Automatic spraying equipment for airplane

Abstract

The invention discloses aircraft automatic spraying equipment which comprises two longitudinal beams which are arranged in parallel at an interval, the two ends of each longitudinal beam are connected to a frame, and longitudinal rails extending in the first direction are arranged on the longitudinal beams; the two ends of the beam are slidably connected to the longitudinal rails, and a transverse rail extending in the second direction is arranged on the beam. The first driving device is used for driving the cross beam to move on the longitudinal rail in the first direction; the sliding trolley is connected to the longitudinal rail in a sliding mode, a vertical rail extending in the third direction is arranged on the sliding trolley, and the second driving device is used for driving the sliding trolley to move on the transverse rail in the second direction; the spraying robot is slidably connected to the vertical track; the third driving device is used for driving the spraying robot to move on the vertical rail in the third direction. According to the spraying robot, external three-dimensional movement can be expanded on the basis of original movement of the spraying robot, and therefore the working range of the spraying robot can be widened.

Description

Technical Field

[0001] This application relates to the field of automation technology, and particularly to an aircraft automated spraying equipment. Background Art

[0002] When traditional robots spray an aircraft, the robots perform spraying work under multiple degrees of freedom of their own. For example, a four-axis robot can only move in 4 dimensions for painting. When the aircraft is large, this painting method is limited by the movement range of the robot and cannot spray the large aircraft in all directions.

[0003] That is, the working range of the spraying robot in the prior art is small. Summary of the Invention

[0004] An embodiment of this application provides an aircraft automated spraying equipment, which can increase the working range of the spraying robot.

[0005] In a first aspect, the aircraft automated spraying equipment provided by this application includes:

[0006] A frame,

[0007] Two longitudinal beams, the two longitudinal beams are parallel and spaced apart, both ends of the longitudinal beams are connected to the frame, and a longitudinal track extending along a first direction is provided on the longitudinal beams;

[0008] A cross beam, both ends of the cross beam are slidably connected to the longitudinal track, and a transverse track extending in a second direction is provided on the cross beam;

[0009] A first driving device, which is used to drive the cross beam to move along the first direction on the longitudinal track;

[0010] A sliding trolley, the sliding trolley is slidably connected to the longitudinal track, and a vertical track extending in a third direction is provided on the sliding trolley,

[0011] A second driving device, which is used to drive the sliding trolley to move along the second direction on the transverse track;

[0012] A spraying robot, which is used to spray paint on the aircraft, and the spraying robot is slidably connected to the vertical track;

[0013] A third driving device, which is used to drive the spraying robot to move along the third direction on the vertical track;

[0014] The host computer control system is used to control the first driving device, the second driving device, the third driving device, and the spraying robot. Among them, the first direction, the second direction, and the third direction are not parallel to each other.

[0015] In an optional embodiment, one end of the cross beam is provided with a first sliding seat, the first sliding seat is slidably connected to the longitudinal track, a first rack extending along the first direction is provided on the longitudinal beam, the first driving device is fixed on the first sliding seat, a first gear is provided at the output end of the first driving device, and the first gear meshes with the first rack. The first driving device drives the first gear to rotate, driving the first sliding seat to move along the first direction.

[0016] In an optional embodiment, a second sliding seat is provided on the sliding trolley, a second rack extending along the third direction is provided on the sliding trolley, the third driving device is fixed on the second sliding seat, a second gear is provided at the output end of the third driving device, and the second gear meshes with the second rack. The third driving device drives the second gear to rotate, driving the second sliding seat to move along the third direction.

[0017] In an optional embodiment, a paint supply module is provided on one side of the sliding trolley away from the second sliding seat, and the paint supply module is used to supply paint to the spraying robot.

[0018] In an optional embodiment, a camera is provided on one side of the second sliding seat. The camera takes pictures and locates the airplane to be sprayed by the spraying robot.

[0019] In an optional embodiment, the frame includes a bottom plate, a plurality of first wall panels, and a plurality of columns. The bottom plate and the plurality of first wall panels enclose a first working space, and the plurality of columns are arranged inside the first wall panels. The longitudinal beam is detachably connected to the columns.

[0020] In an optional embodiment, a cooling room is provided on the bottom plate, and the plurality of first wall panels are arranged around the cooling room. A plurality of cleaning machines are provided in the cooling room.

[0021] In an optional embodiment, two support plates extend outwards on the outer side of the first wall panel. The two support plates are spaced apart in the third direction. A plurality of second wall panels are erected on the first support plate. The plurality of second wall panels and the support plates enclose a second working space. A control operation console is provided on the support plate, and a display screen is provided on the second wall panel.

[0022] In an alternative embodiment, the number of cross beams is at least two, and the number of spraying robots is at least two.

[0023] In an alternative embodiment, the first driving device, the second driving device, and the third driving device are all servo motors with explosion-proof enclosures.

[0024] In this application, compared with the related art, the aircraft automatic spraying equipment includes: a frame, two longitudinal beams, the two longitudinal beams are parallel and spaced apart, the two ends of the longitudinal beams are connected to the frame, and longitudinal tracks extending along a first direction are provided on the longitudinal beams; a cross beam, the two ends of the cross beam are slidably connected to the longitudinal tracks, and a transverse track extending along a second direction is provided on the cross beam; a first driving device for driving the cross beam to move along the first direction on the longitudinal tracks; a sliding trolley, the sliding trolley is slidably connected to the longitudinal tracks, and a vertical track extending along a third direction is provided on the sliding trolley, a second driving device for driving the sliding trolley to move along the second direction on the transverse track; a spraying robot for spraying paint on the aircraft, the spraying robot is slidably connected to the vertical track; a third driving device for driving the spraying robot to move along the third direction on the vertical track; a host computer control system for controlling the first driving device, the second driving device, the third driving device, and the spraying robot, wherein the first direction, the second direction, and the third direction are not parallel to each other. In this application, the host computer control system controls the third driving device to drive the spraying robot to move along the third direction on the vertical track, so as to realize the movement of the spraying robot in the third direction; the host computer control system controls the second driving device to drive the sliding trolley to move along the second direction on the transverse track, so as to realize the movement of the spraying robot in the second direction; the host computer control system controls the first driving device to drive the cross beam to move along the first direction on the longitudinal tracks, so as to realize the movement of the spraying robot in the third direction, thereby being able to expand the external three-dimensional movement on the basis of the original movement of the spraying robot, and thus being able to improve the working range of the spraying robot. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the aircraft automatic spraying equipment provided by the embodiment of the present application;

[0027] Figure 2It is a schematic diagram of the overall structure of the cross beam and longitudinal beam in an embodiment of the aircraft automatic spraying equipment provided by the embodiments of the present application;

[0028] Figure 3 It is a schematic top view structure diagram of the cross beam and longitudinal beam in an embodiment of the aircraft automatic spraying equipment provided by the embodiments of the present application;

[0029] Figure 4 It is a schematic diagram of the first side structure of the cross beam and longitudinal beam in an embodiment of the aircraft automatic spraying equipment provided by the embodiments of the present application;

[0030] Figure 5 It is a schematic diagram of the second side structure of the cross beam and longitudinal beam in an embodiment of the aircraft automatic spraying equipment provided by the embodiments of the present application;

[0031] Figure 6 It is Figure 2 a partial structure diagram of area A in;

[0032] Figure 7 It is Figure 2 a partial structure diagram of area B in;

[0033] Figure 8 It is Figure 7 a partial structure diagram of;

[0034] Figure 9 It is Figure 3 a partial structure diagram of area C in;

[0035] Figure 10 It is Figure 5 a partial structure diagram of area D in. Detailed implementation manners

[0036] It should be noted that the principle of the present application is illustrated by way of example in a suitable computing environment. The following description is based on the specific embodiments of the present application illustrated, and it should not be regarded as limiting other specific embodiments of the present application not detailed herein.

[0037] In the following description of the present application, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0038] In the following description of the present application, the terms "first / second / third" are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged in a specific order or sequence when allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing embodiments of this application only and are not intended to limit this application.

[0040] Although the description of this application will be introduced in conjunction with some embodiments, this does not mean that the features of this application are limited to this implementation. On the contrary, the purpose of introducing the application in conjunction with the implementation is to cover other alternatives or modifications that may be extended based on the claims of this application. To provide a deep understanding of this application, many specific details will be included in the following description. This application can also be implemented without these details. In addition, to avoid confusion or obscuring the focus of this application, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other.

[0041] In the embodiments of this application, the reference to "one embodiment" or "some embodiments" etc. means that in one or more embodiments of this application, the specific features, structures or characteristics described in conjunction with that embodiment are included. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way.

[0042] In the embodiments of this application, the terms "comprise", "include", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0043] In the embodiments of this application, unless otherwise clearly specified and limited, the terms "install" and "connect" should be understood in a broad sense. For example, "connect" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0044] In the embodiments of this application, "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0045] In the embodiments of the present application, the directional terms mentioned, such as "upper", "lower", "left", "right", "inner", "outer", etc., are only with reference to the directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer description and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present application.

[0046] Therefore, the present application provides an aircraft automatic spraying equipment. The aircraft automatic spraying equipment includes: a frame, two longitudinal beams, the two longitudinal beams are parallel and spaced apart, the two ends of the longitudinal beams are connected to the frame, and longitudinal tracks extending along a first direction are provided on the longitudinal beams; a cross beam, the two ends of the cross beam are slidably connected to the longitudinal tracks, and a transverse track extending along a second direction is provided on the cross beam; a first driving device for driving the cross beam to move along the first direction on the longitudinal tracks; a sliding trolley, the sliding trolley is slidably connected to the longitudinal tracks, a vertical track extending along a third direction is provided on the sliding trolley, a second driving device for driving the sliding trolley to move along the second direction on the transverse track; a spraying robot for spraying paint on the aircraft, the spraying robot is slidably connected to the vertical track; a third driving device for driving the spraying robot to move along the third direction on the vertical track; an upper computer control system for controlling the first driving device, the second driving device, the third driving device and the spraying robot, wherein the first direction, the second direction and the third direction are not parallel to each other.

[0047] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0048] Please refer to Figures 1 to 10 , the present application provides an aircraft automatic spraying equipment, and the aircraft automatic spraying equipment includes a frame 10, two longitudinal beams 21, a cross beam 22, a first driving device 221, a sliding trolley 25, a second driving device 251, a spraying robot 29, a third driving device 261 and an upper computer control system.

[0049] Among them, two longitudinal beams 21 are arranged in parallel and at intervals. Both ends of the longitudinal beam 21 are connected to the frame 10. A longitudinal track 211 extending along the first direction X is provided on the longitudinal beam 21. Both ends of the cross beam 22 are slidably connected to the longitudinal track 211. The cross beam 22 can move along the first direction X on the longitudinal track 211. A transverse track 224 extending in the second direction Y is provided on the cross beam 22. The first driving device 221 is used to drive the cross beam 22 to move along the first direction X on the longitudinal track 211. The sliding trolley 25 is slidably connected to the longitudinal track 211. A vertical track 254 extending in the third direction Z is provided on the sliding trolley 25. The second driving device 251 is used to drive the sliding trolley 25 to move along the second direction Y on the transverse track 224. The spraying robot 29 is used for spraying paint on the aircraft. The spraying robot 29 is slidably connected to the vertical track 254. The third driving device 261 is used to drive the spraying robot 29 to move along the third direction Z on the vertical track 254. The upper computer control system is used to control the first driving device 221, the second driving device 251, the third driving device 261 and the spraying robot 29. The upper computer control system integrates the function control of all devices, can send instructions to the robot, and commands the robot to execute work according to the set program.

[0050] Among them, the first direction X, the second direction Y and the third direction Z are not parallel to each other. Specifically, the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0051] The aircraft automatic spraying equipment of the present application expands the external XYZ three-dimensional movement on the basis of the original movement of the spraying robot 29, thereby increasing the working range of the spraying robot 29.

[0052] Among them, the spraying robot 29 includes a robot body and an air spray gun on the robot body. The robot body is a six-axis robot. The robot body can move the air spray gun along 6 directions. The first driving device 221, the second driving device 251, the third driving device 261 and the spraying robot 29 can drive the robot body to move in the first direction X, the second direction and the third direction Z, and can realize the working range of the robot in 9 directions. The robot body is connected with an air spray gun, which can accurately control the atomization, fan shape and fan width of the paint, and can realize the free conversion between parameters.

[0053] A six-axis robot is an automated device with six degrees of freedom and is widely used in many fields such as modern industry. Each joint of the six-axis robot can perform rotational motion and is connected by mechanical drive devices such as motors and speed reducers to achieve multi-degree-of-freedom motion. The motions of each axis cooperate with each other so that the end effector of the robot can reach any position and pose in three-dimensional space. Motion control is achieved through analytic geometry and matrix transformation. A coordinate system is established for the entire robotic arm, and the coordinate system of each joint is determined. According to the kinematic formula, the pose parameters of each joint are calculated, and the pose parameters of the entire robotic arm are obtained through matrix multiplication. The control system then converts the pose parameters into the control quantities of each joint of the robotic arm, thereby precisely controlling the motion of the robotic arm.

[0054] Of course, in other embodiments, the robot body can be a four-axis robot or other types of robots, which can be set according to specific circumstances.

[0055] In the embodiment of the present application, one end of the cross beam 22 is provided with a first sliding seat 222. The first sliding seat 222 is slidably connected to the longitudinal track 211. A first rack 212 extending along the first direction X is provided on the longitudinal beam 21. The first driving device 221 is fixed on the first sliding seat 222. A first gear 223 is provided at the output end of the first driving device 221. The first gear 223 meshes with the first rack 212. The first driving device 221 drives the first gear 223 to rotate, driving the first sliding seat 222 to move along the first direction X.

[0056] In a specific embodiment, a first chute is provided on the longitudinal track 211. Rollers are provided at the bottom of the first sliding seat 222. The rollers at the bottom of the first sliding seat 222 are embedded in the first chute of the longitudinal track 211. The rollers at the bottom of the first sliding seat 222 roll on the chute of the longitudinal track 211, so that the cross beam 22 moves along the first direction X on the longitudinal track 211. Further, a second chute is provided on the first sliding seat 222. A protruding track is provided on the longitudinal beam 21. The protruding track extends along the first direction X. The protruding track is embedded in the second chute. The first driving device 221 drives the first sliding seat 222 to move along the first direction X, and the protruding track guides the first sliding seat 222 to move along the first direction X.

[0057] In the embodiment of the present application, a second sliding seat 26 is provided on the sliding trolley 25. A second rack 252 extending along the third direction Z is provided on the sliding trolley 25. The third driving device 261 is fixed on the second sliding seat 26. A second gear 262 is provided at the output end of the third driving device 261. The second gear 262 meshes with the second rack 252. The third driving device 261 drives the second gear 262 to rotate, driving the second sliding seat 26 to move along the third direction Z.

[0058] Further, there are two vertically arranged tracks 254 spaced apart on the sliding trolley 25. The second gear 262 and the second rack 252 are located between the two vertically arranged tracks 254. The second gear 262 and the second rack 252 being located between the two vertically arranged tracks 254 can protect the second gear 262 and the second rack 252 through the tracks.

[0059] In the embodiment of the present application, a paint supply module 255 is provided on the side of the sliding trolley 25 away from the second sliding seat 26. The paint supply module 255 is used to supply paint to the spraying robot 29. Specifically, the paint supply module 255 is hung on the sliding trolley 25 far away, applicable to metal paint, non-metal paint, pearlescent paint, water-based paint, oil-based paint, etc., which can effectively shorten the paint supply distance and reduce paint loss, and can also perform rapid cleaning and color change.

[0060] Further, the paint supply module 255 includes an outer frame and a paint bucket located inside the outer frame. The outer frame is a cuboid frame, and the outer frame surrounds the paint bucket. The paint bucket being located inside the outer frame can protect the paint bucket.

[0061] In the embodiment of the present application, a camera is provided on one side of the second sliding seat 26. The camera takes images and locates the aircraft to be sprayed by the spraying robot 29. The upper computer control system is connected to the camera. Before spraying, the spraying robot identifies the aircraft through the images taken by the camera, generates a point cloud, and precisely locates the aircraft so that its position is accurate to ±1 mm; after the robot receives the offset coordinate value, it starts the spraying work.

[0062] Specifically, the upper computer control system acquires the aircraft images taken by the camera, determines the image coordinates of the aircraft based on the aircraft images, determines the world coordinates of the aircraft based on the internal and external parameters of the camera and the aircraft image coordinates, generates the point cloud data of the aircraft, acquires the world coordinates of the spraying robot, and controls the movement of the spraying robot and sprays paint on the aircraft based on the world coordinates of the spraying robot and the point cloud data of the aircraft.

[0063] In the embodiment of the present application, the frame 10 includes a bottom plate 11, a plurality of first wall panels 12, and a plurality of columns 13. The bottom plate 11 and the plurality of first wall panels 12 enclose a first working space, and the plurality of columns 13 are arranged inside the first wall panels 12. The longitudinal beam 21 is detachably connected to the columns 13. Specifically, the longitudinal beam 21 is bolted to the columns 13.

[0064] In the embodiment of the present application, a cooling room 14 is provided on the bottom plate 11, and the plurality of first wall panels 12 are arranged around the cooling room 14. A plurality of cleaning machines are provided in the cooling room 14. The use of the cooling room can ensure that the equipment is in an environment with constant temperature and humidity during the waiting period, reducing the explosion hazard caused by high temperature and dryness. The cleaning machines in the cooling room give the robot regular or post-work cleaning and waste solvent recovery work, ensuring the spraying quality, extending the service life of the equipment, and also improving the standardization of waste material recovery.

[0065] In the embodiment of the present application, two support plates 15 extend outwards from the outer side of the first wall panel 12. The two support plates 15 are spaced apart in the third direction Z. A plurality of second wall panels 17 are erected on the first support plate 15. The plurality of second wall panels 17 and the support plate 15 enclose a second working space. A control operation console 172 is provided on the support plate 15, and a display screen 171 is provided on the second wall panel 17. A host computer control system is installed on the control operation console 172.

[0066] In the embodiment of the present application, the number of cross beams 22 is at least two, and the number of spraying robots 29 is at least two.

[0067] In the embodiment of the present application, the first driving device 221, the second driving device 251, and the third driving device 261 are all servo motors with explosion-proof enclosures. The first driving device 221, the second driving device 251, and the third driving device 261 are connected to the host computer control system through explosion-proof cables. The explosion-proof enclosures of the motors and the explosion-proof cables can effectively work in the painting environment. The explosion-proof cables are made of flexible cables and bellows for flameproof treatment, effectively realizing explosion-proof treatment in the moving state.

[0068] The present application can achieve a working range of 9 directions for robot automation; it can be applied to explosion-proof and flammable environments; it can achieve 360-degree spraying of large aircraft; it is environmentally friendly; the spraying process is improved and the film thickness is uniform.

[0069] Compared with the related art, the aircraft automatic spraying equipment includes: a frame, two longitudinal beams, the two longitudinal beams are parallel and spaced apart, the two ends of the longitudinal beams are connected to the frame, and longitudinal tracks extending along a first direction are provided on the longitudinal beams; a cross beam, the two ends of the cross beam are slidably connected to the longitudinal tracks, and a transverse track extending in a second direction is provided on the cross beam; a first driving device for driving the cross beam to move along the first direction on the longitudinal tracks; a sliding trolley, the sliding trolley is slidably connected to the longitudinal tracks, a vertical track extending in a third direction is provided on the sliding trolley, a second driving device for driving the sliding trolley to move along the second direction on the transverse track; a spraying robot for spraying paint on the aircraft, the spraying robot is slidably connected to the vertical track; a third driving device for driving the spraying robot to move along the third direction on the vertical track; a host computer control system for controlling the first driving device, the second driving device, the third driving device and the spraying robot, wherein the first direction, the second direction and the third direction are not parallel to each other. In this application, the host computer control system controls the third driving device to drive the spraying robot to move along the third direction on the vertical track, so as to realize the movement of the spraying robot in the third direction; the host computer control system controls the second driving device to drive the sliding trolley to move along the second direction on the transverse track, so as to realize the movement of the spraying robot in the second direction; the host computer control system controls the first driving device to drive the cross beam to move along the first direction on the longitudinal track, so as to realize the movement of the spraying robot in the third direction, so that three-dimensional movement in the external can be extended on the basis of the original movement of the spraying robot, thereby improving the working range of the spraying robot.

[0070] The above has introduced in detail an aircraft automatic spraying equipment provided by the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

[0071] It should be noted that when the above embodiments of the present application are applied to specific products or technologies, and involve relevant user data, user permission or consent is required, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

Claims

1. An aircraft automated spraying equipment, characterized in that, The aircraft automatic spraying equipment includes: A frame, Two longitudinal beams, the two longitudinal beams are parallel and spaced apart, the two ends of the longitudinal beams are connected to the frame, and longitudinal tracks extending along a first direction are provided on the longitudinal beams; A cross beam, the two ends of the cross beam are slidably connected to the longitudinal tracks, and a transverse track extending along a second direction is provided on the cross beam; A first driving device for driving the cross beam to move along the first direction on the longitudinal tracks; A sliding trolley, the sliding trolley is slidably connected to the longitudinal tracks, and a vertical track extending along a third direction is provided on the sliding trolley, A second driving device for driving the sliding trolley to move along the second direction on the transverse track; A spraying robot for spraying paint on the aircraft, the spraying robot is slidably connected to the vertical track; A third driving device for driving the spraying robot to move along the third direction on the vertical track; A host computer control system for controlling the first driving device, the second driving device, the third driving device and the spraying robot, wherein the first direction, the second direction and the third direction are not parallel to each other.

2. The aircraft automated spraying equipment according to claim 1, characterized in that, One end of the cross beam is provided with a first sliding seat, the first sliding seat is slidably connected to the longitudinal track, a first rack extending along the first direction is provided on the longitudinal beam, the first driving device is fixed on the first sliding seat, a first gear is provided at the output end of the first driving device, the first gear meshes with the first rack, and the first driving device drives the first gear to rotate, driving the first sliding seat to move along the first direction.

3. The aircraft automated spraying equipment according to claim 1, characterized in that, A second sliding seat is provided on the sliding trolley, a second rack extending along the third direction is provided on the sliding trolley, the third driving device is fixed on the second sliding seat, a second gear is provided at the output end of the third driving device, the second gear meshes with the second rack, and the third driving device drives the second gear to rotate, driving the second sliding seat to move along the third direction.

4. The aircraft automatic spraying equipment according to claim 3, characterized in that, A paint supply module is provided on one side of the sliding trolley away from the second sliding seat, and the paint supply module is used for supplying paint to the spraying robot.

5. The aircraft automated spraying equipment according to claim 3, characterized in that, A camera is provided on one side of the second sliding seat, and the camera takes images and locates the aircraft to be sprayed by the spraying robot.

6. The aircraft automated spraying equipment according to claim 1, characterized in that The frame includes a bottom plate, a plurality of first wall panels and a plurality of columns, the bottom plate and the plurality of first wall panels enclose a first working space, the plurality of columns are arranged inside the first wall panels, and the longitudinal beams are detachably connected to the columns.

7. The aircraft automated spraying equipment according to claim 6, wherein, A cooling room is provided on the bottom plate, the plurality of first wall panels are arranged around the cooling room, and a plurality of cleaning machines are provided in the cooling room.

8. The aircraft automatic spraying equipment according to claim 6, characterized in that, On the outer side of the first wall panel, two support plates are provided to extend outwards. The two support plates are arranged at intervals in the third direction. A plurality of second wall panels are erected on the first support plate. A second working space is formed by enclosing the plurality of second wall panels and the support plates. A control operation console is provided on the support plate, and a display screen is provided on the second wall panel.

9. The aircraft automated spraying equipment according to claim 1, characterized in that, The number of the cross beams is at least two, and the number of the spraying robots is at least two.

10. The aircraft automatic spraying equipment according to claim 1, characterized in that, The first driving device, the second driving device, and the third driving device are all servo motors with explosion-proof enclosures.

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