail the specific implementation manners of this application in conjunction with the drawings and embodiments. The following embodiments are used to illustrate this application, but do not limit the scope of this application.

[0045] The embodiment of this application provides a laser removal system for removing aircraft skin coatings, including an array - type point light source generating device, a robotic arm, and a control system. The array - type point light source generating device is installed on the robotic arm, and the control system is connected to the robotic arm. The array - type point light source generating device is used to generate an array of laser light points arranged closely, so as to realize the in - situ laser removal of the coating in a set - area block - shaped projection region. The robotic arm is used to move the array - type point light source generating device. The control system is used to control the movement of the robotic arm.

[0046] In some embodiments, the array - type point light source generating device includes 30×20 array - type closely - arranged light points with a diameter of 1.5 mm. The array - type point light source generating device is used to realize the in - situ laser removal of the coating in a 45 mm×30 mm block - shaped projection region.

[0047] In some embodiments, the control system is used to set and convey a motion control program to the robotic arm, and set a control signal for triggering the motion control program.

[0048] In some embodiments, a thickness monitoring system is further included, and the thickness monitoring system is installed on the robotic arm; the thickness monitoring system is used to detect the thickness change of the skin coating removal, and when the coating is thinned to a preset thickness threshold, a control signal is provided to the control system.

[0049] In some embodiments, a contour measurement system is further included, and the contour measurement system is installed on the robotic arm; the contour measurement system is used to measure the skin contour, correspondingly analyze and restore the point cloud shape of the measured skin, and provide the measurement result to the control system.

[0050] In some embodiments, a dust collection and cooling system is further included, and the dust collection and cooling system is installed on the robotic arm; the dust collection and cooling system is used to absorb the soot generated during the laser coating removal process and suppress the heat generated during the laser coating removal process.

[0051] When using the traditional single-beam point light source + galvanometer yaw scanning method to remove the coating on the aircraft surface, as Figure 1 shown. Taking a large composite skin of an aircraft with a length of 1.8 m, a width of 1.2 m, and an approximate rectangular projection (and sprayed with a 200-μm primer layer and topcoat layer) as an example, the laser removal strip is 150 mm wide, and the coating is removed by laser along a certain direction (such as the y direction). After a single strip trajectory is completed, it returns to the origin to remove the coating again, or the processing head is moved to other positions (such as moving along the x direction), and then the coating is removed by laser.

[0052] Based on the optical principle of generating a "line" light source, the maximum width that the width of the laser removal "strip" can reach due to the galvanometer yaw is about 150 - 200 mm. However, due to the complex curved surface of the aircraft skin, the use of the "line" light source of the processing head cannot ensure that the laser light spot reaches each position of the coating within a relatively appropriate focusing range, which will result in poor removal effects at individual positions of the coating. Figure 2 Shown is the trajectory cross-section of the galvanometer yaw within an extremely short time Δt (equivalent to the side view effect along the y direction in Figure 1 ). It can be seen that trajectory B is the focusing trajectory of the light spot, while trajectories A and C are the light spot trajectories that deviate from trajectory B and have a certain positive or negative defocus amount and still have a removal effect. It can be seen that if the light spot reaches an individual position of the skin (including the coating) (such as position D) beyond the effective defocus amount range of laser focusing removal from A to C, the removal effect of the coating is poor, affecting the uniformity of coating removal.

[0053] Through the dense arrangement of the array - type point light sources and the independent control of the focal positions of individual point light sources, the present application realizes the laser surface irradiation of the cleaning area and the surface - conforming control of the focal positions within the irradiation area. Compared with the traditional single - beam point light source + galvanometer yaw scanning method, the present application can directly achieve surface irradiation of the removal area, and the scanning efficiency is increased by more than 10 times. At the same time, the independent control technology of the focal positions of the array - type point light sources adopted in the present application realizes the three - dimensional surface - conforming control of the focal points within the irradiation area, achieving the effect of conforming layer - by - layer removal of the curved composite coating. The present application is applicable to the laser - efficient and precise removal of various substrate skins and composite coatings of aircraft, especially for the removal of surface coatings of three - dimensional curved workpieces, and the cleaning effect is more significant.

[0054] Specifically, the array - type point light source generating device is used to generate an array of laser light points arranged closely. Without moving this device, a large laser processing projection area can be achieved. The robotic arm is the installation carrier of the array - type point light source generating device and is used to move the array - type point light source generating device. The robotic arm base can be fixed on the ground or can be installed on a sliding mechanism according to the requirements of removing large - size skin coatings to increase the processing stroke.

[0055] For hyperbolic - shaped skins and their coatings such as titanium alloys and resin - based composite materials, above them, an array of laser light points with a projection area of 45×30 mm is arranged through the laser removal system. A plurality of light - point arrays with a diameter of 1.5 mm are arranged closely, and the number of light points is 30×20. Although the light points are irradiated on the skin coating with a hyperbolic shape, since the curvilinearization of the aircraft skin is not severe (with a large curvature), the defocus amount of the array of light points when reaching the coating is controllable, which can ensure the effect of laser - focused coating removal.

[0056] The design principle of the array - type point light source generating device is as follows: The point light source generating device mainly consists of an optical module, an end cap, a fiber - bundle encapsulation module, and a control module, as Figure 3 shown. The optical module is provided with an optical fiber, and the laser is transmitted through the optical fiber. The end cap is connected to the optical fiber by a fusion splicing method. The end cap is fixed in the fiber - bundle encapsulation module according to a certain arrangement pattern. A protective lens is provided at the front end of the fiber - bundle encapsulation module (as Figure 4 shown). The control module can control single or multiple optical modules. The output laser wavelength of the optical module is between 808 - 1080 nm, and the power is between 50 - 500 W; the output end of the end cap is a curved surface, and the laser is output in an approximately collimated state, with a divergence angle between 2 - 6 mrad, as Figure 5 shown; the arrangement pattern of the end caps is as Figure 6 shown. At a position 200 - 600 mm away from the end cap, the diameter of the laser spot is not less than 2.2 mm, and the laser spots overlap with each other, as Figure 7As shown in the figure; the fiber optic bundle encapsulation module uses glue to fill the gap between the end caps to ensure the relative positions of the end caps are fixed. The output light spot of the fiber optic bundle encapsulation module is rectangular, the number of fiber optic bundles is 600 (30×20), and the effective light spot size is 45×30 mm.

[0057] The above-described generating devices of the array-type point light sources are integrated together and installed on related motion mechanisms such as robotic arms. Correspondingly, the mode of laser coating removal becomes: first, continuously apply pulsed laser to the coating in a single 45×30 mm block projection area. After detecting that the coating thickness gradually decreases from 200 μm to complete removal, then move the point light source generating device by the robotic arm to the next 45×30 mm projection area for coating removal. For the titanium alloy skin coating of 1.8 m×1.2 m as Figure 8 shown in the figure, according to the 45×30 mm block projection area, the skin is divided into 40×40 = 1600 removal areas. The robotic arm moves 1599 times to complete the precise removal of the titanium alloy skin coating. Since the number of movements of the mechanical device decreases and the number of splices between block projections decreases, the requirement for the motion accuracy of the mechanical device is not high, and the overall cost of the equipment is reduced.

[0058] The control system is an electrical system that controls the movement of the robotic arm, used to set and convey the motion control program to the mechanical system, and set the control signals for triggering these programs. The thickness monitoring system is installed on the robotic arm (or placed separately) like the array-type point light source, used to detect the thickness change of the skin coating removal. When the coating thins to the pre-set thickness threshold, it provides a signal to the control system, and the latter controls the robotic arm to move the array-type point light source generating device to the next position. The profile measurement system is installed on the robotic arm (or placed separately) like the array-type point light source, including a vision device for measuring the profile of the skin and software that can correspondingly analyze and restore the point cloud shape of the measured object. The measurement results are provided to the control system, and the control system converts the above measurement results into the position information required by the array-type point light source, and each light point in the latter adjusts its focal length according to the position information. The dust suction and cooling system is installed on the robotic arm (or placed separately) like the array-type point light source. The former is used to absorb a large amount of soot generated during the laser coating removal process to achieve the environmental protection goal. The latter is used to suppress the heat generated during the laser coating removal process to protect the aircraft skin substrate from adverse effects such as heat accumulation or burning.

[0059] The embodiment of the present application also provides a laser removal method for removing the skin coating of an aircraft, which is realized by the above-mentioned laser removal system for removing the skin coating of an aircraft; the laser removal method for removing the skin coating of an aircraft includes: using an arrayed point light source generating device to generate arrayed laser light points acting on the skin coating to realize in-situ laser removal of the coating in a block projection area with a set area; controlling the movement of the robotic arm through a control system to move the arrayed point light source generating device to the next position until the coating removal of all areas of the skin is completed.

[0060] In some embodiments, before using the arrayed point light source generating device to generate arrayed laser light points acting on the skin coating to realize in-situ laser removal of the coating in a block projection area with a set area, it further includes: measuring the skin shape through a shape measurement system, correspondingly analyzing and restoring the point cloud shape of the measured skin, and providing the measurement result to the control system; the control system partitions the skin projection according to the measurement result and plans the order for the robotic arm to perform cleaning according to the partition positions respectively.

[0061] In some embodiments, using the arrayed point light source generating device to generate arrayed laser light points acting on the skin coating to realize in-situ laser removal of the coating in a block projection area with a set area includes: analyzing the point cloud shape of the skin at the corresponding position through the control system, calculating the distance between the single-piece removal area and the light source and matching it with the laser defocus amount; adjusting the focal length of the arrayed light source specifically to ensure that the distances of the arrayed light source reaching the coating position are all within the appropriate defocus amount range.

[0062] In some embodiments, after using the arrayed point light source generating device to generate arrayed laser light points acting on the skin coating to realize in-situ laser removal of the coating in a block projection area with a set area, it further includes: monitoring the coating thickness in real time through a thickness monitoring system, and when the coating is thinned to a preset thickness threshold, providing a control signal to the control system.

[0063] For a titanium alloy hyperbolic skin with a projection length of 1.8 m and a width of 1.2 m, as Figure 8 shown. The high-efficiency and precise laser removal system for removing the skin coating of an aircraft uses an arrayed laser with a projection area of 45×30 mm, and can efficiently and precisely remove the coating with a thickness of 200 μm attached to the upper surface of the above-mentioned skin. The scene is schematically shown as Figure 9As shown in the figure, a bracket is installed beside the laser removal system, and the skin is stably placed flat above the bracket with the pneumatic surface of the skin facing upward. The manipulator is controlled by the control system to move the contour measurement system to an effective position above the skin to measure the skin contour, and the shape of the measured object point cloud is analyzed and restored accordingly. The above information is transmitted to the control system. The control system partitions the skin projection based on the contour measurement results and in combination with the 45×30 mm block projection area corresponding to the array laser, and plans the order for the manipulator to perform cleaning according to the partition positions respectively.

[0064] When the array point light source generating device moves to different projection positions, the control system analyzes the shape of the skin contour points at the corresponding positions, calculates the distance between the single removal area and the light source and matches it with the laser defocus amount, and adjusts the focal length of the array light source specifically to ensure that the arrival positions of the array light sources at the coating are all within the appropriate defocus amount range, improving the overall removal uniformity of the area. The pulsed laser acts on the skin coating, and the skin coating gradually thins. The thickness monitoring system monitors the coating thickness in real time and provides a signal to the control system when the coating thins to the pre-set thickness threshold. After receiving the signal feedback from the thickness detection system, the control system controls the manipulator to move the array point light source generating device to the next planned position and continues to precisely remove the skin coating, synchronously detecting the coating thickness and providing the next signal feedback to the control system. This process is repeated until all the skin areas are removed one by one according to the partitions, and then the laser removal system stops working. Through laser cleaning of a titanium alloy hyperbolic skin with a length of 1.8 m and a width of 1.2 m, the results show that the cleaning efficiency of the array point light source laser cleaning system is more than 12 times higher than that of the traditional galvanometer deflection scanning method, and the cleaning uniformity and consistency are better.

[0065] The laser removal system and method for removing aircraft skin coating provided by the embodiment of the present application breaks through the problem that the laser "strip" moving removal in the traditional laser removal equipment cannot achieve in-situ high efficiency. The array point light source can realize the laser in-situ removal of 45×30mm or even larger block projection area coating. The array point light source continuously outputs pulse energy to the single coating area in-situ, which can continuously remove the coating and finally achieve efficient removal of thick coating; the in-situ removal of coating in a large block projection area reduces the number of movements of motion mechanisms such as mechanical arms, reduces the requirements for repeated positioning accuracy control, and reduces the cost of the control system; due to the use of the method of dividing the skin coating area into blocks and cleaning each area, the number of mechanical movements of the processing head is relatively reduced, which can reduce the cumulative motion deviation of the processing position caused by repeated positioning. The shape measurement system can analyze and restore the point cloud shape of the measured skin, and then the control system can calculate the distance between the single removal area and the light source and match it with the laser defocus amount, and the focus of the array light source can be adjusted in a targeted manner, so that the array light source can reach the coating position within the appropriate defocus range, improving the overall removal uniformity of the area.

[0066] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0067] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A laser removal system for removing aircraft skin coating, characterized in that: It comprises an array point light source generating device, a mechanical arm and a control system, wherein the array point light source generating device is installed on the mechanical arm, and the control system is connected to the mechanical arm; The array point light source generating device is used to generate tightly arranged array laser light spots to achieve laser in-situ removal of coatings in block projection areas of a set area; the robotic arm is used to move the array point light source generating device; and the control system is used to control the movement of the robotic arm.

2. The laser removal system for removing aircraft skin coating according to claim 1, characterized in that: The array point light source generating device comprises 30×20 light spots with a diameter of 1.5 mm which are closely arranged in an array; The array type point light source generating device is used to realize the laser in-situ removal of coating in a block projection area of ​​45 mm×30 mm.

3. The laser removal system for removing aircraft skin coating according to claim 1, characterized in that: The control system is used to set and communicate a motion control program to the robot arm, and to set a control signal that triggers the motion control program.

4. The laser removal system for removing aircraft skin coating according to claim 1, characterized in that: Also included is a thickness monitoring system, wherein the thickness monitoring system is mounted on the robotic arm; The thickness monitoring system is used to detect the thickness change of the skin coating removal, and provide a control signal to the control system when the coating is thinned to a preset thickness threshold.

5. The laser removal system for removing aircraft skin coating according to claim 1, characterized in that: Also included is a shape measurement system, wherein the shape measurement system is mounted on the mechanical arm; The shape measurement system is used to measure the skin shape, correspondingly analyze and restore the point cloud shape of the measured skin, and provide the measurement result to the control system.

6. The laser removal system for removing aircraft skin coating according to claim 1, characterized in that: Also included is a dust collection and cooling system, which is installed on the mechanical arm; The dust collection and cooling system is used to absorb smoke and dust generated during the laser coating removal process and suppress the heat generated during the laser coating removal process.

7. A laser removal method for removing aircraft skin coating, characterized in that: This is achieved by the laser removal system for removing aircraft skin coating according to any one of claims 1 to 6; The laser removal method for removing aircraft skin coating comprises: An array of laser light spots is generated by an array point light source generating device to act on the skin coating, thereby realizing laser in-situ removal of the coating in a block projection area of ​​a set area; The control system controls the movement of the robotic arm so that the robotic arm moves the array-type point light source generating device to the next position until the coating removal of the entire skin area is completed.

8. The laser removal method for removing aircraft skin coating according to claim 7, characterized in that: Before the array-type point light source generating device is used to generate array-type laser light spots to act on the skin coating to achieve laser in-situ removal of the coating in the block-shaped projection area of ​​a set area, the method further includes: Measuring the skin shape by the shape measurement system, correspondingly analyzing and restoring the point cloud shape of the measured skin, and providing the measurement result to the control system; The control system partitions the skin projection according to the measurement results, and plans the order in which the robot arm cleans according to the partition positions.

9. The laser removal method for removing aircraft skin coating according to claim 7, characterized in that: The method of using an array point light source generating device to generate array laser light spots to act on the skin coating to achieve laser in-situ removal of the coating in a block projection area of ​​a set area includes: The control system analyzes the point cloud shape of the skin shape at the corresponding position, calculates the distance between the single-block removal area and the light source, and matches it with the laser defocus amount; The focus of the array light source is adjusted in a targeted manner to ensure that the array light source reaches the coating position within the appropriate defocus range.

10. The laser removal method for removing aircraft skin coating according to claim 7, characterized in that: After the array-type point light source generating device is used to generate array-type laser light spots to act on the skin coating to achieve laser in-situ removal of the coating in the block-shaped projection area of ​​a set area, the method further includes: The coating thickness is monitored in real time by the thickness monitoring system, and when the coating is thinned to a preset thickness threshold, a control signal is provided to the control system.

Images