CN106826770A - Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform - Google Patents
Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform Download PDFInfo
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- CN106826770A CN106826770A CN201710160321.1A CN201710160321A CN106826770A CN 106826770 A CN106826770 A CN 106826770A CN 201710160321 A CN201710160321 A CN 201710160321A CN 106826770 A CN106826770 A CN 106826770A
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- platform
- supporting plate
- branched chain
- movement branched
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform.It includes four support posts, upper brace supporting plate, moving platform, spray gun, the first movement branched chain, the second movement branched chain, six cable wires, four vision sensors, lower platform supporting plate and controllers.The aircraft based on grand-micro- parallel institution that the present invention is provided takes off spray painting motion platform and has the advantages that：Moving platform and spray gun are controlled using two movement branched chains of parallel connection first, second, it is ensured that under free-position, spray gun can realize two rotations of the free degree of pitching and driftage to platform, it is ensured that the continuity and uniformity of painting process.Fuselage surface profile is obtained using vision sensor, it is ensured that spray gun realizes automatic spraying with fixed range, it is possible to decrease cost.Meanwhile, the thickness of every layer of paint vehicle spraying is uniform, and the time is accurate, can avoid the occurrence of the paint caused slowly excessively by speed and air-dry " wet side " situation that situation and excessive velocities cause.
Description
Technical field
The invention belongs to civil aviaton's equipment technology field, more particularly to a kind of aircraft based on grand-micro- parallel institution takes off spray
Paint motion platform.
Background technology
The next frame passenger plane of normal condition needs maintenance of once being painted in average every 5 years, along with aircraft industry frequently merges
Etc. factor, the cycle that passenger plane paints again is typically shorter.And not only to ensure painting quality, while also to ensure spray painting effect
Rate, could not so influence the normal operation of airline, therefore propose requirement higher to passenger plane spray painting company.At present,
Many mechanisms are devoted to shortening the airplane complete machine spray painting cycle and aircraft spray painting stops the research of field time.2013, Dubai
One professional aircraft spray painting company is 21 airplanes of Emirates Airlines, redesigns and paint shell.Whole hangar is round the clock not
Continuously work 273 days with stopping, 6552 hours altogether.2015, Hainan Hainan Airlines Si Tisi sprayings Services Co., Ltd realized
First frame stops the work that the whole machine spray painting aircraft in field appears on the scene and smoothly pays on time for 6 days, and this is that whole machine spraying clothes are completed in global range
The most short cycle of business.
At present, global aircraft paint industry is main based on artificial spray painting, and spray painting work faces several big subject matters：1. it is whole
Machine spray painting stream time is more long, manually paints less efficient.2. the whole machine spray painting needs one of an airplane are known with specialty
The 30 people team known, whole machine takes off lacquering technologies cultivation cycle and is usually 3 --- and 5 years, cost was huge.3. after whole machine spray painting, machine table
About 1 ton of coating of weight of covering.Easily occur the spray painting of fuselage both sides in painting process uneven, cause that aircraft is unbalanced to ask
Topic.4. every layer of paint vehicle spraying is difficult to hold with set time limitation, therefore spray painting time.
The content of the invention
In order to solve the above problems, spray is taken off it is an object of the invention to provide aircraft of the one kind based on grand-micro- parallel institution
Paint motion platform, the platform has mechanism simple, and convenient disassembly, spraying is uniform, take off spray painting speed it is fast the advantages of.
In order to achieve the above object, the aircraft based on grand-micro- parallel institution that the present invention is provided takes off spray painting motion platform bag
Include four support posts, upper brace supporting plate, moving platform, spray gun, the first movement branched chain, the second movement branched chain, six cable wires,
Four vision sensors, lower platform supporting plate and controllers；The wherein four rectangular settings of support post, upper and lower side connects respectively
It is connected at four angles of upper brace supporting plate bottom surface and lower platform support plate surface, thus constitutes regular cube shape structure
Main body, and using a side of main body as front；The upper and lower side of the second movement branched chain is separately fixed at the bottom surface of moving platform
Middle part and the surface middle part of lower platform supporting plate；The upper and lower side of the first movement branched chain is separately fixed at the bottom surface back of moving platform
The surface rear side position of position and lower platform supporting plate；One end of two cable wires is separately fixed at two of main body front both sides
Support post middle part, one end of another four cable wires is separately fixed at two support post upper and lower sides of main body back side both sides；Four
Vision sensor is separately fixed at positive four corners of main body；Spray gun is fixed on the surface of moving platform, by pipeline and outside
Paint storage tank, silo or paint remover storage tank are connected, and nozzle is towards main body front；Controller simultaneously with the first movement branched chain,
The drive device of the second movement branched chain and four vision sensor electrical connections.
The first described movement branched chain I includes Hooke's hinge, the first motor, prismatic pair, ball pivot and U-shaped connector；Hooke's hinge
Lower end be fixed on lower platform supporting plate surface rear side position；The opening of U-shaped connector lower end is hinged on the upper of Hooke's hinge
End；Second motor is arranged on inside U-shaped connector, and output shaft is protruding after the top surface of U-shaped connector upper end；Prismatic pair
Lower end be connected on the output shaft of the first motor, upper end connect ball pivot lower end, the upper end of ball pivot is then fixed on moving platform
Bottom surface back position.
The second described movement branched chain includes the second motor, reduction box, turbine and worm mechanism, bottom bearings, middle part axle
Bearing, connecting rod and rotation are secondary；Bottom bearings are fixed on the surface middle part of lower platform supporting plate；The lower end of connecting rod is fixed
In the brearing bore of bottom bearings；Turbine centre bore in turbine and worm mechanism is enclosed within the bottom of connecting rod；Second motor
Output shaft connect the input of reduction box, the output end of reduction box is connected with the worm screw outer end in turbine and worm mechanism；Middle part
The brearing bore on bearing block top is enclosed within the middle part of connecting rod, and lower end is fixed on the outer side surface position of lower platform supporting plate；
Rotate bottom surface middle part and the upper end of connecting rod that secondary upper and lower side is separately fixed at moving platform.
The aircraft based on grand-micro- parallel institution that the present invention is provided takes off spray painting motion platform and has the advantages that：Profit
Moving platform and spray gun are controlled with two movement branched chains of parallel connection first, second, it is ensured that under free-position, spray gun can for platform
Enough realize two rotations of the free degree of pitching and driftage, it is ensured that the continuity and uniformity of painting process.Using visual sensing
Device obtains fuselage surface profile, it is ensured that spray gun realizes automatic spraying with fixed range, it is possible to decrease cost.Meanwhile, every layer of paint vehicle spray
The thickness of painting is uniform, and the time is accurate, can avoid the occurrence of that the paint caused slowly excessively by speed air-dries situation and excessive velocities cause
" wet side " situation.
Brief description of the drawings
Fig. 1 takes off spray painting motion platform structural representation for the aircraft based on grand-micro- parallel institution that the present invention is provided.
Fig. 2 takes off the first movement branched chain in the motion platform that paints for the aircraft based on grand-micro- parallel institution that provides of the present invention
I structural representation.
Fig. 3 takes off the second movement branched chain in the motion platform that paints for the aircraft based on grand-micro- parallel institution that provides of the present invention
II structural representation.
Fig. 4, Fig. 5 be respectively using the present invention provide the aircraft based on grand-micro- parallel institution take off spray painting motion platform enter
Row takes off spray painting operation scene stereogram and front view.
Specific embodiment
Spray painting is taken off to the aircraft based on grand-micro- parallel institution that the present invention is provided with specific embodiment below in conjunction with the accompanying drawings
Motion platform is described in detail.
As shown in Fig. 1-Fig. 3, the aircraft based on grand-micro- parallel institution that the present invention is provided takes off spray painting motion platform to be included
Four support posts 1, upper brace supporting plate 2, moving platform 3, spray gun 4, the first movement branched chain I, the second movement branched chains II, six
Cable wire 5, four vision sensors 6, lower platform supporting plate 17 and controllers；The rectangular setting of wherein four support posts 1, on
Lower end is connected at four angles on the bottom surface of upper brace supporting plate 2 and the surface of lower platform supporting plate 17, is thus constituted just
The main body of cube-shaped structure, and using a side of main body as front；The upper and lower side of the second movement branched chain II is solid respectively
It is scheduled on bottom surface middle part and the surface middle part of lower platform supporting plate 17 of moving platform 3；The upper and lower side of the first movement branched chain I is solid respectively
It is scheduled on the bottom surface back position of moving platform 3 and the surface rear side position of lower platform supporting plate 17；Two one end difference of cable wire 5
The middle part of two support posts 1 of main body front both sides is fixed on, one end of another four cable wires 5 is separately fixed at main body back side both sides
Two upper and lower sides of support post 1；Four vision sensors 6 are separately fixed at positive four corners of main body；Spray gun 4 is fixed on
The surface of moving platform 3, is connected by pipeline with external paint storage tank, silo or paint remover storage tank, and nozzle towards main body just
Face；Controller is electrically connected with the first movement branched chain I, the drive device of the second movement branched chain II and four vision sensors 6 simultaneously
Connect.
The first described movement branched chain I includes Hooke's hinge 7, the first motor 8, prismatic pair 9, ball pivot 10 and U-shaped connector 18；
The lower end of Hooke's hinge 7 is fixed on the surface rear side position of lower platform supporting plate 17；The opening of the lower end of U-shaped connector 18 is hinged on
The upper end of Hooke's hinge 7；Second motor 8 is arranged on inside U-shaped connector 18, top surface of the output shaft through the upper end of U-shaped connector 18
It is protruding afterwards；The lower end of prismatic pair 9 is connected on the output shaft of the first motor 8, and upper end connects the lower end of ball pivot 10, ball pivot 10
Upper end be then fixed on the bottom surface back position of moving platform 3.
The second described movement branched chain II includes the second motor 19, reduction box 11, turbine and worm mechanism 12, bottom bearings
13rd, middle part bearing block 14, connecting rod 15 and rotation secondary 16；Bottom bearings 13 are fixed in the surface of lower platform supporting plate 17
Portion；The lower end of connecting rod 15 is fixed in the brearing bore of bottom bearings 13；Turbine centre bore in turbine and worm mechanism 12
It is enclosed within the bottom of connecting rod 15；The output shaft of the second motor 19 connects the input of reduction box 11, the output end of reduction box 11 with
Worm screw outer end connection in turbine and worm mechanism 12；The brearing bore on the top of middle part bearing block 14 is enclosed within the middle part of connecting rod 15,
Lower end is fixed on the outer side surface position of lower platform supporting plate 17；The upper and lower side for rotating secondary 16 is separately fixed at moving platform 3
Bottom surface middle part and the upper end of connecting rod 15.
The aircraft based on grand-micro- parallel institution that the present invention is provided now is taken off into spraying working platform method automatically to illustrate such as
Under：
As shown in Figure 4, Figure 5, positive two cable wires 5 outer end of main body is suspended from painting workshop two ends by staff first
Medium position, and it is high together with the wing of aircraft；Four cable wires 5 at the main body back side are suspended from four corners of painting workshop side wall
, now the nozzle face on spray gun 4 can so ensure that this platform continues when wing the upper side and lower side curved surface is sprayed to aircraft
The pose that holding is bowed, faced upward, and during whole machine is sprayed, when by wing, cable wire 5 will not occur dry this platform with wing
Relate to.One this platform can be respectively set in the both sides of aircraft.Under the control of the controller, examined in real time using four vision sensors 6
The distance of this platform and interplane is surveyed, controller is then passed to, controller combines each layer of spraying of paint vehicle according to above- mentioned information
Time and paint vehicle thickness, the translational speed and spray painting speed for calculating this platform (take off the sandblasting during paint or spraying paint remover
Process it is identical).The length of prismatic pair 9 is adjusted using the method for the rotation of the first motor 8 in the first movement branched chain I of control afterwards
Degree, thus adjusts the luffing angle of moving platform 3；Rotated using the second motor 19 in the second movement branched chain II of control, thus led to
Cross reduction box 11, turbine and worm mechanism 12 and drive yaw angle of secondary 16 methods for rotating that rotate to adjust moving platform 3, it is thus real
4 two rotations of the free degree of existing spray gun, make the nozzle of the front end of spray gun 4 near spraying center of surface；Spraying is proceeded by afterwards, will
Sprayed to by the nozzle of the front end of spray gun 4 from external paint storage tank, the paint of silo or paint remover storage tank, sand grains or paint remover winged
Machine surface, in the process, ensures this platform and realizes tri- directions of X, Y, Z using six methods of the length of cable wire 5 of control
Translation and the rotation of pitching, it is ensured that spraying curved surface is covered in the range of vision sensor 5, are achieved in automatic spraying.
Claims (3)
1. a kind of aircraft based on grand-micro- parallel institution takes off spray painting motion platform, it is characterised in that：It is described based on grand-micro-
The aircraft of parallel institution take off spray painting motion platform include four support posts (1), upper brace supporting plate (2), moving platform (3),
Spray gun (4), the first movement branched chain (I), the second movement branched chain (II), six cable wires (5), four vision sensors (6), lower flats
Platform supporting plate (17) and controller；The rectangular setting of wherein four support posts (1), upper and lower side is connected to upper brace branch
At four angles on fagging (2) bottom surface and lower platform supporting plate (17) surface, the main body of regular cube shape structure is thus constituted, and
And using a side of main body as front；The upper and lower side of the second movement branched chain (II) is separately fixed at the bottom surface of moving platform (3)
Middle part and the surface middle part of lower platform supporting plate (17)；The upper and lower side of the first movement branched chain (I) is separately fixed at moving platform (3)
Bottom surface back position and lower platform supporting plate (17) surface rear side position；One end of two cable wires (5) is separately fixed at
Two support posts (1) middle part of main body front both sides, one end of another four cable wires (5) is separately fixed at main body back side both sides
Two support post (1) upper and lower sides；Four vision sensors (6) are separately fixed at positive four corners of main body；Spray gun (4) is solid
The surface of moving platform (3) is scheduled on, is connected with external paint storage tank, silo or paint remover storage tank by pipeline, and nozzle direction
Main body front；Controller is passed with the first movement branched chain (I), the drive device of the second movement branched chain (II) and four visions simultaneously
Sensor (6) is electrically connected.
2. the aircraft based on grand-micro- parallel institution according to claim 1 takes off spray painting motion platform, it is characterised in that：Institute
The first movement branched chain (I) stated includes Hooke's hinge (7), the first motor (8), prismatic pair (9), ball pivot (10) and U-shaped connector
(18)；The lower end of Hooke's hinge (7) is fixed on the surface rear side position of lower platform supporting plate (17)；U-shaped connector (18) lower end
Opening be hinged on the upper end of Hooke's hinge (7)；Second motor (8) is internal installed in U-shaped connector (18), and output shaft runs through U-shaped
It is protruding after the top surface of connector (18) upper end；The lower end of prismatic pair (9) is connected on the output shaft of the first motor (8), on
The lower end at end connection ball pivot (10), the upper end of ball pivot (10) is then fixed on the bottom surface back position of moving platform (3).
3. the aircraft based on grand-micro- parallel institution according to claim 1 takes off spray painting motion platform, it is characterised in that：Institute
The second movement branched chain (II) stated includes the second motor (19), reduction box (11), turbine and worm mechanism (12), bottom bearings
(13), middle part bearing block (14), connecting rod (15) and rotation are secondary (16)；Bottom bearings (13) are fixed on lower platform supporting plate
(17) surface middle part；The lower end of connecting rod (15) is fixed in the brearing bore of bottom bearings (13)；Turbine and worm mechanism
(12) the turbine centre bore in is enclosed within the bottom of connecting rod (15)；The output shaft of the second motor (19) connects the defeated of reduction box (11)
Enter end, the output end of reduction box (11) is connected with the worm screw outer end in turbine and worm mechanism (12)；Middle part bearing block (14) top
Brearing bore be enclosed within the middle part of connecting rod (15), lower end is fixed on the outer side surface position of lower platform supporting plate (17)；Turn
The upper and lower side of dynamic pair (16) is separately fixed at the bottom surface middle part and the upper end of connecting rod (15) of moving platform (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160321.1A CN106826770A (en) | 2017-03-17 | 2017-03-17 | Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160321.1A CN106826770A (en) | 2017-03-17 | 2017-03-17 | Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826770A true CN106826770A (en) | 2017-06-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710160321.1A Pending CN106826770A (en) | 2017-03-17 | 2017-03-17 | Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform |
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| Country | Link |
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| CN (1) | CN106826770A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112221818A (en) * | 2020-09-21 | 2021-01-15 | 南京万欧汽车零部件有限公司 | Automobile exterior trimming part spraying device and technology |
| CN113732519A (en) * | 2021-09-03 | 2021-12-03 | 陈亚军 | Design method for laser paint removal process parameters of aluminum alloy aircraft skin |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112221818A (en) * | 2020-09-21 | 2021-01-15 | 南京万欧汽车零部件有限公司 | Automobile exterior trimming part spraying device and technology |
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| CN113732519A (en) * | 2021-09-03 | 2021-12-03 | 陈亚军 | Design method for laser paint removal process parameters of aluminum alloy aircraft skin |
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Application publication date: 20170613 |
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