CN106861981A - A kind of rope drives aircraft spray painting motion platform - Google Patents
A kind of rope drives aircraft spray painting motion platform Download PDFInfo
- Publication number
- CN106861981A CN106861981A CN201710065813.2A CN201710065813A CN106861981A CN 106861981 A CN106861981 A CN 106861981A CN 201710065813 A CN201710065813 A CN 201710065813A CN 106861981 A CN106861981 A CN 106861981A
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- CN
- China
- Prior art keywords
- platform
- rope
- spray painting
- aircraft
- agent structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- 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
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
Abstract
A kind of rope drives aircraft spray painting motion platform.It includes three support posts, two platform support panels, six groups of cable traction modules, moving platform, four vision sensors, spray gun and controllers；The rope that the present invention is provided drives aircraft spray painting motion platform to have the advantages that：Four vision sensors installed using agent structure front obtain fuselage surface profile, thus enable that spray gun realizes automatic spraying with fixed range, save human cost.Meanwhile, the thickness of every layer of paint vehicle spraying is uniform, and the time is accurate, it is to avoid the paint for occurring causing slowly excessively by speed air-dries " wet side " situation that situation and excessive velocities cause.Spray gun is driven with rope；Six roots of sensation rope drives moving platform to realize five motions of the free degree with the symmetric position of Three Up Three Down, can cover 180 ° of curved surfaces of flat surface pair.With the spray painting platform common operational of aircraft both sides two, whole fuselage can be covered.Meanwhile, common operational also ensure that the spraying of aircraft both sides is uniform, it is ensured that aircraft balanced.
Description
Technical field
The invention belongs to civil aviaton's equipment technology field, more particularly to a kind of rope drives aircraft spray painting 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 is frequently closed
And factor is waited, the cycle that passenger plane paints again typically can be shorter.Not only to ensure the quality of spray painting during operation, while also to ensure
Spray painting efficiency, and the normal operation of airline can not be influenceed, this just proposes requirement higher to aircraft spray painting company.Mesh
Preceding many mechanisms all be devoted to shortening the airplane complete machine spray painting cycle and aircraft spray painting stops the research of field time.2013,
The professional aircraft spray painting company of of Dubai redesigns and has painted shell for 21 airplanes of Emirates Airlines.Whole hangar
Around the clock continuously work 273 days, 6552 hours altogether., Hainan Hainan Airlines Si Tisi sprayings Services Co., Ltd in 2015
Realize first frame and stop within 6 days field whole machine spray painting aircraft and appear on the scene on time and smoothly pay.
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 usually 3-5, and cost is huge.3. after whole machine spray painting, the covering of machine table
About 1 ton of coating of weight.Easily occur the spray painting of fuselage both sides in painting process uneven, cause the unbalanced problem of aircraft.④
Every layer of paint vehicle is coated with set time limitation, and the spray painting time such as is difficult to hold at the technical problem.
The content of the invention
In order to solve the above problems, the rope it is an object of the invention to provide a kind of five degree of freedom drives aircraft spray painting fortune
Moving platform, the platform has the advantages that mechanism simple, convenient disassembly, spraying be uniform, spraying rate is fast.
In order to achieve the above object, the rope that the present invention is provided drives aircraft spray painting motion platform vertical including three supports
Post, two platform support panels, six groups of cable traction modules, moving platform, four vision sensors, spray gun and controllers；Wherein put down
Platform supporting plate is horizontally disposed triangular plate, setting up and down；The upper and lower side of every support post is connected to two platforms
A corresponding corner in supporting plate, is consequently formed pentahedron shape agent structure, and certain one side of agent structure is set
It is front；Towards being formed with a vertical chute on the side at agent structure center on every support post；Every group of cable traction
Module includes motor, connecting bracket 7, reel, rolling bearing and rope；Wherein connecting bracket is made up of backboard and biside plate
U-shaped structure, is formed with a through hole in the middle part of one of side plate, the portion corresponding with above-mentioned through hole on another side plate
Position is installed by rolling bearing；Motor is arranged on the outside of connecting bracket, and output shaft thereon is horizontally disposed with；One end of reel passes through and connects
It is connected with the output shaft of motor after connecing the through hole on support, the other end is inserted in the centre bore of rolling bearing, and each
A rope is wound on reel；What six groups of cable traction modules were utilized respectively on backboard trapezoidal is bolted to three branch
Among the chute of support column upper and lower side；Moving platform is the triangular plate being horizontally set in agent structure inner space, its three
The upper and lower surface at angle is connected with the six roots of sensation rope outer end in six groups of cable traction modules respectively；Spray gun is obliquely installed, and one end is solid
It is scheduled on the surface of moving platform or bottom surface, and the end is connected by pipeline with external paint storage tank, and outer end nozzle face is to main body
The front of structure；Four vision sensors are separately mounted to two upper and lower sides of support post being located in agent structure front；
Controller is electrically connected with motor and vision sensor simultaneously.
Described controller is provided with input unit, the parameter needed for for being input into spray painting operation.
Described moving platform and platform support panel is equilateral triangle plate, and the area of moving platform is less than platform support panel
Area.
The rope that the present invention is provided drives aircraft spray painting motion platform to have the advantages that：Using agent structure front
Four vision sensors installed obtain fuselage surface profile, thus enable that spray gun realizes automatic spraying, section with fixed range
About human cost.Meanwhile, the thickness of every layer of paint vehicle spraying is uniform, and the time is accurate, it is to avoid occur because of the paint that speed causes slowly excessively
" wet side " situation that the situation of air-drying and excessive velocities cause.Spray gun is driven with rope；Six roots of sensation rope is with the symmetrical position of Three Up Three Down
Put driving moving platform and realize five motions of the free degree, 180 ° of curved surfaces of flat surface pair can be covered.With the spray of aircraft both sides two
Paint platform common operational, can cover whole fuselage.Meanwhile, common operational also ensure that the spraying of aircraft both sides is uniform, it is ensured that fly
Machine is balanced.
Brief description of the drawings
Fig. 1 drives aircraft spray painting motion platform structural representation for the rope that the present invention is provided.
Rope drive module structural representation in the rope driving aircraft spray painting motion platform that Fig. 2 is provided for the present invention.
Fig. 3 illustrates for the rope driving aircraft provided using the present invention is painted when motion platform carries out lifting spray painting operation
Figure.
Fig. 4 drives the relatively whole machine working surface distribution of aircraft spray painting motion platform to illustrate for the rope provided using the present invention
Figure.
Specific embodiment
Driving aircraft spray painting motion platform to the rope that the present invention is provided with specific embodiment below in conjunction with the accompanying drawings is carried out in detail
Describe in detail bright.
As shown in Fig. 1-Fig. 2, the rope that the present invention is provided drive aircraft spray painting motion platform include three support posts 1,
Two platform support panels, 2, six groups of cable traction modules 3, moving platform 4, four vision sensors 5, spray gun 11 and controllers；Wherein
Platform support panel 2 is horizontally disposed triangular plate, setting up and down；The upper and lower side of every support post 1 is connected to two
A corresponding corner on platform support panel 2, is consequently formed pentahedron shape agent structure, and by certain side of agent structure
Face is set to front；Towards being formed with a vertical chute on the side at agent structure center on every support post 1；Every group of rope
Traction module 3 includes motor 6, connecting bracket 7, reel 8, rolling bearing 9 and rope 10；Wherein connecting bracket 7 is by backboard 12
The U-shaped structure constituted with biside plate 13, the middle part of one of side plate 13 is formed with a through hole 14, on another side plate 13
The position corresponding with above-mentioned through hole 14 is installed by rolling bearing 9；Motor 6 is arranged on the outside of connecting bracket 7, output thereon
Axle is horizontally disposed with；One end of reel 8 is connected after passing through the through hole 14 in connecting bracket 7 with the output shaft of motor 6, and the other end is inserted
Enter in the centre bore of rolling bearing 9, and a rope 10 is wound on each reel 8；Six groups of cable traction modules 3 are sharp respectively
It is bolted among three chutes of the upper and lower side of support post 1 with trapezoidal on backboard 12；Moving platform 4 sets for level
Put the triangular plate in agent structure inner space, its three upper and lower surfaces at angle respectively with six groups of cable traction modules 3 in
The outer end of six roots of sensation rope 10 be connected；Spray gun 11 is obliquely installed, and one end is fixed on the surface of moving platform 4 or bottom surface, and should
End is connected by pipeline with external paint storage tank, front of the outer end nozzle face to agent structure；Four vision sensors 5 are pacified respectively
Mounted in two upper and lower sides of support post 1 in agent structure front；Controller simultaneously with motor 6 and vision sensor 5
Electrical connection.
Described controller is provided with input unit, the parameter needed for for being input into spray painting operation.
Described moving platform 4 and platform support panel 2 is equilateral triangle plate, and moving platform 4 area less than platform branch
The area of fagging 2.
The rope that now present invention is provided drives aircraft spray painting motion platform application method to be described below：This rope drives and flies
Machine spray painting motion platform can carry out operation using lifting or by driving car control two ways.As shown in Figure 3, Figure 4, former side
Formula is to drive aircraft spray painting motion platform to be lifted on existing painting workshop top using rope 17 is lifted in rope, lifts rope 17
Rope can be thus driven to drive aircraft spray painting motion platform movement, in this feelings along X, Y, Z axis translation as overhead traveling crane
One end of spray gun 11 is fixed on the bottom surface of moving platform 4 under condition, and the front of agent structure faces aircraft to be sprayed 16, can be
The both sides of aircraft to be sprayed 16 are respectively provided with rope and drive aircraft spray painting motion platform, work area be whole machine fuselage and
Wing upper portion；During spraying fuselage, carried out along X, Z-direction；During spraying wing, carried out along Y, Z-direction.As shown in figure 4,
Latter approach is to drive aircraft spray painting motion platform to be placed on driving car 15 in rope, therefore can voluntarily be moved in painting workshop
Dynamic, one end of spray gun 11 is fixed on the surface of moving platform 4 in this case, and agent structure front in face of to be sprayed
Aircraft 16, can be respectively provided with a rope and drive aircraft spray painting motion platform in the both sides of aircraft to be sprayed 16, and work area is
The fuselage of whole machine and wing lower portion.Before starting spray painting operation, input unit is utilized by technical staff on the controller first
Parameter needed for input spray painting operation, such as spray time, paint vehicle thickness, platform translational speed and spraying rate etc., Ran Houkai
This platform is opened, while using lifting rope or driving car 15 to drive this platform to be moved with the speed for setting along motion track,
The paint in external paint storage tank is supplied to spray gun 11 by pipeline using the delivery pump on pipeline, and is sprayed by outer end
Mouth sprays to the surface of aircraft to be sprayed 16, in operation process, under the control of the controller, is obtained in real time using vision sensor 5
The curved surface profile of aircraft to be sprayed 16 and this rope drive the distance between aircraft spray painting motion platform and curved surface, are then transferred to control
Device processed, controller is processed above- mentioned information, controls coupled reel 8 to rotate using corresponding motor 6 afterwards, to adjust
The length outside rope 10 on reel 8 is wrapped in, thus, it is possible to realize 4 five motions of the free degree of moving platform, is adjusted with this
Distance between spray gun 11 and curved surface, makes spray gun 11 keep fixed range with the whole curved surface of aircraft to be sprayed 16, this makes it possible to
Make the paint even application from nozzle ejection in outer end on spray gun 11 on the surface of aircraft to be sprayed 16, so as to realize automatic spraying.
Claims (3)
1. a kind of rope drives aircraft spray painting motion platform, it is characterised in that：Described rope drives aircraft spray painting motion platform
Including three support posts (1), two platform support panels (2), six groups of cable traction modules (3), moving platform (4), four visions
Sensor (5), spray gun (11) and controller；Wherein platform support panel (2) is horizontally disposed triangular plate, setting up and down；Often
The upper and lower side of root support post (1) is connected to two upper corresponding corners of platform support panel (2), is consequently formed five
Face bodily form agent structure, and certain one side of agent structure is set to front；Towards agent structure on every support post (1)
A vertical chute is formed with the side at center；Every group of cable traction module (3) includes motor (6), connecting bracket (7), volume
Cylinder (8), rolling bearing (9) and rope (10)；Wherein connecting bracket (7) is the U-shaped being made up of backboard (12) and biside plate (13)
Structure, is formed with a through hole (14) in the middle part of one of side plate (13), with above-mentioned through hole on another side plate (13)
(14) corresponding position is installed by rolling bearing (9)；Motor (6) is arranged on the outside of connecting bracket (7), output shaft water thereon
It is flat to set；Output shaft of the one end of reel (8) through the through hole (14) in connecting bracket (7) afterwards with motor (6) is connected, another
End is inserted in the centre bore of rolling bearing (9), and a rope (10) is wound on each reel (8)；Six groups of cable tractions
Module (3) be utilized respectively on backboard (12) it is trapezoidal be bolted to three chutes of support post (1) upper and lower side it
In；Moving platform (4) is the triangular plate being horizontally set in agent structure inner space, its three upper and lower surfaces at angle respectively with
Six roots of sensation rope (10) outer end in six groups of cable traction modules (3) is connected；Spray gun (11) is obliquely installed, and one end is fixed on dynamic flat
On the surface or bottom surface of platform (4), and the end is connected by pipeline with external paint storage tank, and outer end nozzle face is to agent structure
Front；Four vision sensors (5) are separately mounted to two upper and lower sides of support post (1) being located in agent structure front；
Controller is electrically connected with motor (6) and vision sensor (5) simultaneously.
2. rope according to claim 1 drives aircraft spray painting motion platform, it is characterised in that：Set on described controller
There is input unit, the parameter needed for for being input into spray painting operation.
3. rope according to claim 1 drives aircraft spray painting motion platform, it is characterised in that：Described moving platform (4)
Be equilateral triangle plate with platform support panel (2), and moving platform (4) area of the area less than platform support panel (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710065813.2A CN106861981A (en) | 2017-02-06 | 2017-02-06 | A kind of rope drives aircraft spray painting motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710065813.2A CN106861981A (en) | 2017-02-06 | 2017-02-06 | A kind of rope drives aircraft spray painting motion platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106861981A true CN106861981A (en) | 2017-06-20 |
Family
ID=59166602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710065813.2A Pending CN106861981A (en) | 2017-02-06 | 2017-02-06 | A kind of rope drives aircraft spray painting motion platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106861981A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108855706A (en) * | 2018-08-09 | 2018-11-23 | 清华大学 | A kind of ship robot spray apparatus |
| CN108970866A (en) * | 2018-07-19 | 2018-12-11 | 清华大学 | A kind of large ship sectional automation finishing system |
| WO2021196381A1 (en) * | 2020-03-31 | 2021-10-07 | 合肥工业大学 | Cable-driven hybrid spraying robot mechanism and operating method therefor |
| CN115739553A (en) * | 2022-11-22 | 2023-03-07 | 成都飞机工业（集团）有限责任公司 | Aircraft coating method based on paint mist particle settlement control |
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| US20040146388A1 (en) * | 2002-07-09 | 2004-07-29 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN101905458A (en) * | 2010-07-14 | 2010-12-08 | 天津理工大学 | Three-translation spatial parallel robotic mechanism |
| US20140312808A1 (en) * | 2013-04-19 | 2014-10-23 | Randall Lee Szarzynski | Multi-dimensional positioning of an object |
| CN105364911A (en) * | 2015-11-23 | 2016-03-02 | 清华大学 | Top-supported type over-span space robot with four ropes |
| CN105473288A (en) * | 2013-08-13 | 2016-04-06 | 杜尔系统有限责任公司 | Application system with cable-guided handling apparatus for moving an applicator |
-
2017
- 2017-02-06 CN CN201710065813.2A patent/CN106861981A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040146388A1 (en) * | 2002-07-09 | 2004-07-29 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN101905458A (en) * | 2010-07-14 | 2010-12-08 | 天津理工大学 | Three-translation spatial parallel robotic mechanism |
| US20140312808A1 (en) * | 2013-04-19 | 2014-10-23 | Randall Lee Szarzynski | Multi-dimensional positioning of an object |
| CN105473288A (en) * | 2013-08-13 | 2016-04-06 | 杜尔系统有限责任公司 | Application system with cable-guided handling apparatus for moving an applicator |
| CN105364911A (en) * | 2015-11-23 | 2016-03-02 | 清华大学 | Top-supported type over-span space robot with four ropes |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108970866A (en) * | 2018-07-19 | 2018-12-11 | 清华大学 | A kind of large ship sectional automation finishing system |
| CN108855706A (en) * | 2018-08-09 | 2018-11-23 | 清华大学 | A kind of ship robot spray apparatus |
| WO2021196381A1 (en) * | 2020-03-31 | 2021-10-07 | 合肥工业大学 | Cable-driven hybrid spraying robot mechanism and operating method therefor |
| US11325243B2 (en) | 2020-03-31 | 2022-05-10 | Hefei University Of Technology | Flexible-rope-driven hybrid spray painting robot mechanism and operating method thereof |
| CN115739553A (en) * | 2022-11-22 | 2023-03-07 | 成都飞机工业（集团）有限责任公司 | Aircraft coating method based on paint mist particle settlement control |
| CN115739553B (en) * | 2022-11-22 | 2023-12-08 | 成都飞机工业（集团）有限责任公司 | Aircraft coating method based on paint mist particle sedimentation control |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170620 |