CN113044235B - Automatic surface treatment system for airplane and using method thereof - Google Patents
Automatic surface treatment system for airplane and using method thereof Download PDFInfo
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- CN113044235B CN113044235B CN202110398188.XA CN202110398188A CN113044235B CN 113044235 B CN113044235 B CN 113044235B CN 202110398188 A CN202110398188 A CN 202110398188A CN 113044235 B CN113044235 B CN 113044235B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/30—Cleaning aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
The invention relates to a ground device associated with an airplane, and discloses an automatic surface treatment system of the airplane and a using method thereof, which are used for carrying out surface treatment on the whole or part of the airplane; the device comprises surface treatment equipment, a mechanical arm for driving the surface treatment equipment to carry out surface treatment, a servo platform for driving the mechanical arm to carry out long-distance displacement in a three-dimensional space, a three-dimensional scanner for modeling the airplane, a posture locator for determining the parking position and the posture of the airplane and an automatic control system which is respectively electrically connected with the parts. According to the invention, a mode similar to a multi-axis linkage numerical control machine tool is adopted to carry out soft profiling surface treatment on the airplane, the airplane is used as a machining part of the multi-axis linkage numerical control machine tool, the surface treatment equipment is used as a turning tool, the servo platform and the mechanical arm are used as a lathe, and the compiling technology of a feed script of the numerical control lathe is applied to compiling a soft profiling program, so that the automatic surface treatment on the airplane is realized.
Description
Technical Field
The present invention relates to a ground device associated with an aircraft, and more particularly to an aircraft automated surface treatment system and method of use thereof.
Background
The surface treatment work of a series of mechanical components including paint removal, polishing, cleaning, paint spraying, surface inspection and the like has the disadvantages of large labor amount, severe and monotonous working environment, and the work is done by manpower, so that the labor intensity is greatly reduced, the efficiency is low, and the quality cannot be ensured. Therefore, surface treatment of mechanical components is currently performed by various industrial robots in most cases.
The most common industrial robots are painting machines for painting automobiles, and include three types, i.e., a reciprocating machine, a hard profiling painting machine using a profiling guide rail, and a soft profiling painting machine whose painting track is controlled by a computer, wherein the degree of freedom required by the soft profiling painting machine is the largest, and when the soft profiling painting machine is used for painting automobiles, at least three degrees of freedom are generally required, and meanwhile, the automobiles often need to perform certain posture adjustment along with the nozzles of the painting machine.
Compared with an automobile with a relatively simple appearance, the appearance of the airplane is more complex, and more freedom is needed during spraying; and the aircraft is very heavy and intensity is lower, can not follow the shower nozzle of flush coater and carry out the attitude adjustment like the car, and can not move to the operating position that designs like the car accurately, this has further promoted the demand to the flush coater degree of freedom, and current industrial robot can't satisfy the demand of degree of freedom on this scale of aircraft, can't be used for the holistic surface treatment of aircraft. Therefore, the existing aircraft still adopts the manual mode to carry out surface treatment at present, and the arm with more than 20 degrees of freedom is relied on to satisfy the requirement of aircraft spraying on the degree of freedom of the spray gun.
Compared with automobiles, the marks sprayed on the airplanes are functional, and comprise warning marks, trunk/branch marks and the like on engines besides marks of models, nationalities and airlines, once the functions, flights or affiliated airlines of the airplanes and the like are changed, the marks need to be replaced in batches, and even if the marks are not changed greatly, the marks need to be sprayed again every five years. And the efficiency is extremely low because the plane is re-sprayed manually. In 2013, the whole hangar works continuously for 273 days continuously all day and night after the spraying work of 21 airplanes in the alicacique aviation. The current world record of the shortest duration of spraying work for a single aircraft was created in 2015 by Hainan Stones spraying services, Inc. for 6 days — a still unacceptable value.
With the development of computer technology, the existing multi-axis linkage numerical control machine tool can automatically generate a feed script under the CAE and CAM technologies so as to process complex machining parts.
Disclosure of Invention
The invention provides an automatic surface treatment system of an airplane and a using method thereof.
The technical problem to be solved is that: the aircraft has complex appearance, great weight and low strength, and cannot adopt an industrial robot to carry out surface treatment work such as paint spraying and the like, and the efficiency is very low when the surface treatment of the aircraft is carried out by adopting manpower, so that the aircraft can not play a role because the aircraft is in a maintenance state for a long time.
In order to solve the technical problems, the invention adopts the following technical scheme: an automatic surface treatment system of an airplane is used for carrying out surface treatment on the whole or part of the airplane; the system comprises surface treatment equipment, a mechanical arm for driving the surface treatment equipment to carry out surface treatment, a servo platform for driving the mechanical arm to carry out long-distance displacement in a three-dimensional space, a three-dimensional scanner for modeling the airplane, a posture locator for determining the parking position and the posture of the airplane and an automatic control system which is respectively electrically connected with the parts.
Further, the types of the surface treatment apparatus include a cleaning apparatus, a polishing apparatus, a paint removing apparatus, a spraying apparatus, and an appearance inspecting apparatus.
Further, the appearance inspection device is an automatic zoom camera, and the automatic zoom camera is electrically connected with the graphic processing device.
Furthermore, the servo platforms are arranged at intervals around the airplane, each servo platform corresponds to one area on the airplane, and all the servo platforms comprise 3 translation degrees of freedom; the servo platform comprises a ground rail, a movable rail which is vertical to the ground rail and is arranged on the ground rail in a sliding mode, and a lifting platform which is arranged on the movable rail in a sliding mode; the movable track and the ground track as well as the lifting platform and the movable track are respectively connected through a track power device; and the track power device is electrically connected with the automatic control system.
Furthermore, the ground rails comprise a plurality of fuselage ground rails which are arranged on the left side and the right side of the airplane in parallel to the length direction of the airplane and a tail ground rail which is arranged on the rear side of the airplane in perpendicular to the length direction of the airplane, and the lifting platform comprises a left front lifting platform arranged in front of the left wing of the airplane, a right front lifting platform arranged in front of the right wing of the airplane, a left rear lifting platform arranged on the rear side of the left wing of the airplane, a right rear lifting platform arranged on the rear side of the right wing of the airplane and a tail lifting platform arranged on the rear side of the empennage of the airplane; the movable rail comprises a machine body movable rail arranged on the machine body ground rail and a machine tail movable rail arranged on the machine tail ground rail, the lifting tables correspond to the movable rails one to one, the machine tail lifting tables are arranged on the machine tail ground rail through the corresponding machine tail movable rails, and the rest lifting tables are arranged on the machine body ground rail through the corresponding machine body movable rails.
Furthermore, each fuselage movable rail comprises two sections, namely an auxiliary fuselage movable rail arranged close to the airplane and a main fuselage movable rail arranged far away from the airplane, the auxiliary fuselage movable rails are in butt joint with the main fuselage movable rails and are locked by an electric control locking device, the minimum distance of butt joint seams on two adjacent fuselage movable rails on the left side and the right side of the airplane is not less than the maximum wheel track of the airplane, and the electric control locking device is electrically connected with an automatic control system; the servo platform system also comprises two movable rail transfer rails used for moving the auxiliary aircraft body movable rail to a position which does not obstruct the access of the aircraft, wherein the movable rail transfer rails are arranged on the left side and the right side of the aircraft head in a way of being vertical to the aircraft body ground rails and are arranged by being attached to the end parts of the aircraft body ground rails positioned on the same side of the aircraft; and an electric transfer vehicle for driving the auxiliary body movable rail to move is arranged on the movable rail transfer rail in a sliding manner and is electrically connected with the automatic control system.
Furthermore, an anti-falling safety device for preventing the lifting platform from suddenly falling is arranged on the lifting platform; safe touch edges are respectively arranged on the movable rail, the lifting platform and the mechanical arm and are electrically connected with an automatic control system; the lifting platform is characterized in that a rotating platform A is arranged at the bottom of the lifting platform, a rotating shaft of the rotating platform A is vertically arranged, and the rotating platform A is electrically connected with an automatic control system.
A method of using an automated surface treatment system for operating an aircraft automated surface treatment system as described above to treat a surface of an aircraft, comprising the steps of:
the method comprises the following steps: taking an airplane with the same model as the airplane to be processed as a standard airplane, and establishing a model of the standard airplane as a standard model by using a three-dimensional scanner; establishing a coordinate system on the site of the automatic surface processing system of the airplane, and determining the position and the attitude of a standard airplane in the automatic surface processing system of the airplane as a standard position and a standard attitude by using an attitude locator;
step two: writing a soft copying program according to the standard model, the standard position and the standard posture, generating a working path of the automatic working platform as a standard platform path, generating a working path of the mechanical arm as a standard arm path, and determining a process parameter of the surface treatment equipment as a treatment equipment parameter;
step three: the method comprises the following steps of (1) carrying an airplane to be processed into an automatic airplane surface processing system, determining the position and the attitude of the airplane to be processed by using an attitude positioning instrument, and comparing the position and the attitude of the airplane to be processed with a standard position and a standard attitude to obtain position deviation and attitude deviation;
step four: correcting the standard platform path and the standard arm path according to the position deviation and the attitude deviation to obtain an actual platform path and an actual arm path;
step five: and operating the automatic working platform according to the actual platform path, operating the mechanical arm according to the actual arm path, and operating the surface treatment equipment according to the treatment equipment parameters, thereby finishing the surface treatment of the airplane.
Further, in the second step, a CAE technology is adopted to carry out grid division on the standard model, so that the outer surface of the standard model is divided into a plurality of working areas with the same size, and then a CAM technology is adopted to generate a standard platform path and a standard arm path.
Further, the three-dimensional scanner is a laser number reading machine, and the standard model is a point cloud model.
Compared with the prior art, the automatic surface treatment system for the airplane and the using method thereof have the following beneficial effects:
in the invention, a model is generated by three-dimensional scanning of an airplane to be processed, then the CAE technology is adopted to carry out meshing on the model, so that the outer surface of a standard model is divided into a plurality of working areas with the same size, then the CAM technology is adopted to generate a path of surface processing equipment, and the compiling technology of a feed script of a numerical control lathe is applied to soft profiling, thereby making the soft profiling program of an object with a complex shape like the airplane possible to be compiled;
according to the invention, the position and the attitude of the airplane are positioned by the attitude positioning instrument, and then the path of the surface treatment equipment is adjusted according to the actual position of the airplane, so that the problem that the airplane is difficult to accurately move to a designed working position like an automobile after entering a field is solved;
according to the invention, the plurality of servo platforms are arranged to finish the surface treatment work of the airplane, and each servo platform corresponds to one area on the airplane, so that the whole complicated airplane is converted into small working areas with small scale and simple appearance, the requirement on the degree of freedom of the working platform in the spraying process of the airplane is greatly reduced, and the working stroke of a servo mechanism is greatly reduced;
according to the invention, the servo platform with three translational degrees of freedom is used for meeting the long-range low-precision movement of the surface treatment equipment, and the mechanical arm on the servo platform is used for meeting the short-range high-precision movement and rotation of the surface treatment equipment, so that the airplane area corresponding to each servo platform is further refined into small areas with simpler structures, the mechanical arm is allowed to work in the next area under the drive of the servo platform after the work in one small area is finished, the degree of freedom required by the mechanical arm is greatly reduced, and the requirement can be met by the conventional six-joint mechanical arm; meanwhile, the difficulty of compiling the path of the surface treatment equipment is greatly reduced, and complex interpolation is not needed;
the invention overcomes the problems of mutual interference and interference of the entering and exiting of the airplane when a plurality of servo platforms work together, the whole working area is divided into three mutually isolated areas of the left side and the right side of the airplane body and the airplane tail, each side of the airplane body is divided into a front area and a rear area by the wings, and the front area, the rear area, the left area, the right area, the front area, the right area, the rear area and the airplane tail are divided by airplane parts, so that the mutual interference of the servo platforms is avoided to the greatest extent; meanwhile, a movable rail transfer track is designed for a part (a secondary body movable rail) which can influence the entrance and exit of the airplane, so that the movable rail transfer track can be transferred to other places when the airplane enters and exits;
the invention comprises a series of anti-collision and anti-falling devices, thereby overcoming the problems of collision and sudden falling which can occur when the working stroke of the servo mechanism is longer.
Drawings
FIG. 1 is a flow chart of the operation of an aircraft automated surface treatment system of the present invention in use;
FIG. 2 is a schematic diagram of an aircraft automated surface treatment system according to the present invention;
FIG. 3 is a schematic structural view of a left front lifting platform, a right front lifting platform, a left rear lifting platform and a right rear lifting platform are the same in structure with the left front lifting platform, but are arranged at different positions,
FIG. 4 is a schematic illustration of the construction of the tail lift table;
FIG. 5 is a schematic structural view of a movable rail of the auxiliary body;
the system comprises an airplane, a 21-airplane body ground rail, a 22-airplane tail ground rail, a 23-movable rail transfer rail, a 231-electric transfer car, a 31-main airplane body movable rail, a 32-auxiliary airplane body movable rail, a 33-airplane tail movable rail, a 41-left front lifting platform, a 42-right front lifting platform, a 43-left rear lifting platform, a 44-right rear lifting platform, a 45-airplane tail lifting platform, a 5-rotary platform A, a 6-mechanical arm and a 7-surface treatment device.
Detailed Description
As shown in fig. 2, an automatic surface treatment system for an aircraft is used for performing surface treatment on the whole or part of an aircraft 1; the system comprises surface treatment equipment 7, a mechanical arm 6 for driving the surface treatment equipment 7 to carry out surface treatment, a servo platform for driving the mechanical arm 6 to carry out long-distance displacement in a three-dimensional space, a three-dimensional scanner for modeling the airplane 1, a posture locator for determining the parking position and the posture of the airplane 1 and an automatic control system which is respectively electrically connected with the components.
The movement of the aircraft 1 in the hangar is carried out by means of a tractor and, since the aircraft 1 is heavy and fragile and cannot be randomly adjusted in attitude, it is difficult to stop it at a precise position, it is necessary to position the aircraft 1 after it has entered the field and to adjust the path of the surface treatment device 7 according to the actual position of the aircraft 1.
In this embodiment, 5 servo platforms are provided, which are as follows:
the left front servo platform is responsible for unmanned automatic operation of the left front part of the body of the airplane 1 and comprises a left half machine head and a front half working area of a left wing;
the right front servo platform is responsible for unmanned automatic operation of the right front part of the body of the airplane 1 and comprises a right half machine head and a front half working area of a right wing;
the left rear servo platform is responsible for unmanned automatic operation of the left rear part of the body of the airplane 1 and comprises a rear half working area of a left wing;
the right rear servo platform is responsible for unmanned automatic operation of the right rear part of the fuselage of the airplane 1 and comprises a rear half working area of a right wing;
and the tail servo platform is responsible for unmanned automatic operation of the tail wing of the airplane 1.
Types of the surface treatment apparatus 7 include a cleaning apparatus, a polishing apparatus, a paint removing apparatus, a spraying apparatus, and an appearance inspecting apparatus. And mounted to the robotic arm 6 according to process requirements.
The appearance inspection equipment is an automatic zooming camera which is electrically connected with the image processing equipment. Compared with an automobile, the size of the airplane 1 is much larger, so that a lot of places where people cannot reach easily exist on the airplane 1, and at the moment, the appearance inspection is performed by using a camera and an image processing device, the efficiency is much higher, and the automatic processing can be realized. In addition, if the local flaws on the surface of the airplane 1 need to be repaired manually, the mechanical arm 6 can be directly and manually operated without building a scaffold or other tools for people to reach a working area, and images transmitted by the appearance inspection equipment are observed for operation. In this embodiment, the appearance inspection apparatus and the image processing apparatus are connected via a 5G network.
The servo platforms are arranged around the airplane 1 at intervals, each servo platform corresponds to one area on the airplane 1, and all the servo platforms comprise 3 translation degrees of freedom; the servo platform can freely move to any point in a three-dimensional space, the servo platform is responsible for long-distance displacement, and the mechanical arm 6 is responsible for displacement and rotation in a small range.
As shown in fig. 2-4, the servo platform includes a ground rail, a movable rail disposed on the ground rail in a sliding manner perpendicular to the ground rail, and a lifting platform disposed on the movable rail in a sliding manner; the movable track and the ground track and the lifting platform and the movable track are respectively connected through a track power device; the track power device is electrically connected with the automatic control system.
In this embodiment, the track power device is a rack and pinion device driven by a motor, wherein, the gear at the bottom of the lifting platform is meshed with the rack at the top of the movable track, and the rack at the bottom of the movable track is meshed with the rack on the ground rail. Similar to trains running on a rack-and-pinion railway, the track power unit is not easy to slip, and therefore has high precision.
The ground rails comprise a plurality of fuselage ground rails 21 which are arranged on the left side and the right side of the airplane 1 in parallel with the length direction of the airplane 1, and tail ground rails 22 which are arranged behind the airplane 1 in a direction perpendicular to the length direction of the airplane 1, wherein the lifting platforms comprise a left front lifting platform 41 arranged in front of the left wing of the airplane 1, a right front lifting platform 42 arranged in front of the right wing of the airplane 1, a left rear lifting platform 43 arranged behind the left wing of the airplane 1, a right rear lifting platform 44 arranged behind the right wing of the airplane 1, and a tail lifting platform 45 arranged behind the tail of the airplane 1; the movable rail comprises a machine body movable rail arranged on the machine body ground rail 21 and a machine tail movable rail 33 arranged on the machine tail ground rail 22, the lifting tables correspond to the movable rails one to one, the machine tail lifting tables 45 are arranged on the machine tail ground rail 22 through the corresponding machine tail movable rail 33, and other lifting tables are arranged on the machine body ground rail 21 through the corresponding machine body movable rails.
This servo platform configuration enables a reduction in the number of fuselage ground rails 21, the ground rails on each side of the fuselage being common. The lifting platforms adopted in the embodiment are of the same type, but the tail wing of the airplane 1 is the highest position of the whole airplane 1 on the ground, so the movable rail 33 of the tail wing is higher than the movable rail of the body, and the surface treatment requirement of the tail wing is met.
As shown in fig. 5, each fuselage movable rail comprises two sections, namely an auxiliary fuselage movable rail 32 arranged close to the airplane 1 and a main fuselage movable rail 31 arranged far away from the airplane 1, the auxiliary fuselage movable rail 32 is in butt joint with the main fuselage movable rail 31 and is locked by an electronic control locking device, the minimum distance of butt joints on two adjacent fuselage movable rails on the left side and the right side of the airplane 1 is not less than the maximum wheel track of the airplane 1, and the electronic control locking device is electrically connected with an automatic control system; the servo platform system also comprises two movable rail transfer rails 23 which are used for moving the auxiliary body movable rail 32 to the position which does not obstruct the entrance and exit of the airplane 1, the movable rail transfer rails 23 are arranged on the left and right sides of the nose of the airplane 1 in a way of being vertical to the body ground rails 21 and are arranged by being attached to the end parts of the body ground rails 21 on the same side of the airplane 1; an electric transfer vehicle 231 for driving the auxiliary body movable rail 32 to move is slidably arranged on the movable rail transfer track 23, and the electric transfer vehicle 231 is electrically connected with the automatic control system.
The fuselage movable rail is arranged perpendicular to the advancing direction of the airplane 1, so that the fuselage movable rail is bound to block the entrance and exit of the airplane 1, and in the embodiment, the fuselage movable rail is divided into two sections, so that the auxiliary fuselage movable rail 32 which can be pressed by the airplane 1 is made to be transferable and is transferred to other positions when the airplane 1 enters and exits. Since the movable rail transfer track 23 is perpendicular to the body ground rail 21, the gear at the bottom of the sub-body movable rail 32 cannot be used on the movable rail transfer track 23, and therefore, an electric transfer vehicle 231 needs to be further disposed on the movable rail transfer track 23 to drive the sub-body movable rail 32 to move.
The bottom of the lifting platform is provided with a rotating platform A5, the rotating shaft of the rotating platform A5 is vertically arranged, and the rotating platform A5 is electrically connected with an automatic control system. The gear driving the lifting platform to move on the movable rail is arranged at the bottom of the rotating platform A5. The elevating platform goes up and down based on the rack and pinion that the motor drove equally, and whole platform adopts the counter weight mode to reduce the power requirement of motor.
In this embodiment, arm 6 is common six joint arms 6, to the comparatively simple civil aviation airliner of structure, directly installs arm 6 on the elevating platform, can satisfy the demand. However, for those fighter planes with high maneuvering requirements and therefore complex canards, flaps, strakes and movable tail wings, an additional rotating platform is required to be arranged to increase the degree of freedom of the mechanical arm 6, and in order to avoid confusion, the rotating platform arranged at the bottom of the mechanical arm 6 is called a rotating platform B, and the mechanical arm 6 is erected on the lifting platform through the rotating platform B. The rotating platform B should have two rotational degrees of freedom different from the rotating platform a5, such that the rotating platform a5 in combination with the rotating platform B adds three rotational degrees of freedom to the robot arm 6.
Be provided with on the elevating platform and be used for preventing the anti-falling breaker that the elevating platform descends suddenly to avoid comparatively accurate arm 6 to be broken when the elevating platform takes place to descend suddenly, this is comparatively ripe safety device, its detailed structure is no longer described herein.
The movable track, the lifting platform and the mechanical arm 6 are respectively provided with a safe touch edge which is electrically connected with the automatic control system. Here, in order to avoid the collision, since the present invention has many long-distance movements, it is necessary to provide safety measures for immediately stopping the collision member when the safety margin detects the collision.
As shown in fig. 1, a method of using an automated surface treatment system for operating an aircraft automated surface treatment system as described above for surface treatment of an aircraft 1, comprises the steps of:
the method comprises the following steps: taking an airplane with the same model as the airplane 1 to be processed, dragging the airplane into an airplane automatic surface processing system to serve as a standard airplane, and establishing a model of the standard airplane as a standard model by using a three-dimensional scanner; establishing a coordinate system on the site of the automatic surface processing system of the airplane, determining the position and the attitude of a standard airplane in the automatic surface processing system of the airplane by using an attitude locator, taking the position and the attitude as a standard position and a standard attitude, and dragging the standard airplane out after the measurement;
since the purpose of the three-dimensional scan in the present invention is to acquire profile set data, no pattern is required on the surface of the aircraft 1. Therefore, the three-dimensional scanner should adopt a laser copying machine, the laser copying machine has low requirements on the surface reflectivity and the smoothness of the airplane 1, and the modeling is fast. The standard model is preferably a point cloud model, which can be well matched with various CAE and CAM software and can also be used for assisting in solving the position and attitude deviation of the airplane 1.
Step two: writing a soft profiling program according to the standard model, the standard position and the standard posture, generating a working path of the servo platform as a standard platform path, generating a working path of the mechanical arm 6 as a standard arm path, and determining a process parameter of the surface treatment equipment 7 as a treatment equipment parameter;
and adopting CAE technology to carry out meshing division on the standard model, dividing the outer surface of the standard model into a plurality of working areas with the same size, and then adopting CAM technology to generate a standard platform path and a standard arm path. The types of CAE software and CAM software on the market are many, and are not described in detail here, and can be freely selected according to requirements in actual use. One feasible scheme selects Catia for grid division, and adopts RobotMaster to generate a standard platform path and a standard arm path. It should be noted, however, that the aircraft 1 itself and within a certain distance from the outer surface of the aircraft 1 should be considered as a danger zone, and that the standard platform path and the standard arm path cannot intersect the danger zone in order to avoid a collision. The standard platform path and the standard arm path are both paths which are only suitable for the situation that the position where the aircraft 1 stops is completely the same as the position and the posture where the standard aircraft stops, and in actual use, the aircraft 1 cannot stop exactly precisely, so that adjustment is needed subsequently.
After the soft profiling program is written, a database is established, and the standard model, the standard position, the standard posture and the corresponding soft profiling program of the airplane 1 with the corresponding model are stored so as to be convenient for later calling.
Step three: dragging the airplane 1 to be processed into an automatic airplane surface processing system, determining the position and the attitude of the airplane 1 to be processed by using an attitude positioning instrument, and comparing the position and the attitude with a standard position and a standard attitude to obtain a position deviation and an attitude deviation;
here, a rough scan of the aircraft 1 to be treated can also be carried out with a three-dimensional scanner and compared with a standard model to derive the shape deviation. However, this method is very narrow in application range and only needs to be applied to the aircraft 1 which has a certain degree of deformation due to an accident or the like. Normal aircraft 1 are subject to strict tolerances during production and do not require such scanning as compared to standard aircraft which do not affect shape deviations to the path of the surface treatment device 7.
Step four: correcting the standard platform path and the standard arm path according to the position deviation and the attitude deviation to obtain an actual platform path and an actual arm path; for an aircraft 1 that is deformed too much, the shape deviation needs to be taken into account as well. Here again the actual platform path and the actual arm path cannot intersect the hazardous area.
Step five: the surface treatment of the aircraft 1 is completed by operating the servo platform according to the actual platform path, the robot arm 6 according to the actual arm path, and the surface treatment device 7 according to the treatment device parameters.
In this embodiment, the automatic control system includes an upper computer and lower computers provided in each controlled body in a one-to-one correspondence, where the lower computers of the servo platform and the robot arm 6 are single-chip microcomputers capable of inputting new programs, and after soft profiling programs such as an actual platform path and an actual arm path are input, the soft profiling programs can be executed after receiving instructions from the upper computer. The lower computer of the surface treatment device 7 also needs to be a single chip microcomputer capable of inputting a new program, and in the case of a spraying device, the parameters of the treatment device include not only simple parameters such as the pressure of paint spraying, but also areas to be avoided during paint spraying, such as areas of an engine/radar, and the like, and the paint of different colors needs to be switched according to the positions. In addition, the automatic control system should further include an environmental sensor for measuring environmental parameters such as temperature, humidity, and wind speed at the site, so as to process the device parameters according to the environmental conditions, so that the modified surface processing device 7 operates in an optimal state.
Meanwhile, a distance sensor used for monitoring the distance between the servo platform and the airplane 1 is further arranged around the airplane 1, the distance sensor is electrically connected with an upper computer, the upper computer monitors the distance information in real time, and if the servo platform is too close to the airplane 1 in the working process, the servo platform should be stopped immediately.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. An automatic surface treatment system for an aircraft, for the surface treatment of the whole or part of an aircraft (1); the method is characterized in that: the device comprises surface treatment equipment (7), a mechanical arm (6) for driving the surface treatment equipment (7) to carry out surface treatment, a servo platform for driving the mechanical arm (6) to carry out long-distance displacement in a three-dimensional space, a three-dimensional scanner for modeling the airplane (1), a posture locator for determining the parking position and the posture of the airplane (1), and an automatic control system which is respectively electrically connected with the components;
the servo platforms are arranged around the airplane (1) at intervals, each servo platform corresponds to one area on the airplane (1), and all the servo platforms comprise 3 translation degrees of freedom; the servo platform comprises a ground rail, a movable rail which is vertical to the ground rail and is arranged on the ground rail in a sliding mode, and a lifting platform which is arranged on the movable rail in a sliding mode; the movable track and the ground track as well as the lifting platform and the movable track are respectively connected through a track power device; the track power device is electrically connected with the automatic control system;
the ground rails comprise a plurality of fuselage ground rails (21) which are arranged on the left side and the right side of the airplane (1) in parallel to the length direction of the airplane (1), and a tail ground rail (22) which is arranged behind the airplane (1) in a direction perpendicular to the length direction of the airplane (1), and the landing stage comprises a left front lifting platform (41) arranged in front of the left wing of the airplane (1), a right front lifting platform (42) arranged in front of the right wing of the airplane (1), a left rear lifting platform (43) arranged behind the left wing of the airplane (1), a right rear lifting platform (44) arranged behind the right wing of the airplane (1), and a tail lifting platform (45) arranged behind the tail wing of the airplane (1); the movable rail comprises a machine body movable rail arranged on a machine body ground rail (21) and a machine tail movable rail (33) arranged on the machine tail ground rail (22), the lifting platform and the movable rail are in one-to-one correspondence, the machine tail lifting platform (45) is arranged on the machine tail ground rail (22) through the corresponding machine tail movable rail (33), and other lifting platforms are arranged on the machine body ground rail (21) through the corresponding machine body movable rails.
2. An aircraft automated surface processing system according to claim 1, wherein: the types of the surface treatment apparatus (7) include a cleaning apparatus, a polishing apparatus, a paint removing apparatus, a spraying apparatus, and an appearance inspecting apparatus.
3. An aircraft automated surface processing system according to claim 2, wherein: the appearance inspection equipment is an automatic zooming camera which is electrically connected with the image processing equipment.
4. An aircraft automated surface processing system according to claim 3, wherein: each fuselage movable rail comprises two sections, namely an auxiliary fuselage movable rail (32) arranged close to the airplane (1) and a main fuselage movable rail (31) arranged far away from the airplane (1), the auxiliary fuselage movable rail (32) is in butt joint with the main fuselage movable rail (31) and is locked by an electric control locking device, the minimum distance between butt joints on two adjacent fuselage movable rails on the left side and the right side of the airplane (1) is not smaller than the maximum wheel track of the airplane (1), and the electric control locking device is electrically connected with an automatic control system; the servo platform system also comprises two movable rail transfer rails (23) for moving the auxiliary body movable rail (32) to a position which does not obstruct the in-and-out of the airplane (1), wherein the movable rail transfer rails (23) are perpendicular to the airplane body ground rails (21), are arranged at the left side and the right side of the airplane head of the airplane (1), and are attached to the end parts of the airplane body ground rails (21) positioned at the same side of the airplane (1); the movable rail transfer track (23) is provided with an electric transfer vehicle (231) used for driving the movable rail (32) of the auxiliary body to move in a sliding mode, and the electric transfer vehicle (231) is electrically connected with an automatic control system.
5. An aircraft automated surface processing system according to claim 4, wherein: the lifting platform is provided with an anti-falling safety device for preventing the lifting platform from suddenly falling; safe touch edges are respectively arranged on the movable track, the lifting platform and the mechanical arm (6), and the safe touch edges are electrically connected with the automatic control system; the lifting platform is characterized in that a rotating platform A (5) is arranged at the bottom of the lifting platform, a rotating shaft of the rotating platform A (5) is vertically arranged, and the rotating platform A (5) is electrically connected with an automatic control system.
6. A method of using an automated surface treatment system, comprising: -an aircraft automated surface treatment system for operating an aircraft (1) for the surface treatment of an aircraft according to claim 1, and comprising the following steps:
the method comprises the following steps: taking an airplane with the same model as the airplane (1) to be processed as a standard airplane, and establishing a model of the standard airplane as a standard model by using a three-dimensional scanner; establishing a coordinate system on the site of the automatic surface processing system of the airplane, determining the position and the attitude of a standard airplane in the automatic surface processing system of the airplane by using an attitude positioning instrument as a standard position and a standard attitude, and dragging the standard airplane out after the measurement is finished;
step two: writing a soft copying program according to the standard model, the standard position and the standard posture, generating a working path of the automatic working platform as a standard platform path, generating a working path of the mechanical arm (6) as a standard arm path, and determining a process parameter of the surface treatment equipment (7) as a treatment equipment parameter;
step three: the method comprises the following steps of (1) transporting an airplane (1) to be processed into an airplane automatic surface processing system, determining the position and the attitude of the airplane (1) to be processed by using an attitude positioning instrument, and comparing the position and the attitude of the airplane with a standard position and a standard attitude to obtain position deviation and attitude deviation;
step four: correcting the standard platform path and the standard arm path according to the position deviation and the attitude deviation to obtain an actual platform path and an actual arm path;
step five: and operating the automatic working platform according to the actual platform path, operating the mechanical arm (6) according to the actual arm path, and operating the surface treatment equipment (7) according to the treatment equipment parameters, thereby finishing the surface treatment of the airplane (1).
7. The method of using an automated surface treatment system of claim 6, wherein: and in the second step, the standard model is subjected to grid division by adopting a CAE technology, so that the outer surface of the standard model is divided into a plurality of working areas with the same size, and then a standard platform path and a standard arm path are generated by adopting a CAM technology.
8. The method of using an automated surface treatment system of claim 6, wherein: the three-dimensional scanner is a laser number-reading machine, and the standard model is a point cloud model.
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| CN111086002A (en) * | 2019-12-30 | 2020-05-01 | 芜湖哈特机器人产业技术研究院有限公司 | Airplane cleaning robot and control method thereof |
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| RO127988B1 (en) * | 2012-06-18 | 2019-12-30 | Mb Telecom Ltd Srl | Method and system for non-intrusive inspection of aircrafts |
| JP6678154B2 (en) * | 2017-12-05 | 2020-04-08 | 株式会社大気社 | Surface treatment system for large objects |
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| CN110919654A (en) * | 2019-12-02 | 2020-03-27 | 中国船舶工业系统工程研究院 | Automatic butt joint system of arm based on visual servo |
| CN111086002A (en) * | 2019-12-30 | 2020-05-01 | 芜湖哈特机器人产业技术研究院有限公司 | Airplane cleaning robot and control method thereof |
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