Gantry truss type heaven and earth guide rail multi-robot airplane paint removal operation platform system

Abstract

The invention discloses a gantry truss type heaven and earth guide rail multi-robot airplane paint removal operation platform system, which belongs to the technical field of aircraft maintenance and surface treatment automation, and comprises a plurality of gantry truss stand columns arranged on the periphery of an operation platform bottom plate, and a gantry truss cross beam mounted on the gantry truss stand columns, the gantry truss stand columns and the gantry truss cross beams form an upper bearing frame covering the operation space. The sky rail is arranged on a cross beam of the gantry truss, the sky rail moves on the plane in the direction perpendicular to the course of the airplane, and driving units are arranged at the two ends of the sky rail. According to the automatic paint removing device, high-coverage-rate, adjustable and low-damage automatic paint removing of aircrafts of different types and different postures can be achieved in a hangar fixing station, the intensity of manual operation is reduced, the operation environment is improved, the health of personnel is guaranteed, and the quality and efficiency of complete machine paint removing operation are improved.

Description

Technical Field

[0001] This invention relates to the field of aircraft maintenance and surface treatment automation technology, specifically a gantry-type multi-robot aircraft paint removal platform system with a truss-type top and bottom guide rail. Background Technology

[0002] Currently, before refurbishment, scheduled maintenance, structural repair, and repainting, in-service aircraft typically require the reliable and controllable removal of the cured multi-layered coatings (including topcoat, functional layers, and primer) on the outer surface to ensure the adhesion quality and corrosion resistance of subsequent non-destructive testing, structural repair, and repainting. Existing engineering practices primarily employ two methods for this preliminary step, but both have significant limitations in the actual maintenance scenarios of hangars.

[0003] On one hand, there is the manual or semi-automatic mechanical grinding method. This method typically involves workers inside the hangar using scaffolding, mobile platforms, or simple supports, hand-held grinding tools to process the aircraft surface section by section. Its advantages include high adaptability and low requirements for aircraft parking attitude, but it suffers from high labor intensity and low work efficiency; it also carries certain safety risks in locations with large height differences or restricted attitude, such as the fuselage back, wings, and belly. More importantly, this method relies entirely on the worker's experience in controlling downforce, feed rate, and step distance, making it difficult to maintain consistent paint removal depth and surface roughness between different personnel and different batches. This makes it difficult to meet the requirements of low-damage, layered removal for sensitive sections such as composite skins and honeycomb interlayers.

[0004] On the other hand, there are fixed or single-track robotic polishing methods. Existing technologies include solutions that fix industrial robots to the hangar floor, side walls, or a single guide rail arranged along one side of the aircraft, achieving automated paint removal within a certain range. However, these structures share common characteristics: the track height and direction are basically fixed, and the accessible space is mainly concentrated on one side or a small area above the fuselage. When the aircraft model changes, the parking posture deviates, or there are dimensional errors in the aircraft assembly, frequent adjustments to the equipment position or even moving the aircraft itself are required, thus slowing down the overall work cycle within the hangar. More significantly, a single-track system can only solve the accessibility of "a certain side, a certain height," making it difficult to simultaneously cover the high-level fuselage back and overwing areas and the low-level fuselage belly and underwing areas while the aircraft remains stationary, and even more difficult to form a continuous, full-aircraft enveloping processing path.

[0005] With the increasing lightweighting and composite nature of aircraft structures, the external surfaces of the fuselage exhibit characteristics such as "large shape span, significant regional height differences, and inconsistent materials and coating systems." The fuselage back and upper wings require work from above, while the fuselage belly, underwings, and sides require work from below or the sides. Some areas also feature composite materials, honeycomb sandwich structures, or multi-layered functional coatings, placing stricter constraints on grinding force, incident angle, temperature rise, and layering strategies. This dictates that paint removal equipment must not only be "accessible" but also "accessible in the correct posture," meaning it must have a wide range of accessibility in three-dimensional space while also being able to finely adjust its lateral and vertical positions to maintain the appropriate tool incident posture and contact force. Single overhead or single ground rail arrangements are essentially one-dimensional or quasi-two-dimensional movement channels, making it difficult to simultaneously meet the differentiated processing requirements of high and low positions, left and right sides, and various material areas.

[0006] The hangar operation also presents a rigid structural constraint: aircraft are typically towed into their designated work positions by tractors equipped with omnidirectional wheels. Once parked, it is undesirable to move the aircraft itself, as this would occupy the work position, increase the burden on ground dispatch, and hinder the simultaneous operation of multiple pieces of equipment around the same aircraft. However, the premise for using many existing equipment is precisely "if the equipment cannot adapt to the aircraft, move the aircraft to a location where the equipment can reach," which conflicts with the hangar maintenance organization method of "aircraft positioning once, equipment deployment around the aircraft."

[0007] In summary, the main shortcoming of existing technologies lies not in the lack of a robot body, but in the lack of a structured automated paint removal platform specifically designed for aircraft geometry and hangar operations. Specifically: 1. The upper part lacks a skyrail that can be arranged across the aircraft and whose position can be adjusted back and forth along the direction of the aircraft's flight path, making it impossible to continuously cover high areas such as the fuselage back and over the wings from above. 2. The lower part lacks a ground guide rail system orthogonal to the heading direction, so the accessibility of the ground robot in the belly, underwing and side areas can only be compensated by multiple relocations; 3. The robot control cabinet, industrial multi-degree-of-freedom robot, and end-effector support units such as sandpaper storage, sandpaper removal, sandpaper installation and testing, and quick replacement of grinding heads were not installed as a whole on a base that can move with the guide rail. This caused the tool support to not "follow the robot" and made it difficult to support the consistency of the cycle time under the parallel operation of multiple robots. 4. Although the aircraft has completed traction positioning through the workstation platform, the actual attitude of the aircraft has not been accurately calibrated by combining laser trackers or cameras. There are still deviations between the upper and lower guide rails and the actual surface coordinates of the aircraft. The trajectory needs to be manually corrected, which limits the degree of automation.

[0008] Therefore, those skilled in the art have provided a gantry-type top and bottom rail multi-robot aircraft paint removal platform system to solve the problems mentioned in the background art. Summary of the Invention

[0009] The purpose of this invention is to provide a gantry-type multi-robot aircraft paint removal platform system with a gantry rail system, which can achieve high coverage, adjustable, and low-damage automated paint removal for different aircraft models and attitudes within a fixed workstation in the hangar. This reduces the intensity of manual labor, improves the working environment, protects personnel health, and enhances the quality and efficiency of the overall aircraft paint removal operation, thereby solving the problems mentioned in the background art.

[0010] To achieve the above objectives, the present invention provides the following technical solution: A gantry-type multi-robot aircraft paint removal platform system with a truss-type top and bottom guide rail includes: Several gantry truss columns are set around the bottom plate of the work platform, and gantry truss beams are installed on the gantry truss columns. The gantry truss columns and gantry truss beams form an upper load-bearing frame that covers the work space. The overhead rail is arranged on the gantry truss crossbeam. The overhead rail moves in a direction perpendicular to the aircraft's heading in a plane. The two ends of the overhead rail are provided with drive units. The drive units are configured to drive the entire overhead rail to reciprocate linearly along the direction of the aircraft's heading, so as to complete the upper coverage along the length of the fuselage in one positioning of the aircraft. The overhead rail robot's lateral and vertical adjustment mechanism is installed on the overhead rail. The overhead rail robot's lateral and vertical adjustment mechanism can move relative to the overhead rail in the lateral direction and can be raised and lowered in the vertical direction to adjust the robot's working position to the back of the machine, the wings, and specific composite material and functional component areas. At least one overhead rail robot unit is installed on the horizontal and vertical adjustment mechanism of the overhead rail robot; The aircraft positioning platform installed on the base plate of the work platform is used to park the aircraft towed in by the tractor in one go and determine its heading and plane position. The ground rail longitudinal guide rail and the ground rail transverse guide rail arranged orthogonally to the ground rail longitudinal guide rail are set on the bottom plate of the work platform, wherein the ground rail longitudinal guide rail is arranged parallel to the aircraft heading and the ground rail transverse guide rail is arranged perpendicular to the aircraft heading. A ground-rail robot mobile base is installed on the transverse guide rail of the ground rail. The ground-rail robot mobile base can reciprocate along the movement direction of the transverse guide rail of the ground rail. A robot control cabinet and an industrial multi-degree-of-freedom robot are also installed on the ground-rail robot mobile base. The industrial multi-degree-of-freedom robot performs paint removal operations on the belly, underwings and lateral areas of the fuselage within the plane range defined by the movement direction of the longitudinal guide rail of the ground rail and the movement direction of the transverse guide rail of the ground rail. The sandpaper storage unit, sandpaper removal unit, sandpaper installation detection unit, and grinding head quick change unit are installed on the robot control cabinet, as well as the vision / laser detection sensor, force / torque sensor, and grinding head are set at the end of the industrial multi-degree-of-freedom robot. The system achieves automatic enveloping paint removal of the entire outer surface of the aircraft while keeping the aircraft stationary through the overall reciprocating motion of the overhead rail along the aircraft's heading, the dual-degree-of-freedom adjustment of the overhead rail robot's lateral and vertical adjustment mechanisms in the lateral and vertical movement directions, and the cooperation of the longitudinal and lateral guide rails of the ground rail arranged orthogonally on the ground.

[0011] As a further aspect of the present invention: the drive unit of the overhead track is a motor drive assembly located at both ends of the overhead track, and the gantry truss beam is provided with a guide rail or roller guide that cooperates with the overhead track to ensure that the overhead track maintains straightness and positioning accuracy when it reciprocates along the direction of the aircraft's flight path.

[0012] As a further embodiment of the present invention: the lateral and vertical adjustment mechanism of the skyrail robot specifically includes: a lateral guide seat slidably connected to the skyrail, and a lifting execution unit vertically arranged with the lateral guide seat. The lateral guide seat is used to drive the skyrail robot unit to move relative to the skyrail in the lateral movement direction, and the lifting execution unit is used to drive the skyrail robot unit to move up and down in the vertical movement direction, so that the skyrail robot unit can achieve three-dimensional access to the fuselage, wing, and cross-centerline area while the skyrail moves along the aircraft's heading as a whole.

[0013] As a further embodiment of the present invention: at least two longitudinal guide rails are distributed along the flight direction of the aircraft, and the transverse guide rails are straddling the longitudinal guide rails and arranged orthogonally to them, thereby forming a two-dimensional ground guide rail system with "flight direction movement + transverse compensation" at the bottom.

[0014] As a further embodiment of the present invention: the mobile base of the ground-rail robot is guided and driven by a roller, linear slider or gear and rack transmission mechanism. The mobile base of the ground-rail robot is provided with a detection element for travel limit and / or position confirmation. Only one ground-rail robot unit is arranged on one of the guide rails of the ground-rail. The ground-rail robot unit can move on the ground-rail, thereby expanding the effective working envelope of the ground-rail robot unit. The system sets a software limit according to the feedback of the detection element, which cooperates with the mechanical hard limit arranged at the end of the ground-rail, to prevent the ground-rail robot unit from overtraveling or colliding with the end structure.

[0015] As a further embodiment of the present invention: the sandpaper storage unit, sandpaper removal unit, sandpaper installation detection unit, and grinding head quick-change unit installed on the robot control cabinet are arranged on the same side or at the same height according to the reachability sequence of the industrial multi-degree-of-freedom robot; the process control module located in the robot control cabinet is configured to call the various units in the following order to form a consumables update process: (a) First, call the sandpaper removal unit to remove the used sandpaper; (b) Then, use the sandpaper storage unit to assemble the sandpaper of the target size; (c) The sandpaper installation detection unit is then invoked to detect the sandpaper assembly status; (d) When the test results or the process parameters of the current work area indicate that it is necessary to switch the grinding head, the grinding head quick change unit is called to switch the grinding tool; This will enable the creation of an automated online consumables supply process.

[0016] As a further aspect of the present invention: a vision / laser detection sensor installed at the end of the industrial multi-degree-of-freedom robot is used to identify the actual shape of the aircraft surface, the paint removal boundary, and the degree of coating removal. A force / torque sensor installed at the end of the industrial multi-degree-of-freedom robot is used to detect the contact force, contact torque, or transient impact between the grinding head and the aircraft surface. The robot control cabinet compares the above detection results with the material properties and allowable removal depth of the current working area. When an over-limit or abnormality is detected, the current paint removal is paused and the consumable replacement process is executed first to ensure low-damage operation in sensitive areas such as composite materials and honeycomb interlayers.

[0017] As a further embodiment of the present invention: the overhead rail robot unit is also equipped with the same sandpaper storage unit, sandpaper removal unit, sandpaper installation detection unit, and grinding head quick replacement unit as the ground rail robot unit, and works in conjunction with the vision / laser detection sensor and force / torque sensor set at its end, so that the upper high-level working area and the lower ground working area have the same paint removal process capability, which facilitates the implementation of unified quality control on the outer surface of the entire aircraft.

[0018] As a further aspect of the present invention: the aircraft workstation positioning platform is equipped with positioning blocks, limiting grooves, or adjustable support structures that cooperate with the omnidirectional moving wheels of the tractor or the aircraft landing gear, for initial positioning of the aircraft's heading, longitudinal position, and lateral centerline position after the aircraft is towed into the work space; after the initial positioning is completed, the system also uses laser trackers and / or cameras arranged in the work space to perform attitude measurement and coordinate calibration of the aircraft body and key components, so as to map the actual aircraft attitude onto the working coordinate system of the upper sky rail and the lower ground rail robot unit, providing a unified and accurate reference for subsequent trajectory planning and coordinate transformation.

[0019] This application also discloses a method for removing paint from the entire outer surface of an aircraft using a gantry-type multi-robot aircraft paint removal platform system with a gantry-type ground-rail system, comprising the following steps: S1: The aircraft to be processed is towed into the working space enclosed by the base plate of the working platform by a tractor with omnidirectional casters, and is parked and positioned in one go on the aircraft workstation positioning platform. S2: Based on the aircraft type, attitude, and target paint removal area, control the overhead rail to move along the aircraft's heading direction to the corresponding station, and control the horizontal and vertical adjustment mechanisms of the overhead rail robot to adjust their positions along the horizontal and vertical movement directions respectively, so that the overhead rail robot unit can reach the reachable position of the high-level target area; S3: The upper strip areas on the fuselage back and wings, which are perpendicular to the aircraft's heading, are assigned to the overhead rail robot units for execution. The strip areas on the fuselage belly, wings, and sides, which are parallel to the aircraft's heading, are assigned to the ground rail robot units that move along the longitudinal and transverse guide rails of the ground rail, so that the upper and lower robots form a positive interactive envelope operation. S4: During the paint removal process of each robot, based on the detection results of the vision / laser detection sensor, force / torque sensor and sandpaper installation detection unit, when the sandpaper is detected to be poorly installed, the tool wear exceeds the limit or the contact force is abnormal, the sandpaper removal unit, sandpaper storage unit and / or sanding head quick replacement unit are automatically called to complete the consumables update and then return to the original trajectory to continue paint removal. S5: Until all assigned strips are processed, archive the pose, tool change records, and test data of this operation for quality traceability.

[0020] Compared with the prior art, the beneficial effects of the present invention are: This invention establishes an automated platform suitable for whole-aircraft paint removal in multi-coat systems, including coatings with low visibility and composite / honeycomb sandwich areas. The equipment is organized to meet the hangar's "one-time positioning, whole-aircraft operation" requirement, rather than requiring aircraft repositioning. The upper section spans the aircraft, while the lower section is close to it, with orthogonal tracks and complementary directions, simultaneously covering both high and low-level areas. Tools are readily available and linked to online sensing, enabling layered, multi-stage, low-energy paint removal based on the actual surface condition. Unified coordinates after attitude calibration facilitate direct trajectory distribution and work quality traceability, comprehensively improving the efficiency and safety of paint removal for sensitive coatings within the hangar. This allows for high-coverage, adjustable, and low-damage automated paint removal for different aircraft types and attitudes within fixed hangar workstations, reducing the intensity of manual labor, improving the working environment, protecting personnel health, and enhancing the quality and efficiency of whole-aircraft paint removal operations. Attached Figure Description

[0021] To more clearly illustrate the technical solution of the present invention, the accompanying drawings are briefly described below. The drawings are used to explain exemplary embodiments of the present invention in conjunction with the specification, and do not constitute a limitation on the scope of protection of the present invention.

[0022] Figure 1 This is a schematic diagram of the overall structure of the gantry truss-type overhead / ground guide rail multi-robot aircraft paint removal platform of this application; Figure 2 This is a schematic diagram of the upper load-bearing structure of the platform and the multi-degree-of-freedom motion direction of the ceiling track in this application. Figure 3 This is a schematic diagram showing the layout of the ground guide rails and the movement direction of the ground-rail robot unit on the platform of this application; Figure 4 This is a schematic diagram of the structure of the ground-rail robot unit of this application.

[0023] In the diagram: 1. Gantry truss column; 2. Ceiling-mounted robot unit; 3. Gantry truss beam; 4. Ceiling rail; 5. Ceiling-mounted robot's lateral and vertical adjustment mechanism; 6. Ground-mounted robot unit; 7. Aircraft workstation positioning platform; 8. Ground-mounted longitudinal guide rail; 9. Ground-mounted transverse guide rail; 10. Robot control cabinet; 11. Industrial multi-degree-of-freedom robot; 12. Sandpaper storage unit; 13. Sandpaper removal unit; 14. Sandpaper installation and detection unit; 15. Grinding head quick change unit; 16. Vision / laser detection sensor; 17. Force / torque sensor; 18. Grinding head; 19. Ground-mounted robot moving base; 20. Work platform base plate; 101. Aircraft heading; 102. Ceiling rail longitudinal movement direction; 103. Transverse movement direction; 104. Vertical movement direction; 107. Ground-mounted transverse guide rail movement direction. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] As mentioned in the background section of this application, research has found that the main deficiency of the prior art is not the lack of a robot body, but the lack of a structured automated paint removal platform specifically designed for aircraft geometry and hangar operation methods. It cannot achieve high coverage, adjustable, low-damage automated paint removal for different aircraft models and attitudes, and has certain defects.

[0026] To address the aforementioned shortcomings, this application discloses a gantry-type multi-robot aircraft paint removal platform system with a gantry-type top and bottom rail. This system enables high-coverage, adjustable, and low-damage automated paint removal for different aircraft models and attitudes within a fixed workstation in the hangar. It reduces the intensity of manual labor, improves the working environment, protects personnel health, and enhances the quality and efficiency of the overall aircraft paint removal operation.

[0027] The following will describe in detail, with reference to the accompanying drawings, how the solution of this application solves the above-mentioned technical problems.

[0028] This application relates to an automated painting removal platform and method for aircraft exterior surfaces at fixed hangar workstations. It targets aircraft with multi-coating systems, composite skins, honeycomb sandwich structures, and coatings containing low-visibility functional materials. Without moving the aircraft itself, it performs differentiated, low-damage painting removal on multiple heights and directions, including the fuselage back, upper wings, fuselage belly, underwings, and sides. Current hangar practices often involve manual grinding at heights, or using only one or two industrial robots mounted on single rails to process the fuselage side, wing surfaces, or large disassembled components. There is a lack of a complete structure capable of constructing layered, complementary working channels around the entire aircraft in a single positioning. There is also a lack of a structure that allows for the synchronous movement of the robot body and online support units such as sandpaper / grinding heads. This results in an inability to achieve comprehensive coverage of the entire aircraft outline and makes it difficult to adapt to multi-layered functional coatings sensitive to load, temperature rise, and removal volume.

[0029] To address the aforementioned issues, this invention proposes a gantry-type overhead / ground rail multi-robot aircraft paint removal platform. The core concept is as follows: a reciprocating overhead rail 4 is constructed above the aircraft, serving as the main channel for high-level operations; a suspended robot mounting mechanism with lateral and vertical degrees of freedom is installed below the overhead rail 4, enabling the high-level robot to precisely position itself in different high-level work areas; a bidirectional ground rail is constructed on the ground, parallel and orthogonal to the flight direction, and an industrial multi-degree-of-freedom robot 11, along with its control cabinet and online tool support unit, is mounted on a movable work base on the ground rail, allowing for close-proximity operations in low-level and lateral areas; simultaneously, the platform integrates aircraft attitude measurement and coordinate mapping after entry, enabling the upper and lower work mechanisms to collaboratively execute the paint removal trajectory in a unified coordinate system; and visual / laser detection and force / torque detection are configured at the robot's end effector, linking with the accompanying sandpaper / grinding head replacement unit to form an online process closed loop adaptable to multi-coating systems and sensitive substrates.

[0030] The details are as follows: I. Upper load-bearing structure and reciprocating structure of the sky track; Several gantry truss columns 1 are installed around the perimeter of the hangar's waiting area, with gantry truss beams 3 spanning them to form a rigid load-bearing frame covering the aircraft. A skyrail 4 is installed on the gantry truss beams 3 in a direction perpendicular to the aircraft's heading 101. Drive units are installed at both ends of the skyrail 4, driving the entire skyrail 4 to reciprocate linearly along the aircraft's heading 101. This structure allows the upper working passageway to not be fixed to a single section, but rather to "find its position" in segments along the length of the fuselage, following the actual parking position of the aircraft. This allows for sequential coverage of high-level areas such as the forward fuselage, mid-fuselage, aft fuselage, and upper wing surfaces during a single towing and parking operation. This design expands the upper track from a traditional "static suspension" to a dynamic upper-level working subsystem of "suspension + heading adjustable," adapting to different aircraft types, different parking postures, and maintenance modes where aircraft cannot be moved within the hangar.

[0031] II. Horizontal / vertical adjustment and high-position operation unit of the overhead rail 4 under suspension; On the overhead rail 4, which is mounted on the gantry truss beam 3, the horizontal and vertical adjustment mechanism 5 of the overhead rail robot is fixedly installed. This mechanism and the overall reciprocating motion of the overhead rail 4 form a hierarchical positioning relationship: the overhead rail 4 is responsible for large-scale coarse positioning along the aircraft heading 101, delivering the high-position work unit above the target section; the horizontal and vertical adjustment mechanism 5 of the overhead rail robot then performs medium / coarse compensation displacement along the horizontal direction 103 and the vertical direction 104, which are perpendicular to the heading, to move the robot to the vicinity of the designated work point. The overhead rail robot unit 2, installed at the lower end of the horizontal and vertical adjustment mechanism 5 of the overhead rail robot, only needs to complete the final fine positioning and grinding trajectory execution, including attitude adjustment and contact force control at curvature abrupt changes, functional coating areas, and complex transition sections.

[0032] This layered positioning approach places the "long stroke, low precision" motion entirely in the upper structural layer, while the "short stroke, high precision, force-position hybrid control" motion is handled by the robot body.

[0033] III. Lower orthogonal ground track and integrated mobile operation unit; To cover low-lying or obstructed areas such as the fuselage, underwings, sides, and near landing gear, this invention features a longitudinal ground rail 8 parallel to the aircraft's heading 101 on the work platform base plate 20, and a transverse ground rail 9 orthogonally thereto. A ground-rail robot mobile base 19 is mounted on the transverse ground rail 9, which can reciprocate along the transverse rail and cooperate with the longitudinal ground rail 8 to form a two-dimensional ground work plane. A robot control cabinet 10 and an industrial multi-degree-of-freedom robot 11 are simultaneously mounted on the ground-rail robot mobile base 19, enabling the robot to complete close-up work on low-lying / lateral areas within the plane defined by the ground rail, without the need for tool changes or the establishment of fixed workstations for control access. The upper overhead rail 4 handles high-level crossings, while the lower orthogonal ground rail handles low-level close-up work. The two rail layers are complementary in structural direction, forming an enveloping work channel covering the entire aircraft's outline while the aircraft remains stationary.

[0034] IV. On-the-go online tools ensure a closed loop of end-point perception; To adapt to the varying requirements of multi-coating systems on the outer surface of aircraft and functional / low-visibility coating materials in different areas regarding sandpaper grit size, sandpaper dimensions, and grinding head structure, this invention integrates the sandpaper storage unit 12, sandpaper removal unit 13, sandpaper installation and detection unit 14, and grinding head quick replacement unit 15 onto the robot control cabinet 10 mounted on the ground-rail robot mobile base 19. This allows the aforementioned tool support units to move synchronously with the robot, enabling consumables to be updated at the current work position.

[0035] The robot's end effector is sequentially equipped with a vision / laser detection sensor 16, a force / torque sensor 17, and a grinding head 18 to acquire information on the current coating removal progress, surface condition, and contact load. Based on these detection results, the control module first determines whether the sandpaper needs to be replaced. If so, it calls the accompanying tool unit to replace the sandpaper in the order of "removing the old sandpaper → assembling the new sandpaper → confirming reliable installation by the sandpaper installation detection unit 14." If the process strategy further requires replacing the grinding head 18 with a different structure or width (e.g., switching from a single grinding head to multiple grinding heads), the grinding head quick-change unit 15 is then called to switch the grinding head 18. After completing the above online consumable update, the robot returns to its original planned trajectory to continue paint removal.

[0036] By making sandpaper replacement and grinding head 18 switching both "on-the-go, on-site, and strategy-triggered," this invention eliminates the need for fixed tool stations. It allows for the selection of appropriate sandpaper grit, size, and grinding head 18 type for different materials, functional coatings, and sensitive areas, thereby maintaining operational continuity while ensuring low-damage paint removal for composite materials, honeycomb interlayers, and high-value coating areas.

[0037] V. Aircraft approach positioning and attitude calibration; After the aircraft is towed into the work space enclosed by the platform by a tractor equipped with omnidirectional casters, it is parked and positioned on the aircraft positioning platform 7, achieving one-time coarse positioning. To eliminate the deviation between the actual parking posture of the aircraft and the platform's designed coordinates, this invention reserves positions for laser trackers or industrial cameras in the work space to perform attitude measurements and coordinate mapping on the aircraft body and key parts, uniformly transforming the three-dimensional position of the actual aircraft to the platform coordinate system, and sending this coordinate reference to the upper overhead track 4 and the lower ground track robot unit 6, so that the trajectory planning of both the upper and lower layers is based on the actual aircraft shape, ensuring the collaborative accuracy and safety clearance when multiple robots work in parallel.

[0038] Through the aforementioned structural synergy, this invention forms an automated platform suitable for paint removal from multi-coating systems, including coatings with low visibility and composite / honeycomb sandwich areas on aircraft. The platform utilizes equipment, rather than the aircraft, for positional adjustments, fulfilling the hangar's "one-time positioning, whole-aircraft operation" organizational approach. The upper section spans the aircraft, while the lower section is close to it, with orthogonal tracks and complementary directions, simultaneously covering both high and low-level areas. Tools accompany the platform and are linked to online sensing, enabling layered, multi-stage, low-energy paint removal based on the actual surface condition. After attitude calibration, coordinates are unified, facilitating direct trajectory distribution and operational quality traceability, thus comprehensively improving the efficiency and safety of paint removal for aircraft with sensitive coatings within the hangar.

[0039] To further illustrate the present invention, the following describes in detail, with reference to embodiments, a gantry-type top and bottom rail multi-robot aircraft paint removal platform system provided by the present invention.

[0040] Example 1: Overall Platform Structure; like Figure 1 As shown, the gantry-type multi-robot aircraft paint removal platform of the present invention is arranged around a fixed workstation in the hangar, and its core consists of the following parts: 1. A gantry truss column 1 is vertically arranged around the work space; Gantry truss beams 3, which are connected to the top of each gantry truss column 1 to form the upper load-bearing frame; A skyrail 4 is installed on the gantry truss beam 3, arranged perpendicular to the aircraft heading 101, and can reciprocate along the aircraft heading as a whole. The overhead rail robot horizontal and vertical adjustment mechanism 5, which is installed on the overhead rail 4 and can be adjusted relative to the overhead rail 4 in the horizontal and vertical directions, and the overhead rail robot unit 2 at its lower end; The longitudinal guide rail 8 and the transverse guide rail 9, which are set on the base plate 20 of the work platform and parallel to the aircraft heading 101, are orthogonal to it. The ground rail robot mobile base 19 moves on the ground rail transverse guide rail 9, and the robot control cabinet 10, industrial multi-degree-of-freedom robot 11 and a set of accompanying online tool support units are fixed on the ground rail robot mobile base 19, namely the sandpaper storage unit 12, sandpaper removal unit 13, sandpaper installation detection unit 14 and grinding head quick change unit 15 installed on the robot control cabinet 10. Aircraft positioning platform 7, located at the center of the platform, is used for one-time positioning of aircraft.

[0041] This arrangement creates a spatial operation channel from top to bottom that features "overlapping coverage above, close following below, and complementary vertical directions." Once the aircraft is towed into position and parked at the work station, no further adjustments to the aircraft's position are required. High-level operations can be completed via the overhead rail system 4, while low-level and lateral operations can be completed via the ground rail system below. This concentrates position adaptation on the platform itself, adapting to maintenance scenarios where aircraft are parked for extended periods in hangars and where frequent movement of the aircraft is inconvenient.

[0042] Example 2: Upper support and reciprocating structure of the skyrail 4; like Figure 1 and Figure 2 As shown, multiple gantry truss columns 1 are vertically installed around the perimeter of the hangar operating area. The upper ends of each gantry truss column 1 are connected by gantry truss beams 3, forming a load-bearing frame covering the aircraft. A skyrail 4 is installed on the gantry truss beams 3, and its arrangement is perpendicular to the aircraft's heading 101. Drive units are located at both ends of the skyrail 4 to drive the entire skyrail 4 to reciprocate linearly relative to the aircraft along the heading 101, with its direction of motion corresponding to... Figure 2 The longitudinal movement direction of the celestial orbit is shown as 102.

[0043] In this structure, the Skyrail 4 is not fixed to a single fuselage section, but can be adjusted along the flight path with a large stroke while the aircraft remains stationary. This allows the upper working units to sequentially connect to different longitudinal areas such as the nose section, mid-fuselage section, tail section, and above the wings. Since the aircraft's overall shape spans a large distance along the flight path, this adjustable structure at the flight path essentially "finds the right section" for high-position operations, providing a unified longitudinal reference for subsequent lateral and vertical positioning and precise robotic end-effector operations.

[0044] Compared with the method of only setting a fixed slide rail or small-stroke adjustment above the fuselage, in this embodiment, by configuring a reciprocating overhead rail 4 on the gantry truss, the upper suspended working mechanism has the ability to cover the entire length of the machine, which can match the maintenance organization method of parking the aircraft at one time, and reduces the workload of repeatedly adjusting the equipment position due to different aircraft lengths and parking attitudes.

[0045] Embodiment 3: The horizontal / vertical adjustment and high-position working unit installed on the overhead rail 4; As Figure 2 shown, an overhead rail robot horizontal and vertical adjustment mechanism 5 is provided on the overhead rail 4. The overhead rail robot horizontal and vertical adjustment mechanism 5 forms a follow-up sliding seat connection by cooperating with the guiding surface or gear-rack at the lower part of the overhead rail 4. When the overhead rail 4 reciprocates along the aircraft heading 101 under the drive of the drive unit, the entire overhead rail robot horizontal and vertical adjustment mechanism 5 moves synchronously with the overhead rail 4, so that the high-position working unit is always located below the longitudinal position where the overhead rail 4 is located. Since an independent servo drive is provided for the overhead rail robot horizontal and vertical adjustment mechanism 5, its two degrees of freedom in the horizontal and vertical directions can also act simultaneously during the movement of the overhead rail 4 without affecting each other, realizing true linkage and follow-up.

[0046] Two linear degrees of freedom, horizontal and vertical, are sequentially provided on the overhead rail robot horizontal and vertical adjustment mechanism 5: The movement direction of the horizontal degree of freedom is consistent with the extension direction of the overhead rail 4, corresponding to Figure 2 the horizontal movement direction 103, which is used to further send the robot to the designated high-position working area within this section while or after the overhead rail 4 runs above the target fuselage section, realizing area-level positioning; The movement direction of the vertical degree of freedom is the Figure 2 vertical movement direction 104 shown, which is used to compensate for the height differences caused by different outer surface heights, different aircraft models or actual parking attitudes of the same aircraft, so that the end tool maintains an appropriate working height.

[0047] The overhead rail robot unit 2 installed at the end of the overhead rail robot horizontal and vertical adjustment mechanism 5, on the basis of the above "the overhead rail 4 follows along the heading + the adjustment mechanism moves horizontally / vertically in linkage for positioning", further completes the final attitude adjustment, contact force control and paint removal trajectory execution through its own multi-degree-of-freedom joints. When necessary, in order to keep the tool incident angle or the visual / spectral field of view consistent, the overhead rail robot horizontal and vertical adjustment mechanism 5 can also be linked with the overhead rail robot unit 2 in a small range to improve the fitting ability in complex high-position areas.

[0048] The positioning and working relationship formed thereby can be summarized as: The overhead rail 4 follows along the heading, that is, the longitudinal movement direction 102 of the overhead rail; The horizontal and vertical adjustment mechanism 5 of the overhead rail robot synchronously / independently completes horizontal and vertical positioning during the movement process, that is, the horizontal movement direction 103 and the vertical movement direction 104. The end-effector precision positioning and paint removal operation of the overhead rail robot unit 2.

[0049] This arrangement allows the large stroke related to the fuselage section to be completed by the overhead rail 4, and the lateral and vertical adjustments related to the specific work area to be made into a secondary mechanism that can be performed simultaneously during the movement of the overhead rail 4. It eliminates the need to set up a separate lifting or lateral moving platform for each section, and can cover irregularly distributed specific structural areas, functional coating areas and local repair areas, thereby improving the coverage continuity and adaptability of the upper high-level paint removal.

[0050] Example 4: Ground orthogonal guide rails and accompanying robot base; like Figure 3 As shown, a set of mutually orthogonal ground guide rails are arranged on the base plate 20 of the work platform: the longitudinal ground guide rail 8 is set parallel to the aircraft heading 101 to provide position reference in the forward and backward direction of the aircraft; the transverse ground guide rail 9 is set perpendicular to the longitudinal ground guide rail 8 to form the main walking channel for the robot in the left and right direction of the aircraft. The planar arrangement formed by the two guide rails enables the ground work unit to cover the paint removal area on the belly, under the wings, and sides of the aircraft.

[0051] A robot base 19 is mounted on the transverse guide rail 9. The robot base 19 is guided and engaged with the transverse guide rail 9 via rollers, linear sliders, or gear-rack transmission, enabling it to smoothly reciprocate along the direction of the transverse guide rail. Its actual direction of movement is... Figure 3 The moving direction of the transverse guide rail shown is 107. Unlike the common approach of "only one robot is placed on the guide rail and the tools are placed in a fixed position", this embodiment fixes all the key components related to the paint removal operation on the same robot mobile base 19, including: robot control cabinet 10, industrial multi-degree-of-freedom robot 11, sandpaper storage unit 12, sandpaper removal unit 13, sandpaper installation detection unit 14, and sanding head quick change unit 15, so that the robot body and the online tool support unit can move as a whole along the transverse guide rail 9.

[0052] This integrated, accompanying arrangement allows the robot to move along the transverse guide rail 107 to a location under the fuselage, under the wings, or deep on the side of the aircraft. It can then directly complete tasks such as removing old sandpaper, assembling new sandpaper, checking the installation status, and switching grinding heads at its current position without having to return to the fixed tool rack in the hangar. This reduces non-operational travel and improves the efficiency of continuous paint removal, making it particularly suitable for maintenance scenarios with long fuselages or limited underwing space.

[0053] To ensure the safe operation of the ground guide rail, soft limit switches, hard limit switches, and position detection elements can be installed at both ends of the transverse guide rail 9 of the ground rail, and linked with the platform control system. When the ground rail robot mobile base 19 is detected to be approaching the end of its stroke or may interfere with surrounding equipment, a deceleration or stop command can be issued to avoid the risk of collision during long-stroke operation.

[0054] Example 5: On-the-go online tool support and closed-loop end-point sensing; like Figure 4 As shown, in order to maintain controllable tool status during long-travel, multi-area paint removal processes within the hangar, this embodiment arranges the sandpaper storage unit 12, sandpaper removal unit 13, sandpaper installation and detection unit 14, and grinding head quick-change unit 15 in a unified area on the robot control cabinet 10 mounted on the ground-rail robot mobile base 19. This allows the aforementioned tool support units to move synchronously with the industrial multi-degree-of-freedom robot 11. In this way, when the robot travels to the belly, under the wings, or deep within the side of the machine, it can complete the disassembly and confirmation of consumables at its current station without returning to a fixed workstation, ensuring the continuity of long-path operations.

[0055] The end effector of the industrial multi-degree-of-freedom robot 11 is sequentially equipped with a vision / laser inspection sensor 16, a force / torque sensor 17, and a grinding head 18. The vision / laser inspection sensor 16 detects the current coating removal level, surface condition, or color / spectral characteristics, while the force / torque sensor 17 detects whether the grinding contact load is within the allowable range for that area. The process control module within the control cabinet 10 determines whether tool or consumable replacement is needed based on the above detection results. When sandpaper wear is detected, coating is not removed to the target amount, or sandpaper of different grit / size is needed, the robot first goes to the sandpaper removal unit 13 to remove the old sandpaper, then takes the target specification sandpaper from the sandpaper storage unit 12 for assembly, and then completes the installation reliability confirmation on the sandpaper installation detection unit 14. When it is detected that the current area requires a grinding head 18 with a different structure or width, the grinding head quick change unit 15 is called to complete the grinding head switching. After the update is complete, the robot returns to the position where its trajectory was interrupted and continues to remove the paint.

[0056] This "tool support on the go + sensor-driven automatic replacement" approach avoids cycle time loss caused by the robot's back-and-forth tool picking, and can select appropriate sandpaper and polishing head 18 based on real-time detection results. It is particularly suitable for low-load, multiple, and controllable-depth paint removal on sensitive areas such as composite materials, honeycomb interlayers, and functional coatings. This is another key feature that distinguishes this system from the traditional "fixed tool rack + single robot" solution.

[0057] Example 6: Work Method; This embodiment presents a paint removal process based on the aforementioned gantry-type multi-robot aircraft paint removal platform, used to automate paint removal from the entire exterior surface of an aircraft under fixed hangar conditions. The method includes the following steps: S1: Aircraft approach and workstation limit; The aircraft to be processed is towed to the work space enclosed by the platform using a tractor equipped with omnidirectional casters, and then placed on the aircraft positioning platform 7. The aircraft's heading 101 and left and right positions are initially determined using positioning blocks, limit slots, or adjustable support structures on the platform, ensuring that the aircraft is within the covered work area without needing to move the aircraft itself.

[0058] S2: Actual attitude measurement and coordinate mapping; After the aircraft is parked, a laser tracker, industrial camera, or other attitude measurement device is used to measure the aircraft's shape and key feature points to obtain the actual attitude of the approach. This measured coordinate system is then mapped to the platform coordinate system and sent to the upper overhead track 4, the overhead track robot's lateral and vertical adjustment mechanisms 5, and the ground track robot's mobile base 19. This ensures that subsequent trajectory planning and execution are based on the actual aircraft position, improving trajectory accuracy.

[0059] S3: Operations in the upper high-level area; The upper track 4, driven by the drive unit, moves in segments along the aircraft heading 101 and longitudinal movement direction 102, reaching the corresponding longitudinal positions in high-level areas such as the fuselage dome, wing top, and upper door edge. Simultaneously or subsequently, the lateral and vertical adjustment mechanisms 5 of the track robot perform position compensation along the lateral movement direction 103 and vertical movement direction 104, respectively, delivering the track robot unit 2 installed at its end to the actual work point in this high-level area. The robot executes a preset high-level paint removal trajectory in this coordinate system, and combines end-effector vision / laser or spectral sensing with force / torque sensing for closed-loop control of contact force and removal amount.

[0060] S4: Remove paint from the lower area; The control system moves the ground-rail robot's mobile base 19 along the transverse guide rail 107 to a position below or to the side of the area to be processed. At this position, the industrial multi-degree-of-freedom robot 11 combines its own multi-degree-of-freedom motion with the coordinates corresponding to the longitudinal guide rail 8 to approach and perform paint removal operations on the fuselage, underwings, and other areas at the same altitude. Since both the upper and lower layers are planned based on a unified coordinate system established by S2, trajectory misalignment caused by actual aircraft parking deviations can be avoided.

[0061] S5: Online tools ensure execution; During the paint removal process in S3 and S4, if the end effector detects sandpaper wear, improper sandpaper installation, contact force exceeding the allowable range of the area, or if the current area requires replacement of sandpaper grit, sandpaper size, or grinding head type, the robot directly calls the sandpaper storage unit 12, sandpaper removal unit 13, sandpaper installation detection unit 14, and grinding head quick replacement unit 15 installed on the ground rail robot mobile base 19 to complete the online consumable update. After the update is completed, it returns to the interrupted trajectory segment to continue the operation. The entire process does not require moving the aircraft or returning to the fixed tool position.

[0062] S6: Data recording and task completion; During the above operations, the platform associates and stores the actual operating trajectories of each zone, end-point sensor detection data, consumable replacement records, and the aircraft's identification information to form traceable operational data, providing a basis for subsequent repainting, quality inspection, or structural maintenance. Once all zones have been processed, the paint removal task is complete.

[0063] Through the above steps, a whole-aircraft paint removal process is achieved, which includes "aircraft entering the station once, high-level coverage on the upper level, close-range operation on the lower level, tool support on the go, and unified coordinates based on measured attitude". This process is suitable for aircraft maintenance scenarios with multiple coatings, different material areas, and large height differences.

[0064] This invention can be used in hangars for automated, low-damage, and traceable paint removal operations on aircraft containing composite materials, honeycomb sandwich and multi-layer coating systems before refurbishment, scheduled maintenance and repainting.

[0065] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0066] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A gantry-type top-and-bottom guide rail multi-robot aircraft paint removal platform system, characterized in that, include: Several gantry truss columns are set around the bottom plate of the work platform, and gantry truss beams are installed on the gantry truss columns. The gantry truss columns and gantry truss beams form an upper load-bearing frame that covers the work space. The overhead rail is arranged on the gantry truss crossbeam. The overhead rail moves in a direction perpendicular to the aircraft's heading in a plane. The two ends of the overhead rail are provided with drive units. The drive units are configured to drive the entire overhead rail to reciprocate linearly along the direction of the aircraft's heading, so as to complete the upper coverage along the length of the fuselage in one positioning of the aircraft. The overhead rail robot's lateral and vertical adjustment mechanism is installed on the overhead rail. The overhead rail robot's lateral and vertical adjustment mechanism can move relative to the overhead rail in the lateral direction and can be raised and lowered in the vertical direction to adjust the robot's working position to the back of the machine, the wings, and specific composite material and functional component areas. At least one overhead rail robot unit is installed on the horizontal and vertical adjustment mechanism of the overhead rail robot; The aircraft positioning platform installed on the base plate of the work platform is used to park the aircraft towed in by the tractor in one go and determine its heading and plane position. The ground rail longitudinal guide rail and the ground rail transverse guide rail arranged orthogonally to the ground rail longitudinal guide rail are set on the bottom plate of the work platform, wherein the ground rail longitudinal guide rail is arranged parallel to the aircraft heading and the ground rail transverse guide rail is arranged perpendicular to the aircraft heading. A ground-rail robot mobile base is installed on the transverse guide rail of the ground rail. The ground-rail robot mobile base can reciprocate along the movement direction of the transverse guide rail of the ground rail. A robot control cabinet and an industrial multi-degree-of-freedom robot are also installed on the ground-rail robot mobile base. The industrial multi-degree-of-freedom robot performs paint removal operations on the belly, underwings and lateral areas of the fuselage within the plane range defined by the movement direction of the longitudinal guide rail of the ground rail and the movement direction of the transverse guide rail of the ground rail. The sandpaper storage unit, sandpaper removal unit, sandpaper installation detection unit, and grinding head quick change unit are installed on the robot control cabinet, as well as the vision / laser detection sensor, force / torque sensor, and grinding head are set at the end of the industrial multi-degree-of-freedom robot.

2. The gantry-type multi-robot aircraft paint removal platform system according to claim 1, characterized in that, The drive unit of the skyrail is a motor drive assembly located at both ends of the skyrail. The gantry truss crossbeam is equipped with guide rails or roller guides that cooperate with the skyrail to ensure that the skyrail maintains straightness and positioning accuracy when it reciprocates along the direction of the aircraft's flight path.

3. The gantry-type multi-robot aircraft paint removal platform system according to claim 2, characterized in that, The horizontal and vertical adjustment mechanism of the overhead track robot specifically includes: a horizontal guide seat slidably connected to the overhead track, and a lifting execution unit vertically arranged with the horizontal guide seat. The horizontal guide seat is used to drive the overhead track robot unit to move relative to the overhead track in the horizontal movement direction, and the lifting execution unit is used to drive the overhead track robot unit to move up and down in the vertical movement direction.

4. The gantry-type multi-robot aircraft paint removal platform system according to claim 3, characterized in that, The ground rail longitudinal guide rails are distributed in at least two along the aircraft's heading direction, and the ground rail transverse guide rails are straddling the ground rail longitudinal guide rails and arranged orthogonally to them, thereby forming a ground two-dimensional guide rail system with bottom heading movement and lateral compensation.

5. The gantry-type multi-robot aircraft paint removal platform system according to claim 4, characterized in that, The mobile base of the ground-rail robot is guided and driven by rollers, linear sliders, or gear and rack transmission mechanisms. The mobile base of the ground-rail robot is equipped with detection elements for travel limit and / or position confirmation. Only one ground-rail robot unit is arranged on one of the horizontal guide rails. The ground-rail robot unit can move on the horizontal guide rail. The system sets software limits based on the feedback of the detection elements, which cooperate with the mechanical hard limits arranged at the end of the horizontal guide rail to prevent the ground-rail robot unit from overtraveling or colliding with the end structure.

6. The gantry-type multi-robot aircraft paint removal platform system according to claim 5, characterized in that, The sandpaper storage unit, sandpaper removal unit, sandpaper installation detection unit, and grinding head quick-change unit installed on the robot control cabinet are arranged on the same side or at the same height according to the reachability sequence of the industrial multi-degree-of-freedom robot. The process control module located in the robot control cabinet is configured to call the various units in the following order to form a consumables update process: (a) First, call the sandpaper removal unit to remove the used sandpaper; (b) Then, use the sandpaper storage unit to assemble the sandpaper of the target size; (c) The sandpaper installation detection unit is then invoked to detect the sandpaper assembly status; (d) When the test results or the process parameters of the current working area indicate that the grinding head needs to be switched, the grinding head quick change unit is called to switch the grinding tool.

7. The gantry-type multi-robot aircraft paint removal platform system according to claim 6, characterized in that, The vision / laser detection sensor installed at the end of the industrial multi-degree-of-freedom robot is used to identify the actual shape of the aircraft surface, the paint removal boundary, and the degree of coating removal. The force / torque sensor installed at the end of the industrial multi-degree-of-freedom robot is used to detect the contact force, contact torque, or transient impact between the grinding head and the aircraft surface. The robot control cabinet compares the above detection results with the material properties and allowable removal depth of the current working area. When an over-limit or abnormality is detected, the current paint removal is paused and the consumable replacement process is executed first.

8. The gantry-type multi-robot aircraft paint removal platform system according to claim 7, characterized in that, The overhead rail robot unit is also equipped with the same sandpaper storage unit, sandpaper removal unit, sandpaper installation detection unit, and grinding head quick change unit as the ground rail robot unit, and works in conjunction with the vision / laser detection sensor and force / torque sensor set at its end.

9. The gantry-type multi-robot aircraft paint removal platform system according to claim 8, characterized in that, The aircraft workstation positioning platform is equipped with positioning blocks, limiting grooves, or adjustable support structures that cooperate with the omnidirectional casters of the tractor or the aircraft landing gear. These are used to initially position the aircraft's heading, longitudinal position, and lateral centerline position after it is towed into the work space. After the initial positioning is completed, the system also uses laser trackers and / or cameras arranged in the work space to perform attitude measurement and coordinate calibration of the aircraft body and key components. This maps the actual aircraft attitude to the working coordinate system of the upper overhead track and lower ground track robot unit, providing a unified and accurate reference for subsequent trajectory planning and coordinate transformation.

10. A method for removing paint from the entire outer surface of an aircraft using a gantry-type multi-robot aircraft paint removal platform system as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1: The aircraft to be processed is towed into the working space enclosed by the bottom plate of the working platform by a tractor with omnidirectional casters, and is parked and positioned in one go on the aircraft workstation positioning platform. S2: Based on the aircraft type, attitude, and target paint removal area, control the overhead rail to move along the aircraft's heading direction to the corresponding station, and control the horizontal and vertical adjustment mechanisms of the overhead rail robot to adjust their positions along the horizontal and vertical movement directions respectively, so that the overhead rail robot unit can reach the reachable position of the high-level target area; S3: The upper strip areas on the fuselage back and upper wings, which are perpendicular to the aircraft's heading, are assigned to the overhead rail robot units for execution. The strip areas on the fuselage belly, underwings, and sides, which are parallel to the aircraft's heading, are assigned to the ground rail robot units that move along the longitudinal and transverse guide rails of the ground rail, so that the upper and lower robots form a positive interactive envelope operation. S4: During the paint removal process of each robot, based on the detection results of the vision / laser detection sensor, force / torque sensor and sandpaper installation detection unit, when the sandpaper is detected to be poorly installed, the tool wear exceeds the limit or the contact force is abnormal, the sandpaper removal unit, sandpaper storage unit and / or sanding head quick replacement unit are automatically called to complete the consumables update and then return to the original trajectory to continue paint removal. S5: Until all assigned strips are processed, archive the pose, tool change records, and test data of this operation for quality traceability.

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