CN113135300B - Automatic planning control system for aircraft surface treatment and use method thereof - Google Patents

Abstract

The invention relates to a ground device associated with an airplane and discloses an automatic planning control system for airplane surface treatment and a using method thereof, wherein the servo system comprises a servo platform for performing long-distance displacement in a three-dimensional space and a mechanical arm arranged on the servo platform, and the servo platform is arranged at intervals around the airplane; the automatic planning control system comprises an upper computer, a lower computer, a three-dimensional scanner, a posture locator and a distance sensor, wherein the lower computer corresponds to the servo platform, the mechanical arm and the surface processing equipment one by one and is electrically connected with the servo platform, the mechanical arm and the surface processing equipment one by one; the surface treatment equipment, the lower computer, the three-dimensional scanner, the attitude locator and the distance sensor are respectively and electrically connected with the upper computer. In the invention, the soft profiling surface treatment is carried out on the airplane in a manner similar to a multi-axis linkage numerical control machine tool, thereby realizing the automatic surface treatment of the airplane.

Description

Automatic planning control system for aircraft surface treatment and use method thereof

Technical Field

The present invention relates to a ground installation associated with an aircraft, and in particular to an automatic planning control system for aircraft surface treatment and a 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 automobile painting, including three types, i.e., a reciprocating machine, a hard profiling painting machine using a profiling guide rail, and a soft profiling painting machine using a computer to control a painting track, wherein the soft profiling painting machine has the most required degrees of freedom, and when the soft profiling painting machine is used for automobile painting, at least three degrees of freedom are generally required, and meanwhile, the automobile itself is often required to perform certain posture adjustment along with a nozzle of the painting machine.

Compared with an automobile with a relatively simple appearance, the appearance of the airplane is more complex, and more freedom degrees are 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 planning control system for aircraft surface treatment and a use 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 planning control system for aircraft surface treatment is used for controlling a servo system and surface treatment equipment to perform the surface treatment of an aircraft, the servo system comprises a servo platform for performing long-distance displacement in a three-dimensional space and a mechanical arm arranged on the servo platform, and the servo platform is arranged around the aircraft at intervals; the automatic planning control system comprises an upper computer, a lower computer, a three-dimensional scanner, a posture locator and a distance sensor, wherein the lower computer corresponds to the servo platform, the mechanical arm and the surface processing equipment one by one and is electrically connected with the servo platform, the mechanical arm and the surface processing equipment;

the surface treatment equipment, the lower computer, the three-dimensional scanner, the attitude locator and the distance sensor are respectively and electrically connected with the upper computer.

Further, the distance sensors are uniformly arranged around the airplane at intervals, and the distance between each distance sensor and the airplane is the same.

Furthermore, 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; the track power device is electrically connected with the upper computer through the lower computer.

Further, every distance sensor includes a plurality of detecting element that set up along the direction interval of perpendicular to aircraft profile line, detecting element is the vertical correlation type photoelectric sensor who sets up of light path or the vertical reflection-type photoelectric sensor who sets up of light path, detecting element's light path upper end is higher than the highest position that the elevating platform can reach, and the lower extreme is less than movable track's bottom.

Further, the elevating platform comprises a left front elevating platform arranged in front of the left wing of the airplane, a right front elevating platform arranged in front of the right wing of the airplane, a left rear elevating platform arranged behind the left wing of the airplane, a right rear elevating platform arranged behind the right wing of the airplane and a tail elevating platform arranged behind the tail wing of the airplane.

Furthermore, an anti-falling safety device for preventing the lifting platform from suddenly falling is arranged on the lifting platform; the movable rail, the lifting platform and the mechanical arm are respectively provided with a safety contact edge, and the safety contact edges are electrically connected with an upper computer; the lifting platform is characterized in that a rotating platform A is arranged at the bottom of the lifting platform, and a rotating shaft of the rotating platform A is vertically arranged and is electrically connected with an upper computer through a lower computer.

Further, the types of the surface treatment apparatus include a cleaning apparatus, a paint removing apparatus, a spraying apparatus, and an appearance inspecting apparatus; the appearance inspection equipment is an automatic zooming camera which is electrically connected with the image processing equipment.

Further, the automatic planning control system also comprises an environment sensor for detecting the environment condition of the aircraft surface treatment site, wherein the environment sensor comprises a temperature sensor, a humidity sensor, a dust concentration sensor and a wind speed sensor.

The use method of the automatic planning control system for the surface treatment of the airplane is used for operating the automatic planning control system for the surface treatment of the airplane to perform the surface treatment of the airplane and comprises the following steps:

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 in a field where the servo platforms are located, and determining the position and the attitude of a standard airplane between the servo platforms as a standard position and a standard attitude by using an attitude positioner;

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 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 between servo platforms, 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 servo 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;

the fourth step also comprises the following contents: and adjusting the parameters of the processing equipment according to the environmental conditions.

Compared with the prior art, the automatic planning control system for the surface treatment of the airplane and the use 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 the designed working position like an automobile after entering the field is solved;

according to the invention, the distance sensor is arranged around the airplane, and the servo platform stops moving when the distance between the servo platform and the airplane is too close, so that the possible collision of the servo platform when the working stroke is longer is overcome; safe contact edges are arranged on the movable rail, the lifting platform and the mechanical arm, so that damage can be stopped in time after collision occurs;

according to the invention, the surface treatment equipment works in an optimal state by arranging the environment sensor and then adjusting the parameters of the treatment equipment according to the environment condition;

in the invention, the surface treatment work of the airplane is finished by arranging a plurality of servo platforms, 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;

in 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 conventional six-joint mechanical arm can meet the requirements; 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, the movable rail transfer track is designed for parts (auxiliary body movable rails) 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.

Drawings

FIG. 1 is a schematic diagram of an automatic planning control system for aircraft surface treatment according to the present invention;

FIG. 2 is a flow chart of the operation of an automated planning control system for aircraft surface treatment according to the present invention in use;

FIG. 3 is a schematic diagram of a servo system;

fig. 4 is a schematic structural view of the left front lifting platform, the right front lifting platform, the left rear lifting platform and the right rear lifting platform are the same as the left front lifting platform in structure, but are arranged at different positions,

FIG. 5 is a schematic illustration of the construction of the tail lift table;

FIG. 6 is a schematic structural view of a movable rail of the auxiliary body;

FIG. 7 is a schematic diagram of a possible state of the distance sensor;

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. 1, an automatic planning control system for aircraft surface treatment is used for controlling a servo system and a surface treatment device 7 to perform surface treatment on an aircraft 1, wherein the servo system comprises a servo platform for performing long-distance displacement in a three-dimensional space and a mechanical arm 6 arranged on the servo platform, and the servo platform is arranged around the aircraft 1 at intervals; the automatic planning control system comprises an upper computer, a lower computer, a three-dimensional scanner, a posture positioner and a distance sensor, wherein the lower computer corresponds to the servo platform, the mechanical arm 6 and the surface processing equipment 7 one by one and is electrically connected with the servo platform, the mechanical arm and the surface processing equipment 7;

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 adjusted in attitude at will, it is difficult to stop it at an accurate position, it is necessary to position the aircraft 1 after it has entered the airport, and to adjust the path of the surface treatment device 7 according to the actual position of the aircraft 1.

As shown in fig. 3, in this embodiment, 5 servo stages 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.

The surface treatment equipment 7, the lower computer, the three-dimensional scanner, the attitude locator and the distance sensor are respectively and electrically connected with the upper computer.

The distance sensors are uniformly arranged around the airplane 1 at intervals, and the distance between each distance sensor and the airplane 1 is the same.

Each distance sensor comprises a plurality of detection units which are arranged at intervals in the direction perpendicular to the contour line of the airplane 1, each detection unit is a correlation type photoelectric sensor or a reflection type photoelectric sensor, the light path of each detection unit is vertically arranged, the upper end of the light path of each detection unit is higher than the highest position which can be reached by the lifting platform, and the lower end of the light path of each detection unit is lower than the bottom of the movable track, so that the servo platform can accurately block or reflect laser of the detection units when passing through the detection units.

Each detection unit is just like an LED lamp, after the distance sensors are combined, a circle is formed on the periphery of the airplane 1 like an LED screen, the depth of the servo platform invading into a dangerous area can be determined according to the position of the blocked detection unit, the outline of an invader can be confirmed, and therefore misinformation is avoided.

In this embodiment, each of the detection units of the correlation photoelectric sensor is in a blocked state or an unblocked state, can be conveniently represented by binary codes, and communicates with an upper computer. In this embodiment, each distance sensor includes 5 detecting units, and after the 5 detecting units are arranged and combined, as shown in fig. 7, the 5 detecting units of one distance sensor have 32 possible states in total, and the binary encoding requires 5 bytes. Of course, these detection units may not be grouped into distance sensors, but may communicate with the upper computer separately, but the wiring is too complicated.

As shown in fig. 3-5, each servo platform corresponds to an area on the aircraft 1, and all servo platforms include 3 translational 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. 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 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 upper computer through the lower computer.

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 device is not easy to slip, and therefore, the precision is high.

As shown in fig. 3-5, the ground rails include a plurality of fuselage ground rails 21 disposed on the left and right sides of the airplane 1 in parallel with the length direction of the airplane 1, and a tail ground rail 22 disposed behind the airplane 1 in perpendicular to the length direction of the airplane 1, and the lifters include a left front lifter 41 disposed in front of the left wing of the airplane 1, a right front lifter 42 disposed in front of the right wing of the airplane 1, a left rear lifter 43 disposed behind the left wing of the airplane 1, a right rear lifter 44 disposed behind the right wing of the airplane 1, and a tail lifter 45 disposed behind the tail of the airplane 1; the movable rail is including setting up the fuselage movable rail on fuselage ground rail 21 to and the tail movable rail 33 of setting on tail ground rail 22, elevating platform and movable rail one-to-one, and tail elevating platform 45 sets up on tail ground rail 22 through the tail movable rail 33 that corresponds, and all the other elevating platforms pass through the fuselage movable rail setting that corresponds on fuselage ground rail 21.

The construction of such a servo platform enables a reduction in the number of fuselage ground rails 21, which are common to each side of the fuselage. 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. 6, each fuselage movable rail comprises two sections, namely an auxiliary fuselage movable rail 32 arranged close to the aircraft 1 and a main fuselage movable rail 31 arranged far away from the aircraft 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 between butt joints on two adjacent fuselage movable rails on the left side and the right side of the aircraft 1 is not less than the maximum wheel track of the aircraft 1, and the electronic control locking device is electrically connected with an upper computer; the servo platform system also comprises two movable rail transfer tracks 23 for moving the auxiliary body movable rail 32 to a position which does not hinder the entrance and exit of the airplane 1, wherein the movable rail transfer tracks 23 are arranged at the left side and the right side of the aircraft head of the airplane 1 and are attached to the end parts of the body ground rails 21 positioned at the same side of the airplane 1 in a manner of being vertical to the body ground rails 21; the movable rail transfer track 23 is provided with an electric transfer vehicle 231 for driving the movable rail 32 of the auxiliary body to move in a sliding manner, and the electric transfer vehicle 231 is electrically connected with an upper computer through a lower computer.

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 is electrically connected with an upper computer through a lower computer. 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. Here rotary platform a5 provides an additional degree of rotational freedom.

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 the anti-falling safety device who is used for preventing the elevating platform from descending suddenly on the elevating platform 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 repeated here.

The movable track, the lifting platform and the mechanical arm 6 are respectively provided with a safety contact edge, and the safety contact edges are electrically connected with an upper computer. In order to avoid collision, the invention needs to provide safety measures for stopping collision components immediately to stop damage once the collision is detected by the safe contact edge because the collision is prevented from occurring due to a lot of long-distance movement.

Types of the surface treatment apparatus 7 include a cleaning apparatus, a paint removing apparatus, a spraying apparatus, and an appearance inspecting apparatus. 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 automatic planning control system further comprises environment sensors for detecting the environmental conditions of the surface treatment site of the aircraft 1, wherein the environment sensors comprise a temperature sensor, a humidity sensor, a dust concentration sensor and a wind speed sensor.

As shown in fig. 2, a method for using an automatic planning control system for aircraft surface treatment for operating the automatic planning control system for aircraft surface treatment to perform surface treatment of an aircraft 1 includes 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 to be dragged to a servo platform, and establishing a model of the standard airplane as a standard model by using a three-dimensional scanner; establishing a coordinate system in a place where the servo platforms are located, determining the position and the attitude of a standard airplane positioned between the servo platforms by using an attitude locator, taking the position and the attitude as a standard position and a standard attitude, and dragging out the standard airplane 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 herein any more, and in actual use, the CATIA is selected freely according to requirements, a feasible scheme selects the Catia to perform grid division, and a RobotMaster is adopted 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.

The soft copying programs of different surface treatment devices 7 are written differently:

spraying equipment:

when spraying, not only need change the colour and the type of lacquer according to the demand, still must accomplish the dodging to the position of not spraying paint. The requirements for the path during spraying are relatively strict and during spraying the aircraft 1 spray will be edited with the following criteria:

a: the left front servo platform and the right front servo platform move from the head of the airplane 1 to the tip of the wing, namely move along the route of the nose, the wing root and the wing tip; the left rear servo platform and the right rear servo platform move from the tail of the airplane 1 to the tip of the wing, namely move along the route of the tail, the wing root and the wing tip; and the tail servo platform operates independently.

b: and the spraying path of the mechanical arm 6 in the fixed area adopts a warp and weft mode to spray. Firstly, carrying out transverse motion spraying, and then carrying out longitudinal motion spraying; criss-cross spray paths are formed in the spray area. The model of the airplane 1 obtains the required three-dimensional surface sprayed by the airplane 1 by setting the surfaces corresponding to the coordinates on the three axes of X, Y and Z and by surface cutting. The fixed point position of the mechanical arm 6 can be set on each three-dimensional surface, and the spraying paths of the mechanical arm 6 of the longitude and latitude lines are automatically calculated through the set fixed point position.

c: the two sides of the machine body need to be sprayed simultaneously so that the drying time of the surface of the machine body after spraying is consistent.

d: the spraying mode is from top to bottom, so that paint mist particles in the air can be precipitated on the ground, the paint mist is not dusted, and the spraying quality is reduced; if the paint is sprayed from the bottom to the top, the paint mist affects the quality of the spray over the aircraft 1.

e: the spray path can be set according to the standards specified by the process, and non-spray parts, such as an engine, a radar antenna and the like, can be set so that the spray path avoids the areas, and the spray path cannot be opened, and the spray equipment is closed when passing through the non-spray parts, so that the avoidance is completed.

Paint removing equipment:

the paint removing method comprises a plurality of flame methods, sand blowing methods, shovel methods, chemical paint removing methods and the like, the former three methods are mechanical paint removing methods, and the paint removing methods have advantages and disadvantages mutually, and are suitable for paint removing of small parts. In the case of aircraft 1, the metallic material is subject to deformation due to corrosion and mechanical paint removal. Meanwhile, the aircraft 1 is generally large in size and is not suitable for paint removal by a mechanical method. The depainting of the outer surface coating of the skin of the aircraft 1 is currently carried out by a chemical depainting method. For the paint removing modes of different processes, corresponding different paint removing path plans can be provided.

Cleaning equipment:

cleaning equipment is installed on the intelligent motion platform, and the motion platform can clean the airplane 1. Due to the influence of environmental factors, the current cleaning process is mainly dry cleaning. Since some influence on the profile of the aircraft 1 is encountered during the cleaning process, the pressure against the body of the aircraft 1 is sensed at the cleaning contact brushes. Through the pressure of response washing brush, firstly adjust the harm of too big pressure to 1 organism of aircraft, secondly adjust the washing angle of washing brush through pressure to increase abluent effect.

Appearance inspection equipment:

the image data acquired by the vision system is processed and analyzed through the image processing equipment, the specific direction of the defect on the outer surface of the airplane 1 can be obtained, and after the defect is found, a worker is prompted to process the defect through a feedback signal.

After the soft copying program is written, a database is established, and the standard model, the standard position, the standard posture and the corresponding soft copying program of the airplane 1 with the corresponding model are stored so as to be convenient to call later.

Step three: dragging the airplane 1 to be processed between servo platforms, determining the position and the attitude of the airplane 1 to be processed by 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 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 of 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.

The fourth step also comprises the following steps: adjusting the parameters of the processing equipment according to the environmental conditions, which is specifically as follows:

wind speed and dust:

during the manufacturing and maintenance of the aircraft 1, some of the process steps are greatly related to the air flow rate in the working environment, for example, in the aspect of the paint spraying process, the air flow rate can influence the relevant spraying quality under the condition of automatic coating

At present, in a coating machine warehouse, strict requirements are required on the air flow rate of the warehouse and the like:

a: when painting and drying, the painting area of the aircraft 1 should be kept clean of ambient air, preferably with a dust tolerance of less than 300 dust/L above 5 μm.

b: the air flow rate of the hangar is dependent on the paint vehicle type, and different paint applications have different requirements on the air flow rate. Therefore, aiming at different paint types, software is required to give an alarm, and relevant personnel are required to deal with the air flow rate and other relevant problems.

The influence on the intelligent operation in the paint spraying process is made by collecting the flow rate value of the machine base and relevant paint information used by spraying.

In the spraying process, collected air flow rate data are input into an upper computer, and the upper computer can be adjusted in the following mode after being analyzed according to big data.

a: when the air flow rate is too high or too low, but is within an allowable range, the spraying angle of the spraying equipment, the spraying flow rate and the like can be adjusted.

b: in the early stage of the spraying preparation work, relevant process information used by the paint type is called from a database by inputting the information of the paint type, such as: paint spraying flow rate, moving speed of the spraying equipment, opening angle of the spraying equipment and the like.

Ambient temperature:

the influence of the ambient temperature on the delicate machinery inside the aircraft 1 is very great. For example, in the spraying state, the drying temperature for spraying the primer paint on the airplane 1 in the complete state is required to be below 50 ℃. This is because the special instruments, radar communication equipment, organic glass, rubber parts, etc. on the aircraft 1 cannot withstand high temperature drying.

In the spraying process, the collected temperature data are input into an upper computer, and the upper computer can be adjusted according to the following modes:

a: most paints have a viscosity that is reduced at ambient temperatures above 30 c but not above the maximum temperature, advantageously reducing the incidence of orange peel, and disadvantageously have a viscosity that is too low and tends to sag. Therefore, at too high a temperature, the paint flow rate is reduced and the spray rate is reduced and the shape of the spray orifice is modified to achieve the best spray results.

b: most paint materials have an increased viscosity at ambient temperatures below 20 ℃, but do not resist the lowest temperature, and advantageously do not readily sag, and disadvantageously have an excessively high viscosity that tends to cause orange peel. Therefore, at too low a temperature, the paint flow rate is increased and the spray rate is increased to modify the shape of the nozzle for optimum spray results.

c: the temperature is in the most appropriate range of 20 ℃ to 30 ℃, the flow rate of the paint to be sprayed and the spraying rate can be counted numerically, and the optimal proportion can be made according to the temperature change so as to achieve the best matching and obtain the best spraying effect.

d: and if the temperature is not within the proper working temperature, alarming. Due to the inconsistency of the environmental temperature of each region, the influence of the temperature on the spraying and other processes needs to obtain a large amount of data for intelligent processing and judgment.

The paint remover has a plurality of paint removers, different types of paint removers have different use temperatures, and the paint remover is adjusted to spray paint within a proper temperature by monitoring the temperature of the paint removers.

Ambient humidity:

the adhesion of the paint film to the surface of the airplane 1 determines the success or failure of the coating. The higher the surface treatment grade, the higher the adhesion of the paint film to the substrate. In addition, environmental conditions can also affect adhesion, particularly air relative humidity.

By way of example, in the spraying process, collected humidity data are input to an upper computer, and the upper computer can adjust according to the following modes:

a: the spraying humidity is 45-70%, and when the relative humidity exceeds 85%, the coating operation is not suitable. The coated coating is easy to cause whitening, cracking, adhesion reduction, coating falling and other quality abnormalities. The upper computer needs to give an alarm and remind an operator to carry out treatment or automatically control the humidity regulating equipment to carry out control treatment.

b: when the spraying humidity is 70-85%, the relative humidity is too high, the surface of a paint film can be caused to dewing, and the surface is coated with dew, so that the adhesive force of the coating can be reduced; the finish paint is dull and whitish. At this time, humidity adjustment can be performed by using humidity adjusting equipment, so that the humidity of the working environment reaches proper relative humidity.

c: when the spraying humidity is below 45%, the relative humidity is too low, the cleanliness of a workshop is reduced, and the defective ratio of impurities and broken filaments is increased. At this time, humidification treatment can be adopted to make the working environment reach proper relative humidity.

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. The use method of the automatic planning control system for the surface treatment of the airplane is used for controlling a servo system and a surface treatment device (7) to perform the surface treatment of the airplane (1), the servo system comprises a servo platform for performing long-distance displacement in a three-dimensional space and a mechanical arm (6) arranged on the servo platform, and the servo platform is arranged around the airplane (1) at intervals; the method is characterized in that: the automatic planning control system comprises an upper computer, a lower computer, a three-dimensional scanner, a posture locator and a distance sensor, wherein the lower computer corresponds to the servo platform, the mechanical arm (6) and the surface processing equipment (7) one by one and is electrically connected with the servo platform, the mechanical arm and the surface processing equipment, the three-dimensional scanner is used for modeling the airplane (1), the posture locator is used for determining the parking position and the posture of the airplane (1), and the distance sensor is used for determining the distance between the servo platform and the airplane (1);

the surface treatment equipment (7), the lower computer, the three-dimensional scanner, the attitude locator and the distance sensor are respectively and electrically connected with the upper computer;

the automatic planning control system also comprises an environment sensor for detecting the environment condition of the surface treatment site of the airplane (1), wherein the environment sensor comprises a temperature sensor, a humidity sensor, a dust concentration sensor and a wind speed sensor;

the use method of the automatic planning control system comprises 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 in a place where the servo platforms are located, determining the position and the attitude of a standard airplane positioned between the servo platforms by using an attitude locator, taking the position and the attitude as a standard position and a standard attitude, and dragging out the standard airplane after the measurement;

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;

step three: the method comprises the steps that an airplane (1) to be processed is carried between servo platforms, the position and the attitude of the airplane (1) to be processed are determined by an attitude positioning instrument and are compared 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: the surface treatment of the aircraft (1) is completed by operating the servo platform according to the actual platform path, operating the robot arm (6) according to the actual arm path, and operating the surface treatment device (7) according to the treatment device parameters.

2. Use of an automatic planning control system for the surface treatment of aircraft according to claim 1, characterized in that: the distance sensors are uniformly arranged around the airplane (1) at intervals, and the distance between each distance sensor and the airplane (1) is the same.

3. Use of an automatic planning control system for the surface treatment of aircraft according to claim 2, characterized in that: 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 perpendicular 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 upper computer through the lower computer.

4. Use of an automatic planning control system for the surface treatment of aircraft according to claim 3, characterized in that: every distance sensor includes a plurality of detecting element that set up along the direction interval of perpendicular to aircraft (1) contour line, detecting element is the vertical correlation type photoelectric sensor or the vertical reflection-type photoelectric sensor who sets up of light path of the vertical setting of light path, detecting element's light path upper end is higher than the highest position that the elevating platform can reach, and the lower extreme is less than movable rail's bottom.

5. Use of an automatic planning control system for the surfacing of aircraft according to claim 3, characterized in that: the elevating platform comprises a left front elevating platform (41) arranged in front of the left wing of the airplane (1), a right front elevating platform (42) arranged in front of the right wing of the airplane (1), a left rear elevating platform (43) arranged in rear of the left wing of the airplane (1), a right rear elevating platform (44) arranged in rear of the right wing of the airplane (1) and a tail elevating platform (45) arranged in rear of the tail wing of the airplane (1).

6. Use of an automatic planning control system for the surfacing of aircraft according to claim 3, characterized in that: the lifting platform is provided with an anti-falling safety device for preventing the lifting platform from suddenly falling; safe contact edges are respectively arranged on the movable track, the lifting platform and the mechanical arm (6), and the safe contact edges are electrically connected with an upper computer; the lifting platform is characterized in that a rotating platform A (5) is arranged at the bottom of the lifting platform, and a rotating shaft of the rotating platform A (5) is vertically arranged and is electrically connected with an upper computer through a lower computer.

7. Use of an automatic planning control system for the surface treatment of aircraft according to claim 1, characterized in that: the types of the surface treatment equipment (7) comprise cleaning equipment, paint removing equipment, spraying equipment and appearance inspection equipment; the appearance inspection equipment is an automatic zooming camera which is electrically connected with the image processing equipment.

8. The use method of an aircraft surface treatment automatic planning control system according to claim 1, characterized in that: step two, adopting CAE technology to perform mesh 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 fourth step also comprises the following steps: the processing device parameters are adjusted according to the environmental conditions.

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