A painting apparatus for painting an entire aircraft

Abstract

The utility model discloses a kind of coating equipment for aircraft whole machine spraying, including truss car structure, fuselage lower surface spraying system and inlet duct spraying system, and fuselage upper surface spraying structure is movably arranged on truss car structure;For the coating of the upper surface of aircraft, adopt truss car structure and fuselage upper surface spraying structure, truss car moves in X axis and Y axis direction, accurate five-axis linkage spraying equipment moves accurately, ensure the accuracy of spraying pattern;For the coating of the lower surface of aircraft fuselage, adopt jacking mechanism to lift aircraft fuselage, and the accurate spraying of fuselage pattern is realized using AGV trolley with the lower surface spraying system of fuselage of accurate five-axis linkage equipped;For the spraying of aircraft inlet duct, accurate spraying is carried out using inlet duct spraying system of AGV trolley with accurate five-axis system, solve the technical problem that current spraying equipment cannot realize aircraft fuselage single color large area and fuselage local multicolor pattern precision spraying without shielding.

Description

Technical Field

[0001] This utility model belongs to the field of spraying and relates to coating equipment, specifically a coating equipment for spraying the entire aircraft. Background Technology

[0002] The painting of multi-color patterns on aircraft fuselages is an indispensable part of aircraft painting. Current technology still relies mainly on manual labor for multi-color pattern painting, while local single-color painting uses robotic arms. However, because robotic arms are mainly based on rotational motion, they are slow, have low precision, poor load-bearing capacity, complex motion trajectory planning, and are expensive. Therefore, they are rarely used in actual aircraft painting.

[0003] Existing aircraft fuselage painting uses spray guns, which are simple, primarily pneumatically driven, and controlled by switches. This makes it difficult to control the spray volume, typically producing a cone-shaped mist of paint with a circular spray point of 200-400mm in diameter and a spray distance of approximately 300-500mm. This easily leads to overspray, and significant paint loss during the painting process, with about 30% of the paint being lost due to splashing. It also easily causes severe pollution in the workspace, requiring operators to wear full protective clothing to minimize health risks. When painting multi-color patterns, masking tape must be manually applied to avoid painting certain areas. After spraying, the paint must be allowed to dry before the tape is removed and the next color is sprayed, repeating this process. This results in low painting efficiency and makes it difficult to achieve automated, intelligent painting without masking or overspray. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a coating equipment for whole aircraft painting, so as to solve the technical problem that the existing painting equipment cannot achieve unmasked and precise painting of large areas of single color on the aircraft fuselage and local multi-color patterns.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A coating equipment for whole aircraft painting includes a gantry structure, a fuselage lower surface painting system and an air intake painting system, wherein a fuselage upper surface painting structure is movably mounted on the gantry structure.

[0007] The gantry structure includes two sets of gantry columns symmetrically arranged on the ground. Each set of gantry columns is equipped with a gantry Y-axis motion structure at its top. Two gantry X-axis motion structures are movably arranged on the two gantry Y-axis motion structures.

[0008] The upper surface coating structure of the fuselage includes a pair of upper surface coating X-axis motion structures movably disposed on the X-axis motion structure of the gantry crane, an upper surface coating Y-axis motion structure movably disposed on the pair of upper surface coating X-axis motion structures, and an upper surface Z-axis coating system fixedly disposed on the upper surface coating Y-axis motion structure.

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

[0010] The lower surface coating system of the fuselage includes an AGV trolley, on which a pair of parallel lower surface coating Y-axis motion structures are provided. A movable lower surface coating X-axis motion structure is provided on the pair of lower surface coating Y-axis motion structures. A lower surface coating Z-axis motion structure is fixedly provided on the lower surface coating X-axis motion structure. A second spray head system is provided on the top of the lower surface coating Z-axis motion structure.

[0011] The Z-axis motion structure for spraying the lower surface includes a vertical mounting frame fixedly mounted on the AGV trolley, a vertical telescopic rod movably mounted in the vertical mounting frame, a nozzle mounting crossbar fixedly mounted at the top of the vertical telescopic rod, and a second nozzle system fixedly mounted at the end of the nozzle mounting crossbar.

[0012] The air intake duct spraying system includes a second AGV trolley, on which a rotary table is rotatably mounted. A slide table module bracket is fixed on the rotary table, and a Z-axis lead screw slide table module is fixed on the slide table module bracket. An air intake duct spraying X-axis motion plate is mounted on the top of the Z-axis lead screw slide table module, and an air intake duct spraying Y-axis motion structure is movably mounted on the air intake duct spraying X-axis motion plate.

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

[0014] This utility model also includes the following technical features:

[0015] Each of the gantry Y-axis motion structures includes a first body, on which parallel first linear guide rails, a first rack, and wheel grooves are provided;

[0016] Each of the gantry crane X-axis motion structures includes a second body, and a first servo motor is provided on the side walls at both ends of the second body. A first reducer is provided on the output shaft of the first servo motor, and a first gear is provided on the first reducer.

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

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

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

[0020] The Z-axis telescopic rod includes a primary telescopic rod movably mounted on the upper surface of the Z-axis body for spraying, a secondary telescopic rod is provided in the primary telescopic rod, a tertiary telescopic rod is provided in the secondary telescopic rod, and the first nozzle system is provided at the end of the tertiary telescopic rod.

[0021] A motor is installed on the Z-axis body coated on the upper surface. A third ball screw pair is fixedly installed on the output shaft of the motor. The nut of the third ball screw pair is fixedly connected to the Z-axis telescopic rod. A fourth linear guide is installed on the Z-axis body coated on the upper surface. A fourth slider is installed on the Z-axis telescopic rod. The fourth slider cooperates with the fourth linear guide.

[0022] The vertical telescopic rod includes a first-stage telescopic rod with a Z-axis sprayed on its lower surface, and a second-stage telescopic rod with a Z-axis sprayed on its lower surface is provided in the first-stage telescopic rod with a Z-axis sprayed on its lower surface. The nozzle mounting crossbar is fixedly installed on the top of the second-stage telescopic rod with a Z-axis sprayed on its lower surface.

[0023] A motor is installed on one side of the lower surface coated with the X-axis motion structure. A first ball screw pair is fixedly installed on the output shaft of the motor. The nut of the first ball screw pair is fixedly connected to the vertical telescopic rod.

[0024] A second linear guide pair is provided on the side wall of the vertical telescopic rod, and a second slider is provided on the inner wall of the vertical mounting frame to cooperate with the second linear guide pair.

[0025] The Y-axis telescopic rod includes a first-stage telescopic cylinder for inlet spraying, a second-stage telescopic cylinder for inlet spraying, and a third-stage telescopic cylinder for inlet spraying, connected in sequence; the third nozzle system is provided at the end of the third-stage telescopic cylinder for inlet spraying.

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

[0027] The first, second, or third nozzle systems have the same structure, including a rotating shaft swing head located at the end of the Z-axis telescopic rod, on the top of the Z-axis motion structure sprayed on the lower surface, or at the end of the Y-axis telescopic rod.

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

[0029] Compared with the prior art, the beneficial technical effects of this utility model are:

[0030] In this invention, for the painting of the upper surface of the aircraft, due to the large size of the aircraft fuselage, a gantry structure and a fuselage upper surface spraying structure are used. The gantry moves in large dimensions along the X and Y axes, while the precision five-axis linkage spraying equipment moves precisely to ensure the accuracy of the sprayed pattern. For the painting of the lower surface of the aircraft fuselage, a lifting mechanism is used to lift the aircraft fuselage, and a precision five-axis linkage lower surface spraying system equipped on an AGV cart is used to achieve precise spraying of the fuselage pattern. For the painting of the aircraft air intake, an air intake spraying system equipped with a precision five-axis system on an AGV cart is used to achieve precise spraying in narrow spaces. This solves the technical problem that existing spraying equipment cannot achieve unmasked and precise spraying of large areas of single color and local multi-color patterns on the aircraft fuselage. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the aircraft painting process according to this utility model.

[0032] Figure 2 This is a schematic diagram of the gantry crane motion structure of this utility model.

[0033] Figure 3 This is a schematic diagram of the five-axis spraying system structure for the upper surface of the fuselage of this utility model.

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

[0035] Figure 5 This is a schematic diagram of the five-axis spraying system structure for the lower surface of the fuselage of this utility model.

[0036] Figure 6 This is a schematic diagram of the five-axis spraying system for aircraft air intakes according to this utility model.

[0037] Figure 7 This is a schematic diagram of the structure of the rotating shaft swing head in this utility model.

[0038] The meanings of the labels in the diagram are as follows: 1-GPS positioning system, 2-gantry structure, 3-monitoring system, 4-upper surface painting system of fuselage, 5-lower surface painting system of fuselage, 6-elevator, 7-control system, 8-air intake painting system, 9-lifting mechanism, 11-rotating shaft swing head, 12-automatic painting device.

[0039] 201-Column, 202-First body, 203-Second body, 204-Roller, 205-Wheel groove, 206-Servo motor, 207-Reducer, 208-Gear, 209-Rack, 210-First slider, 211-First linear guide;

[0040] 401-Second servo motor, 402-Second geared motor, 403-Second gear, 404-Y-axis motion structure sprayed on the upper surface, 405-Fifth slider, 406-Fifth linear guide, 407-Second rack, 408-X-axis motion structure sprayed on the upper surface, 409-Z-axis body sprayed on the upper surface, 410-First-stage telescopic rod, 411-Second-stage telescopic rod, 413-Third-stage telescopic rod, 414-First nozzle system, 415-Third ball screw pair, 416-Fourth linear guide;

[0041] 501 - First AGV trolley; 502 - Y-axis motion structure sprayed on the lower surface; 503 - X-axis motion structure sprayed on the lower surface; 504 - First ball screw pair; 505 - Vertical mounting bracket; 506 - Second linear guide pair; 507 - Z-axis first-stage telescopic rod sprayed on the lower surface; 508 - Z-axis second-stage telescopic rod sprayed on the lower surface; 510 - Nozzle mounting crossbar; 511 - Second nozzle system.

[0042] 801-Second AGV trolley, 802-Rotating table, 803-Z-axis ball screw slide module, 804-Intake duct spraying X-axis motion plate, 805-Third linear guide pair, 806-Second ball screw pair, 807-Slide module bracket, 808-Intake duct spraying Y-axis first-stage cylinder, 809-Intake duct spraying Y-axis second-stage cylinder, 810-Intake duct spraying Y-axis third-stage cylinder, 811-Third nozzle system;

[0043] 1101-L-type mounting bracket, 1102-First motor, 1103-Second motor mounting bracket, 1104-Second motor, 1105-Connecting rod, 1106-Mounting bracket.

[0044] The specific content of this utility model will be further explained in detail below with reference to the embodiments. Detailed Implementation

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

[0046] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0047] This utility model provides a coating equipment for the whole aircraft painting, including a gantry structure 2, a fuselage lower surface painting system 5 and an air intake painting system 8, and a fuselage upper surface painting structure 4 is movably mounted on the gantry structure 2.

[0048] The gantry structure 2 includes two sets of gantry columns 201 symmetrically arranged on the ground. Each set of gantry columns 201 is equipped with a gantry Y-axis motion structure at its top. Two gantry X-axis motion structures are movably arranged on the two gantry Y-axis motion structures.

[0049] The upper surface coating structure 4 of the fuselage includes a pair of upper surface coating X-axis motion structures 408 that are movably mounted on the X-axis motion structure of the gantry crane, an upper surface coating Y-axis motion structure 404 that is movably mounted on the pair of upper surface coating X-axis motion structures 408, and an upper surface Z-axis coating system that is fixedly mounted on the upper surface coating Y-axis motion structure 404.

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

[0051] The lower surface coating system 5 includes an AGV trolley 501. The AGV trolley 501 is equipped with a pair of parallel lower surface coating Y-axis motion structures 502. The pair of lower surface coating Y-axis motion structures 502 are equipped with a movable lower surface coating X-axis motion structure 503. The lower surface coating X-axis motion structure 503 is fixedly equipped with a lower surface coating Z-axis motion structure. The top of the lower surface coating Z-axis motion structure is equipped with a second spray head system 511.

[0052] The Z-axis motion structure for spraying the lower surface includes a vertical mounting frame 505 fixedly mounted on the AGV trolley 501, a vertical telescopic rod movably mounted in the vertical mounting frame 505, a nozzle mounting crossbar 510 fixedly mounted at the top of the vertical telescopic rod, and a second nozzle system 511 fixedly mounted at the end of the nozzle mounting crossbar 510.

[0053] The air intake duct spraying system 8 includes a second AGV trolley 801, a rotary table 802 is rotatably mounted on the second AGV trolley 801, a slide table module bracket 807 is fixed on the rotary table 802, a Z-axis lead screw slide table module 803 is fixedly mounted on the slide table module bracket 807, an air intake duct spraying X-axis motion plate 804 is mounted on the top of the Z-axis lead screw slide table module 803, and an air intake duct spraying Y-axis motion structure is movably mounted on the air intake duct spraying X-axis motion plate 804.

[0054] The air intake spraying Y-axis motion structure includes a Y-axis telescopic rod that is movably mounted on the air intake spraying X-axis motion plate 804, and a third nozzle system 811 is provided at the end of the Y-axis telescopic rod.

[0055] See Figure 1 For the painting of the upper surface of the fuselage, a gantry structure 2 and an upper surface painting structure 4 work together, utilizing a rack and pinion mechanism to perform large-scale X-axis and Y-axis movements, in conjunction with the precise movements of the five-axis linkage motion device of the upper surface painting structure 4. For the painting of the lower surface of the fuselage, a lower surface painting system 5 is used, consisting of an AGV (Automated Guided Vehicle) and a five-axis linkage device mounted on top of the vehicle, to achieve painting of various parts of the lower surface. For the painting of the air intake, an air intake painting system 8 is used, also consisting of an AGV equipped with a five-axis linkage device. Its key feature is its extendable Y-axis, which allows it to enter the aircraft's air intake space to operate. All motion devices are programmed and controlled by the control system 7 to achieve the final motion requirements of the equipment.

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

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

[0058] The control system 7 is used for the operation of the lifting mechanism 9, the elevator 6, and the IGPS positioning system 1. The IGPS positioning system 1 and the monitoring system 3 are used to ensure the spraying effect and positional accuracy during the painting process. The IGPS positioning system 1 is used to assist the operator and the lifting mechanism 9 in leveling the aircraft and positioning its attitude within the painting equipment. The lifting mechanism 9 is used to support the aircraft after it has been towed into the painting position by a tractor and its front and main landing gear tires have entered the predetermined painting position. The positioning system measures the aircraft's pitch angle, which assists the operator in adjusting the lifting mechanism until the aircraft's pitch angle is adjusted to the specified accuracy range. The elevator 6 is used for the operator to get on and off the crane.

[0059] For the painting of the upper surface of the aircraft, due to the large size of the aircraft fuselage, a gantry structure 2 and a fuselage upper surface spraying structure 4 are used. The gantry moves in large dimensions along the X and Y axes, while the precision five-axis linkage spraying equipment moves precisely to ensure the accuracy of the sprayed pattern. For the painting of the lower surface of the aircraft fuselage, a lifting mechanism is used to lift the aircraft fuselage, and a precision five-axis linkage lower surface spraying system 5 on an AGV cart is used to achieve precise spraying of the fuselage pattern. For the painting of the aircraft air intake, an air intake spraying system 8 with a special precision five-axis system is used on an AGV cart to achieve precise spraying in narrow spaces. This solves the technical problem that existing spraying equipment cannot achieve unmasked and precise spraying of large areas of single color and local multi-color patterns on the aircraft fuselage.

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

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

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

[0063] In the above technical solution, the control system controls the servo motor 206 to work, thereby driving the first reducer 207 and the first gear 208 to rotate. The first gear 208 meshes and rotates on the first rack 209, and is supported and rolled on the wheel groove 205 by the fixed roller 204. The first slider 210 is rolled and constrained on the first linear guide rail 211 to realize the reciprocating motion on the Y-axis motion structure 202 of the gantry crane. The spraying structure 4 on the upper surface of the machine body moves on the X-axis motion structure 203 of the gantry crane in the same manner as described above, thereby realizing a wide range of X-axis and Y-axis motion of the gantry crane.

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

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

[0066] In the above technical solution, the second servo motor 401 drives the second reducer 402 to drive the second gear 403 to rotate. The second gear 403 meshes with the second rack 407 and cooperates with the fifth slider 405 on the fifth linear guide rail 406 to achieve the movement on the X-axis motion structure 408 sprayed on the upper surface. Its movement on the Y-axis motion structure 404 sprayed on the upper surface is the same as described above.

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

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

[0069] A motor is installed on the Z-axis body 409 with the upper surface coated. A third ball screw pair 415 is fixedly installed on the output shaft of the motor. The nut of the third ball screw pair 415 is fixedly connected to the Z-axis telescopic rod. A fourth linear guide 416 is installed on the Z-axis body 409 with the upper surface coated. A fourth slider is installed on the Z-axis telescopic rod. The fourth slider cooperates with the fourth linear guide 416.

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

[0071] The vertical telescopic rod includes a first-stage telescopic rod 507 with a Z-axis sprayed on the lower surface, a second-stage telescopic rod 508 with a Z-axis sprayed on the lower surface is provided in the first-stage telescopic rod 507 with a Z-axis sprayed on the lower surface, and a nozzle mounting crossbar 510 is fixedly provided on the top of the second-stage telescopic rod 508 with a Z-axis sprayed on the lower surface.

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

[0073] A motor is installed on one side of the X-axis motion structure 503 sprayed on the lower surface. A first ball screw pair 504 is fixedly installed on the output shaft of the motor. The nut of the first ball screw pair 504 is fixedly connected to the vertical telescopic rod.

[0074] A second linear guide pair 506 is provided on the side wall of the vertical telescopic rod, and a second slider is provided on the inner wall of the vertical mounting bracket 505 to cooperate with the second linear guide pair 506.

[0075] In the above technical solution, the large-scale ground movement is provided by the AGV trolley 501, while the small-scale precision spraying is carried out by the equipped five-axis linkage spraying equipment. The movement structures in the three directions are basically the same. Here, the Z-axis movement structure of the lower surface spraying is described. The servo motor drives the first ball screw pair 504 to rotate. Under the constraint of the second linear guide pair 506, the nozzle mounting crossbar 510 moves, and then the second nozzle system 511 moves. This is coordinated with the same structure of movement in the other two axis directions to achieve the required set movement process.

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

[0077] See Figure 6 This equipment is an air intake spraying system, primarily designed for the narrow, enclosed space of aircraft air intakes. The AGV 801 is equipped with multi-axis linkage spraying equipment. Its main movement mechanism is as follows: large-scale ground movement is provided by the AGV 801, while small-scale precision spraying is achieved by the equipped five-axis linkage spraying equipment.

[0078] In the above technical solution, the first-stage telescopic cylinder 808, the second-stage telescopic cylinder 809, and the third-stage telescopic cylinder 810 of the Y-axis for air intake spraying work together to move. The third nozzle system 811 is fixed on the third-stage telescopic cylinder 810 of the Y-axis for air intake spraying to achieve precision spraying in a narrow and confined space.

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

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

[0081] The first nozzle system 414, the second nozzle system 511, or the third nozzle system 811 have the same structure, including a rotating shaft swing head 11 set at the end of the Z-axis telescopic rod, at the top of the Z-axis motion structure sprayed on the lower surface, or at the end of the Y-axis telescopic rod.

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

Claims

1. A coating equipment for spraying paint on the entire aircraft, characterized in that, It includes a gantry structure (2), a fuselage lower surface spraying system (5) and an air intake spraying system (8), wherein the fuselage upper surface spraying structure (4) is movably mounted on the gantry structure (2); The gantry structure (2) includes two sets of gantry columns (201) symmetrically arranged on the ground. Each set of gantry columns (201) is provided with a gantry Y-axis motion structure at its top. Two gantry X-axis motion structures are movably arranged on the two gantry Y-axis motion structures. The upper surface spraying structure (4) of the fuselage includes a pair of upper surface spraying X-axis motion structures (408) movably disposed on the X-axis motion structure of the gantry crane, an upper surface spraying Y-axis motion structure (404) movably disposed on the pair of upper surface spraying X-axis motion structures (408), and an upper surface Z-axis spraying system fixedly disposed on the upper surface spraying Y-axis motion structure (404); The upper surface Z-axis spraying system includes an upper surface spraying Z-axis body (409) fixed at the upper end on the upper surface spraying Y-axis motion structure (404), and a Z-axis telescopic rod is movably provided on the upper surface spraying Z-axis body (409), and a first nozzle system (414) is provided at the end of the Z-axis telescopic rod. The lower surface coating system (5) of the fuselage includes an AGV trolley (501), on which a pair of parallel lower surface coating Y-axis motion structures (502) are provided. A movable lower surface coating X-axis motion structure (503) is provided on the pair of lower surface coating Y-axis motion structures (502). A lower surface coating Z-axis motion structure is fixedly provided on the lower surface coating X-axis motion structure (503). A second nozzle system (511) is provided on the top of the lower surface coating Z-axis motion structure. The Z-axis motion structure for spraying the lower surface includes a vertical mounting frame (505) fixedly mounted on the AGV trolley (501). A vertical telescopic rod is movably mounted in the vertical mounting frame (505). A nozzle mounting crossbar (510) is fixedly mounted on the top of the vertical telescopic rod. A second nozzle system (511) is fixedly mounted at the end of the nozzle mounting crossbar (510). The air intake spraying system (8) includes a second AGV trolley (801), on which a rotary table (802) is rotatably mounted. A slide module bracket (807) is fixed on the rotary table (802), and a Z-axis screw slide module (803) is fixed on the slide module bracket (807). An air intake spraying X-axis motion plate (804) is mounted on the top of the Z-axis screw slide module (803), and an air intake spraying Y-axis motion structure is movably mounted on the air intake spraying X-axis motion plate (804). The air intake spraying Y-axis motion structure includes a Y-axis telescopic rod movably mounted on the air intake spraying X-axis motion plate (804), and a third nozzle system (811) is provided at the end of the Y-axis telescopic rod.

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

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

4. The coating equipment for whole aircraft painting as described in claim 1, characterized in that, The Z-axis telescopic rod includes a first-stage telescopic rod (410) movably mounted on the upper surface of the Z-axis body (409) for spraying. A second-stage telescopic rod (411) is provided in the first-stage telescopic rod (410), and a third-stage telescopic rod (413) is provided in the second-stage telescopic rod (411). The first nozzle system (414) is provided at the end of the third-stage telescopic rod (413).

5. The coating equipment for whole aircraft painting as described in claim 1, characterized in that, A motor is installed on the upper surface of the Z-axis body (409) with spray coating. A third ball screw pair (415) is fixedly installed on the output shaft of the motor. The nut of the third ball screw pair (415) is fixedly connected to the Z-axis telescopic rod. A fourth linear guide (416) is installed on the upper surface of the Z-axis body (409). A fourth slider is installed on the Z-axis telescopic rod. The fourth slider cooperates with the fourth linear guide (416).

6. The painting equipment for whole aircraft painting as described in claim 1, characterized in that, The vertical telescopic rod includes a first-stage telescopic rod (507) with a Z-axis sprayed on the lower surface, and a second-stage telescopic rod (508) with a Z-axis sprayed on the lower surface is provided in the first-stage telescopic rod (507). The nozzle mounting crossbar (510) is fixedly provided on the top of the second-stage telescopic rod (508).

7. The coating equipment for whole aircraft painting as described in claim 1, characterized in that, A motor is provided on one side of the X-axis motion structure (503) sprayed on the lower surface. A first ball screw pair (504) is fixedly provided on the output shaft of the motor. The nut of the first ball screw pair (504) is fixedly connected to the vertical telescopic rod. The vertical telescopic rod is provided with a second linear guide pair (506) on its side wall, and the vertical mounting bracket (505) is provided with a second slider that cooperates with the second linear guide pair (506) on its inner wall.

8. The painting equipment for whole aircraft painting as described in claim 1, characterized in that, The Y-axis telescopic rod includes an intake duct spraying Y-axis first-stage telescopic cylinder (808), an intake duct spraying Y-axis second-stage telescopic cylinder (809), and an intake duct spraying Y-axis third-stage telescopic cylinder (810) connected in sequence; the third nozzle system (811) is provided at the end of the intake duct spraying Y-axis third-stage telescopic cylinder (810).

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

10. The painting equipment for whole aircraft painting as described in claim 1, characterized in that, The first nozzle system (414), the second nozzle system (511) or the third nozzle system (811) have the same structure, including a rotating shaft swing head (11) set at the end of the Z-axis telescopic rod, at the top of the Z-axis motion structure sprayed on the lower surface, or at the end of the Y-axis telescopic rod. The rotating shaft swing head (11) includes an L-shaped mounting bracket (1101), on which a first motor (1102) is provided. The output shaft of the first motor (1102) extends out of the bottom of the L-shaped mounting bracket (1101) and is fixed with a second motor mounting bracket (1103). A second motor (1104) is installed on the second motor mounting bracket (1103). The output shaft of the second motor (1104) is arranged along the Y-axis direction and a connecting rod (1105) is fixedly installed at its end. An automatic coating device mounting bracket (1106) is provided at the end of the connecting rod (1105), and the automatic coating device (12) is installed in the automatic coating device mounting bracket (1106).

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