CN114460911A - Helicopter rotor intelligent spraying control system and method - Google Patents
Helicopter rotor intelligent spraying control system and method Download PDFInfo
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- CN114460911A CN114460911A CN202210121715.7A CN202210121715A CN114460911A CN 114460911 A CN114460911 A CN 114460911A CN 202210121715 A CN202210121715 A CN 202210121715A CN 114460911 A CN114460911 A CN 114460911A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Program-control systems
- G05B19/02—Program-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
本发明提供了一种直升机旋翼智能喷涂控制系统及方法，通过智能化喷涂控制系统固化工艺参数、提高喷漆工艺一致性，进行数据统计分析，不断优化升级工艺过程，改善喷涂工艺参数以工艺人员经验为主的现状。实现喷漆房无人化，避免人工长期暴露在漆雾环境下，影响身体健康。提高旋翼喷涂的效率，通过全过程自动化转运和机器人高效喷涂，提高旋翼的喷涂生产效率。提高信息化程度，所有喷涂过程数据均数字化并自动记录保存，与其他生产系统进行数据和业务对接，实现全方位智能化联动管理。
The invention provides a helicopter rotor intelligent spraying control system and method. The intelligent spraying control system cures process parameters, improves the consistency of the spraying process, performs statistical analysis of data, continuously optimizes and upgrades the technological process, and improves the spraying process parameters based on the experience of the technicians. prevailing status quo. Realize the unmanned spray booth, and avoid artificial long-term exposure to the paint mist environment, which will affect the health of the body. Improve the efficiency of rotor spraying, improve the spraying production efficiency of rotors through the whole process of automatic transfer and efficient robot spraying. Improve the degree of informatization, all spraying process data are digitized and automatically recorded and saved, data and business connection with other production systems, to achieve all-round intelligent linkage management.
Description
Technical Field
The invention relates to the technical field of rotor spraying, in particular to an intelligent spraying control system and method for a helicopter rotor.
Background
The spraying of the helicopter rotor in China is manually operated at present, the automation and the intelligence degree are low, the manual spraying completely depends on the experience of operators, the consistency, the uniformity, the spraying thickness and the like of the spraying paint are difficult to accurately control, and the individual differentiation is large. The spraying paint has great influence on the health of people, so professional spraying technicians run off seriously in recent years, the number of workers is reduced once, the influence on the spraying production efficiency of enterprises is huge, and the increasing production demand of helicopters is not enough met, so that a machine spraying mode with high automation degree and intelligent efficiency is urgently needed.
Disclosure of Invention
The invention aims to provide a helicopter rotor intelligent spraying control system and a helicopter rotor intelligent spraying control method, so that the problems in the prior art are solved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an intelligent spraying system of a helicopter rotor comprises a monitoring system, a robot spraying system, an automatic AGV transferring control system and an operation tool control system, wherein the monitoring system is respectively communicated and connected with the automatic AGV transferring control system, the operation tool control system and the robot spraying system; the operating tool control system assists the AGV automatic transfer control system in carrying and transferring the helicopter rotor; robot paint finishing adopts independent spray booth, is in including installing world rail device and setting in the spray booth spraying robot on the world rail device, world rail device includes sky rail and ground rail, spraying robot installs respectively the sky rail with on the ground rail, spraying robot passes through robot spraying controlling means and moves on sky rail and ground rail, carries out the automation from bottom and top simultaneously to rising quick-witted rotor respectively and sprays paint.
Preferably, spraying robot adopts six robots, every spraying robot disposes 2 paint cans and 1 cleaner jar, every paint can and cleaner jar all are provided with pressure sensor and level sensor, paint and cleaner are through trading the look valve automatically, electronic proportion control valve, finally to the spray gun blowout, the spray gun links together with six robots's sixth axle, the robot can be according to the rotor model, select the process flow that corresponds through spraying controlling means, the original point that sprays paint is sought automatically according to the process route of teaching debugging, then realize intelligent spraying paint according to the orbit and the control parameter that correspond process flow.
More preferably, the robot can be according to the rotor model, through the technological process that spraying controlling means selected corresponds, according to the automatic original point that sprays paint of seeking of the process route of teaching debugging, then realizes intelligent spraying paint according to the orbit and the control parameter that correspond technological process, specifically includes: according to the specific requirements of an aircraft manufacturer on the spraying of the rotary wings, a proper spraying route and a proper spraying track are found through the continuous experiment of the manually operated six-axis robot, the six-axis robot can learn by self, and related track paths of multiple sets of different parameters are memorized, so that the robot can complete intelligent spraying and continuously optimize the parameters.
Preferably, a temperature sensor and a humidity sensor are further arranged in the paint spray booth, and switch detectors are respectively arranged on the entrance door and the exit door to detect the opening and closing states of the entrance door and the exit door.
Preferably, AGV automatic transfer control system includes that AGV transports platform, AGV dispatch software and AGV electrical control system, AGV electrical control system control AGV transports the drive of platform, include the PLC controller and connect servo driver, servo motor, magnetic navigation sensor, PGV sensor and safety scanning appearance on the PLC controller, AGV dispatch software and accept behind the monitored control system instruction, send the instruction for the PLC controller through wireless module, the PLC controller passes through servo driver, servo motor, magnetic navigation sensor, PGV sensor, safety scanning appearance integrated drive control to route navigation planning and safety monitoring, the final automation transportation process who accomplishes removal frock and rotor.
Preferably, the operation tool control system comprises at least one group of operation tools, each group of operation tools comprises two fixed tool tables and a movable tool which can be detachably mounted on the two fixed tool tables, and a detection switch is arranged at the joint of the movable tool and the fixed tool tables to determine whether the movable tool is on the fixed tool tables.
Preferably, bolt holes are formed in two ends of the movable tool and correspond to bolts arranged on the fixed tool table, so that the movable tool and a rotor wing carried on the movable tool are in a stable state; the middle of the moving tool is provided with a bolt for butting pin holes in the AGV transferring process and the AGV lifting platform, and the moving tool is ensured to be in a stable state on the AGV in the transferring process.
Preferably, the system also comprises a central dust collection control system, wherein the central dust collection control system is used for a dust removal task of the robot spraying system in the process of spraying paint to the helicopter rotor wing, and comprises a dust removal system arranged in a paint spraying room, a dust removal system pressure sensor, a dust removal system temperature sensor and a dust removal system air sensor; after the paint spraying is finished, the air quality is detected by adopting the air sensor of the dust removal system and is recovered to a normal range, and the dust removal system is stopped.
Another object of the present invention is to provide an intelligent spraying method for a helicopter rotor, which is implemented by using the intelligent spraying system for a helicopter rotor, and comprises the following steps:
s1, an operator issues a rotor spraying instruction to the AGV automatic transfer control system through the monitoring system, wherein the spraying instruction comprises a workpiece number, a paint spraying color and a type parameter for selecting a target rotor to be painted, and after the AGV automatic transfer control system receives the spraying instruction and confirms the position of the target rotor to be painted, the AGV transfer platform moves to the bottom of the position of the storage tool of the rotor to be painted;
s2, accurately positioning and adjusting the posture of the AGV transferring platform by adopting a PGV (programmable Gate voltage) arranged on the AGV transferring platform, so that a front lifting platform and a rear lifting platform on the AGV transferring platform correspond to a bolt in the middle of a moving tool of the rotor wing storage tool to be painted in a concentric manner;
s3, lifting the front and rear lifting platforms until the front and rear lifting platforms are triggered to lift up to limit, separating the movable tooling for storing the rotor wing from the fixed tooling platform, respectively inserting the bolt 1 and the bolt 2 on the movable tooling into the pin holes on the front and rear lifting platforms, and enabling the AGV transfer platform to lift the movable tooling and the rotor wing to be painted to move horizontally and leave the area of the fixed tooling platform;
s4, lowering the front and rear lifting platforms of the AGV to a lower limit position, transferring the movable tool and the rotor wing to be painted to the entrance of the paint spraying room, transmitting the state of 'the entrance of the paint spraying room' to a monitoring system, and controlling the 'door opening' of the paint spraying room by the monitoring system;
s5, after the entrance door is confirmed to be completely opened, the AGV transferring platform automatically enters the paint spraying room and moves to the position close to the position of the fixed tooling table in the paint spraying room, after the entrance door is confirmed to be closed, the front lifting platform and the rear lifting platform are lifted, after the front lifting platform and the rear lifting platform are lifted, the AGV transferring platform moves to the bottom of the fixed tooling table and is accurately positioned through PGV;
s6, descending the front and rear lifting platforms of the AGV, placing the movable tool and the rotor on a fixing tool in the paint spraying room, opening an outlet door of the paint spraying room after the movable tool to be detected is placed in place, and enabling the AGV transferring platform to leave the paint spraying room and close the outlet door of the paint spraying room;
s7, the robot spraying system starts self-checking to determine whether all sensors and detection switches in the spray booth are normal, and after the self-checking is finished, the dust removal system and the spraying robot are started;
s8, the spraying robot respectively positions the spraying origin on the sky rail and the ground rail according to the process program requirements issued by the monitoring system, and formally sprays paint after finding the origin;
the spraying control device controls the selective switching process of the paints and the cleaning agents with different colors, meanwhile, the paints and the cleaning agents are automatically adjusted in proportion through a proportion adjusting valve, the spraying mode is adjusted, and finally, the fast spraying is carried out through a spray gun carried by the robot according to the process track taught and debugged by the robot;
s9, after the paint spraying is finished, the spraying robot stops, when the air quality detected by the air sensor of the dust removal system is recovered to a normal range, the dust removal system stops, and the AGV transferring platform enters the movable tool and takes away the sprayed rotor.
Preferably, AGV transports platform motion to the bottom of waiting to spray paint the rotor and depositing the frock position, specifically includes:
the AGV transferring platform conducts path navigation through a front magnetic navigation sensor, a right magnetic navigation sensor, a rear magnetic navigation sensor and a left magnetic navigation sensor, moves to the bottom of a storage tool position of a rotor wing to be painted, conducts obstacle detection through a front safety scanner and a rear safety scanner in the operation process, and ensures the safety of the operation process;
PGV transports platform to AGV carries out accurate positioning and attitude control, specifically includes:
well PGV and back PGV through on the AGV transports platform are through discerning the fixed two-dimensional code in ground, and the angle and the gesture of platform are transported to accurate adjustment AGV, and the precision can reach 1 mm.
Preferably, in step S7, the self-checking process of the robot spraying system determines whether all sensors and detection switches in the paint spray booth are normal, specifically including: detecting whether an inlet door of a paint spray booth is closed in place or not and whether an outlet door of the paint spray booth is closed in place or not; detecting that the temperature ranges detected by the temperature sensor 1 and the temperature sensor 2 are within a specified range; the humidity detected by the humidity sensor 1 and the humidity sensor 2 is within a predetermined humidity range; signals are sent to the movable tool detection switch 1 and the movable tool detection switch 2; all the pressure values of the paint tank pressure sensor and the detergent tank pressure sensor are normal; the liquid level values of all the paint tank liquid level sensors and all the detergent tank liquid level sensors are normal; and detecting whether the pressure value of the pressure sensor of the dust removal system is normal or not and the temperature value of the temperature sensor of the dust removal system is normal.
The invention has the beneficial effects that:
the invention provides an intelligent spraying control system and method for a helicopter rotor wing, which are used for solidifying process parameters and improving the consistency of a paint spraying process through an intelligent spraying control system, performing data statistical analysis, continuously optimizing and upgrading the process and improving the current situation that the spraying process parameters are mainly based on the experience of process personnel. The paint spray booth is unmanned, and the influence on the health of workers due to the fact that the workers are exposed in a paint mist environment for a long time is avoided. Efficiency of rotor spraying is improved, and spraying production efficiency of the rotor is improved through full process automation transfer and the high-efficient spraying of robot. The degree of informatization is improved, all spraying process data are digitized and automatically recorded and stored, and data and service butt joint is carried out with other production systems, so that omnibearing intelligent linkage management is realized.
Drawings
Fig. 1 is a block diagram of a system for intelligently controlling spraying of a rotor of a helicopter provided in embodiment 1;
FIG. 2 is a schematic block diagram of an AGV automatic transfer control system provided in embodiment 1;
FIG. 3 is a diagram of a sensor arrangement on the AGV transfer platform provided in example 1;
fig. 4 is a schematic structural view of an operation tool control system provided in embodiment 1;
FIG. 5 is a schematic view showing the arrangement of sensors in a paint spray booth in the robot paint spray system provided in embodiment 1;
FIG. 6 is a schematic diagram of a spraying path of the ground rail robot provided in the embodiment 1;
FIG. 7 is a schematic view of a spray path of the sky-rail robot provided in example 1;
【1】 Front magnetic navigation sensor
【2】 Front lifting platform lifting upper limit
【3】 Front lifting platform tool detection switch
【4】 Right magnetic navigation sensor
【5】 Rear lifting platform lifting upper limit
【6】 Rear safety scanner
【7】 Rear magnetic navigation sensor
【8】 Rear PGV
【9】 Rear lifting platform tool detection switch
【10】 Lifting lower limit of rear lifting platform
【11】 Left magnetic navigation sensor
【12】 Middle PGV
【13】 Lower limit of front lifting platform
【14】 Front safety scanner
【15】 Mobile tool detection switch 1
【16】 Remove frock detection switch 2
【17】 Movable tool
【18】 Fixed tool table
【19】 Remove frock bolt hole 1
【20】 Bolt 1
【21】 Bolt 2
【22】 Remove frock bolt hole 2
【23】 Temperature sensor 2
【24】 Humidity sensor 2
【25】 Left limit of sky rail
【26】 Electric proportional control valve 1
【27】 Automatic color changing valve 1
【28】 Right limiting of sky rail
【29】 Left limit of ground rail
【30】 Automatic color changing valve 2
【31】 Electric proportional control valve 2
【32】 Right limit of ground rail
【33】 Air rail robot paint tank A pressure sensor
【34】 Sky rail robot paint tank B pressure sensor
【35】 Cleaning agent tank pressure sensor of overhead rail robot
【36】 A liquid level sensor of sky rail robot paint tank
【37】 Liquid level sensor of overhead-rail robot paint tank B
【38】 Liquid level sensor of cleaning agent tank of overhead rail robot
【39】 Ground rail robot paint tank A liquid level sensor
【40】 Ground rail robot paint tank B liquid level sensor
【41】 Liquid level sensor of cleaning agent tank of ground rail robot
【42】 Ground rail robot paint tank A pressure sensor
【43】 Ground rail robot paint tank B pressure sensor
【44】 Ground rail robot cleaner jar pressure sensor
【45】 Pressure sensor of dust removal system
【46】 Temperature sensor of dust removal system
【47】 Air sensor of dust removal system
【48】 Opening and in-place detector for paint spray booth entrance door
【49】 Door closing in-place detector for paint spray booth
【50】 Temperature sensor 1
【51】 Humidity sensor 1
【52】 Opening and in-place detector for outlet door of paint spray booth
【53】 Outlet door closing in-place detector for paint spray booth
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The embodiment provides an intelligent spraying system for a helicopter rotor, which comprises a monitoring system, a robot spraying system, an automatic AGV transferring control system, a central dust collection control system and an operation tool control system, wherein the monitoring system is respectively in communication connection with the automatic AGV transferring control system, the central dust collection control system, the operation tool control system and the robot spraying system; the operating tool control system assists the AGV automatic transfer control system in carrying and transferring the helicopter rotor; robot paint finishing adopts independent spray booth, and the inside device in spray booth and sensor installation sketch map are shown in fig. 5, including installing sky ground rail device in the spray booth and setting up spraying robot on the sky ground rail device, sky ground rail device includes sky rail and ground rail, spraying robot installs respectively the sky rail with on the ground rail, spraying robot passes through robot control device and moves on sky rail and ground rail, carries out automatic paint spraying to helicopter rotor simultaneously from bottom and top respectively.
Adopt in this embodiment spraying robot adopts six robots, every spraying robot disposes 2 paint cans and 1 cleaner jar, every paint can and cleaner jar all are provided with pressure sensor and level sensor, paint and cleaner are through trading the look valve automatically, electronic proportional control valve, finally to the spray gun blowout, the spray gun links together with six axis robot's sixth axle, the robot can be according to the rotor model, select the process flow that corresponds through spraying controlling means, the original point that sprays paint is sought automatically according to the process route of teaching debugging, then realize intelligent spraying paint according to the orbit and the control parameter that correspond process flow.
The six-axis robot can find a proper spraying route and track through the continuous test of the manually operated six-axis robot according to the specific requirements of an aircraft manufacturer on the spraying of the rotary wings, so that the six-axis robot can carry out self-learning, and remember the track paths of a plurality of related sets of different parameters, so that the robot can complete intelligent spraying and continuously optimize the parameters.
For the spraying path of the ground rail robot, as shown in fig. 6, the following 6 paths are included:
route 1: moving from the upper right to the lower left;
route 2: entering from the upper side of the tool, and spraying along the path from bottom to top;
route 3: from the handle part to the upper right part, a path from a straight line to a curve is made along the bending degree of the workpiece;
path 4: editing a path from left lower to right upper until the path exceeds the tail of the workpiece by about 10 cm;
path 5: converting the posture of the spray gun from the upper right of the workpiece to be vertical to the side surface of the workpiece, aligning the center of the spray gun to the upper edge of the workpiece, and moving from the upper right to the lower left until the position near a path 3;
path 6: the spraying guns are all vertical to the side faces of the workpiece, each spraying stroke is pressed with a 50% track of one stroke, and the spraying guns are driven in a zigzag mode from top to bottom until all the side faces of the workpiece are covered.
The painting path of the painting robot for the sky-rail robot, as shown in fig. 7, includes the following 2 paths:
route 1: moving from the right end to the left end;
route 2: the spraying gun is perpendicular to the side face of the workpiece, each spraying stroke is pressed with a 50% track of one stroke, and the spraying gun travels from top to bottom in a zigzag mode until all the side faces of the workpiece are covered.
This embodiment kind still be provided with temperature sensor and humidity transducer in the spray booth to be provided with switch detector respectively at entrance door and export door, with the on off state who detects entrance door and export door.
In a more preferred embodiment, the switch detector employs an entry door open-to-position detector, an entry door closed-to-position detector, an exit door open-to-position detector, and an exit door closed-to-position detector, which can ensure the open and closed states of the entry and exit doors, confirming whether the AGV transfer platform can be permitted to enter or exit.
The central dust collection control system is used for a dust removal task of the robot spraying system in a process of spraying paint to the helicopter rotor wing, and comprises a dust removal system, a dust removal system pressure sensor, a dust removal system temperature sensor and a dust removal system air sensor which are arranged in a paint spraying room, wherein when the paint spraying task is started, the parameters of the dust removal system pressure sensor and the dust removal system temperature sensor are determined to be normal, and the dust removal system is started to prepare for collecting redundant paint mist in advance; after the paint spraying is finished, the air quality is detected by adopting the air sensor of the dust removal system and is recovered to a normal range, and the dust removal system is stopped.
The monitoring system is used as a core hub of the whole control system and plays roles of overall scheduling control, key instruction receiving and sending and communication with the hardware equipment control system. The monitoring system utilizes wireless wifi and AGV's scheduling software to carry out instruction interaction through wireless module, and AGV scheduling software receives the instruction and sends the instruction for AGV's electrical control system through wireless wifi after receiving the instruction, and AGV electrical control system carries out corresponding task according to the instruction to give AGV scheduling software with feedback instruction passback. The monitoring system adopts a TCP/IP protocol and is connected with the spraying main control cabinet through a network cable, and the spraying main control cabinet is connected with the spraying operation cabinet, the robot spraying system, the operation tool control system and the central dust collection control system through a Profinet protocol. The helicopter rotor intelligent spraying control system is composed of a block diagram as shown in figure 1.
AGV automatic transfer control system is as shown in figure 2, including AGV transfer platform, AGV dispatch software and AGV electrical control system, AGV electrical control system control AGV transports the drive of platform, including the PLC controller and connect servo driver, servo motor, magnetic navigation sensor, PGV sensor and safety scanner on the PLC controller, AGV dispatch software and accept behind the monitored control system instruction, send the instruction for the PLC controller through wireless module, the PLC controller passes through servo driver, servo motor, magnetic navigation sensor, PGV sensor, safety scanner and synthesizes drive control to route navigation planning and safety monitoring, the final automation transportation process who accomplishes removal frock and rotor.
In this embodiment, the operation tool control system includes at least one group of operation tools, each group of operation tools is shown in fig. 4, and includes two fixed tool tables and a movable tool that can be detachably mounted on the two fixed tool tables, a detection switch is provided at a joint of the movable tool and the fixed tool tables to determine whether the movable tool is on the fixed tool tables. Bolt holes are formed in the two ends of the movable tool and correspond to bolts arranged on the fixed tool table, so that the movable tool and a rotor wing carried on the movable tool are in a stable state; the middle of the moving tool is provided with a bolt for butting pin holes in the AGV transferring process and the AGV lifting platform, and the moving tool is ensured to be in a stable state on the AGV in the transferring process.
Example 2
In this embodiment, the helicopter rotor intelligent spraying system provided in embodiment 1 is used to implement a helicopter rotor spraying method, taking a certain type of helicopter rotor as an example, specifically including the following steps:
1. an operator issues a rotor spraying instruction in the monitoring system, and selects information such as the workpiece number, the paint spraying color and the type of the rotor.
2. The AGV automatic transfer control system receives an instruction, after a target position is determined, the AGV transfer platform conducts path navigation through a front magnetic navigation sensor (1), a right magnetic navigation sensor (4), a rear magnetic navigation sensor (7) and a left magnetic navigation sensor (11), moves to the bottom of a storage tool position of a rotor wing to be painted, and conducts obstacle detection through a front safety scanner (14) and a rear safety scanner (6) in the operation process, so that the safety of the operation process is ensured.
3. The AGV transports platform carries out accurate position adjustment through [ 8 ] back PGV, [ 12 ] in the PGV, the PGV is through discerning the fixed two-dimensional code in ground, accurate angle of adjustment and gesture, the precision can reach 1mm to reach the preceding lift platform on the AGV transports platform and the pinhole on the lift platform after with move bolt 3, the bolt 4 on the frock and be relative with one heart.
4. Lifting platform begins to lift around AGV transports platform, lifts to go up spacing until triggering [ 2 ] preceding lifting platform, and [ 5 ] back lifting platform lifts to go up spacing, and the removal frock of depositing the rotor at this moment breaks away from with fixed frock platform, and the pinhole on lifting platform around removing 1, the bolt 2 on the frock inserts respectively, and lifting platform frock detection switch after [ 3 ] preceding lifting platform frock detection switch this moment, [ 9 ] has the signal.
5. The AGV transports platform and lifts removal frock and rotor and carry out the translation, leaves fixed frock platform region.
6. Lifting platform descends around AGV transports platform, and lifting platform lifts spacing down before triggering [ 13 ], and lifting platform lifts spacing down after [ 10 ], removes frock and rotor this moment and is in the low level on AGV transports platform, and the focus reduces to guarantee the safety and stability of transportation.
7. The AGV transports the platform and moves to the spray booth entrance, returns "having arrived the spray booth entrance" state and gives monitored control system, and monitored control system issues "door open" instruction for the spraying master control cabinet. The spraying main control cabinet judges that no spraying task is being executed, and then the entrance door is opened.
8. [ 48 ] after the detector that the door of paint spray booth entry was opened to the right place has the signal, AGV transports the platform and gets into the paint spray booth automatically to move near fixed frock platform position in the paint spray booth, [ 49 ] the detector that the door of paint spray booth entry was closed to the right place has the signal, then lift of lift platform around carrying out, it is spacing on lifting platform lift before [ 2 ], lift platform lift spacing have the signal after [ 5 ], AGV continues to move to fixed frock platform bottom again, through [ 8 ] back PGV, PGV carries out the accurate positioning in [ 12 ].
9. Lifting platform descends around AGV, will remove frock and rotor and place the fixed frock in the spray booth, and [ 15 ] remove frock detection switch 1 this moment, [ 16 ] remove frock detection switch 2 and have the signal, confirm to remove the frock and place and target in place.
10. The outlet door of the paint spray booth is opened, and when the opening-in-place detector of the outlet door of the paint spray booth has a signal, the AGV leaves the paint spray booth; the outlet door of the paint spray booth is closed.
11. The robot spraying system starts self-checking, and detects that (49) the door of the paint spray booth is closed in place, and (53) the door of the paint spray booth is closed in place; 【19】 Temperature sensors 1, [ 23 ] temperature sensors 2 detect temperature ranges within a prescribed range; 【20】 Humidity detected by the humidity sensor 1, [ 24 ] and the humidity sensor 2 is within a specified humidity range; 【15】 The movable tool detection switches 1 and 16 are provided with signals; 【33】 The pressure values are normal, namely, 34, 35, 42, 43 and 44; 【36】 Liquid level values are normal [ 37 ], [ 38 ], [ 39 ], [ 40 ], and [ 41 ].
12. Detecting that the pressure value of a pressure sensor of the dust removal system is normal and the temperature value of a temperature sensor of the dust removal system is normal [ 45 ], automatically starting the dust removal system, and preparing for collecting redundant paint mist in advance.
13. The robot is started, and the spray painting origin is respectively positioned on the sky rail and the ground rail according to the process program requirements issued by the system; 【25】 And (28) are respectively a left limit switch and a right limit switch of the robot on the sky rail, and (29) and (32) are respectively a left limit switch and a right limit switch of the robot on the earth rail, and are used for protecting the safe travel of the robot on the rail, and the touch limit switches correspond to the robot and give an alarm when the robot stops.
14. After the blade tip of the automatic rotor wing of robot is as the initial point of spraying paint, begin formal operation of spraying paint promptly, according to the colour requirement of spraying paint, system control [ 27 ] automatic color changing valve 1, [ 30 ] automatic color changing valve 2 realizes different colours paint, cleaner selection and switching, and different colours switch over the in-process, need select the cleaner earlier and wash the pipeline.
15. Paint and cleaning agent are automatically adjusted in proportion through [ 26 ] electric proportion adjusting valves 1 and [ 31 ] electric proportion adjusting valves 2, flow and atomization are adjusted through flow electronic regulators in the proportion valves, a fan-shaped surface is adjusted through automatically adjusting the opening and closing degree of a spray gun opening, and finally, fast paint spraying is performed through a spray gun 1 and a spray gun 2 carried by a robot according to a process track taught and debugged by the robot.
16. After finishing spraying paint, the spraying robot shuts down, and when [ 47 ] dust pelletizing system air sensor detection air quality resumes to normal within range, dust pelletizing system shuts down, and the paint spray booth entrance door is opened, and AGV transports the platform and gets into and take away the removal frock and the rotor that finishes of spraying paint, leaves from the paint spray booth export, and the end of spraying paint.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the invention provides an intelligent spraying control system and method for a helicopter rotor wing, which are used for solidifying process parameters and improving the consistency of a paint spraying process through an intelligent spraying control system, performing data statistical analysis, continuously optimizing and upgrading the process and improving the current situation that the spraying process parameters are mainly based on the experience of process personnel. The paint spray booth is unmanned, and the influence on the health of workers due to the fact that the workers are exposed in a paint mist environment for a long time is avoided. Efficiency of rotor spraying is improved, and spraying production efficiency of the rotor is improved through full process automation transfer and the high-efficient spraying of robot. The degree of informatization is improved, all spraying process data are digitized and automatically recorded and stored, and data and service butt joint is carried out with other production systems, so that omnibearing intelligent linkage management is realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (10)
1. The helicopter rotor intelligent spraying system is characterized by comprising a monitoring system, a robot spraying system, an AGV automatic transfer control system and an operation tool control system, wherein the monitoring system is respectively in communication connection with the AGV automatic transfer control system, the operation tool control system and the robot spraying system; the operating tool control system assists the AGV automatic transfer control system in carrying and transferring the helicopter rotor; robot paint finishing adopts independent spray booth, is in including installing world rail device and setting in the spray booth spraying robot on the world rail device, world rail device includes sky rail and ground rail, spraying robot installs respectively the sky rail with on the ground rail, spraying robot passes through spraying controlling means and moves on sky rail and ground rail, carries out the automation from bottom and top simultaneously to helicopter rotor respectively and sprays paint.
2. The helicopter rotor intelligence paint spraying system of claim 1, characterized in that, spraying robot adopts six robots, every spraying robot disposes 2 paint can and 1 cleaner jar, every paint can and cleaner jar all are provided with pressure sensor and level sensor, paint and cleaner are through changing the look valve automatically, electronic proportional control valve, finally arrive the spray gun blowout, the sixth hub connection of spray gun and six robots is in the same place, the robot can be according to the rotor model, select corresponding process flow through spraying controlling means, the original point of spraying paint is sought automatically according to the process route of teaching debugging, then realize intelligent spraying paint according to the orbit and the control parameter that correspond process flow.
3. A helicopter rotor intelligent spraying system according to claim 1, wherein a temperature sensor and a humidity sensor are further provided within the paint spray booth and switch detectors are provided at the inlet door and the outlet door, respectively, to detect the open and closed states of the inlet door and the outlet door.
4. The helicopter rotor intelligence spraying system of claim 1, characterized in that, AGV automatic transfer control system includes that AGV transports platform, AGV dispatch software and AGV electrical control system, AGV electrical control system control AGV transports platform's drive, includes the PLC controller and connects servo driver, servo motor, magnetic navigation sensor, PGV sensor and safety scanner on the PLC controller, AGV dispatch software accepts behind the monitored control system instruction, sends the instruction to the PLC controller through wireless module, and the PLC controller passes through servo driver, servo motor, magnetic navigation sensor, PGV sensor, safety scanner and synthesizes drive control to carry out route navigation planning and safety monitoring, the final automation transfer process who accomplishes removal frock and rotor.
5. The helicopter rotor intelligent spraying system of claim 1, wherein the operation tool control system includes at least one set of operation tools, each set of operation tools includes two fixed tool stations and a movable tool that can be detachably mounted on the two fixed tool stations, a detection switch is provided at the joint of the movable tool and the fixed tool stations to determine whether the movable tool is on the fixed tool stations.
6. A helicopter rotor intelligent spraying system according to claim 5, wherein bolt holes are formed in both ends of the movable tool and correspond to bolts arranged on the fixed tool table, so that the movable tool and a rotor carried on the movable tool are in a stable state; the middle of the moving tool is provided with a bolt for butting pin holes in the AGV transferring process and the AGV lifting platform, and the moving tool is ensured to be in a stable state on the AGV in the transferring process.
7. The helicopter rotor intelligent spraying system of claim 1, further comprising a central dust collection control system, wherein the central dust collection control system is used for dust removal tasks of the robot spraying system during painting of the helicopter rotor, and comprises a dust removal system arranged in a paint spray booth, a dust removal system pressure sensor, a dust removal system temperature sensor and a dust removal system air sensor, and when the parameters of the dust removal system pressure sensor and the dust removal system temperature sensor are determined to be normal before the painting task is started, the dust removal system is started to prepare for collecting excessive paint mist in advance; after the paint spraying is finished, detecting the air quality by adopting an air sensor of the dust removal system, recovering the air quality to a normal range, and stopping the dust removal system.
8. A helicopter rotor intelligent spraying method, characterized in that, the method is implemented by the helicopter rotor intelligent spraying system of any one of claims 1-7, and comprises the following steps:
s1, an operator issues a rotor spraying instruction to the AGV automatic transfer control system through the monitoring system, wherein the spraying instruction comprises a workpiece number, a paint spraying color and a type parameter for selecting a target rotor to be painted, and after the AGV automatic transfer control system receives the spraying instruction and confirms the position of the target rotor to be painted, the AGV transfer platform moves to the bottom of the position of the storage tool of the rotor to be painted;
s2, accurately positioning and adjusting the posture of the AGV transferring platform by adopting a PGV (programmable Gate voltage) arranged on the AGV transferring platform, so that a front lifting platform and a rear lifting platform on the AGV transferring platform correspond to a bolt in the middle of a moving tool of the rotor wing storage tool to be painted in a concentric manner;
s3, lifting the front and rear lifting platforms until the front and rear lifting platforms are triggered to lift up to limit, separating the movable tooling for storing the rotor wing from the fixed tooling platform, respectively inserting the bolt 1 and the bolt 2 on the movable tooling into the pin holes on the front and rear lifting platforms, and enabling the AGV transfer platform to lift the movable tooling and the rotor wing to be painted to move horizontally and leave the area of the fixed tooling platform;
s4, lowering the front and rear lifting platforms of the AGV to a lower limit position, transferring the movable tool and the rotor wing to be painted to the entrance of the paint spraying room, transmitting the state of 'the entrance of the paint spraying room' to a monitoring system, and controlling the 'door opening' of the paint spraying room by the monitoring system;
s5, after the entrance door is confirmed to be completely opened, the AGV transferring platform automatically enters the paint spraying room and moves to the position close to the position of the fixed tooling table in the paint spraying room, after the entrance door is confirmed to be closed, the front lifting platform and the rear lifting platform are lifted, after the front lifting platform and the rear lifting platform are lifted, the AGV transferring platform moves to the bottom of the fixed tooling table and is accurately positioned through PGV;
s6, descending the front and rear lifting platforms of the AGV, placing the movable tool and the rotor on a fixing tool in the paint spraying room, opening an outlet door of the paint spraying room after the movable tool to be detected is placed in place, and enabling the AGV transferring platform to leave the paint spraying room and close the outlet door of the paint spraying room;
s7, the robot spraying system starts self-checking to determine whether all sensors and detection switches in the spray booth are normal, and after the self-checking is finished, the dust removal system and the spraying robot are started;
s8, the spraying robot respectively positions the spraying origin on the sky rail and the ground rail according to the process program requirements issued by the monitoring system, and formally sprays paint after finding the origin;
the spraying control device controls the selective switching process of the paints and the cleaning agents with different colors, meanwhile, the paints and the cleaning agents are automatically adjusted in proportion through a proportion adjusting valve, the spraying mode is adjusted, and finally, the fast spraying is carried out through a spray gun carried by the robot according to the process track taught and debugged by the robot;
s9, after the paint spraying is finished, the spraying robot stops, when the air quality detected by the air sensor of the dust removal system is recovered to a normal range, the dust removal system stops, and the AGV transferring platform enters the movable tool and takes away the sprayed rotor.
9. A helicopter rotor intelligent spraying method according to claim 8, wherein said AGV transfer platform moves to the bottom of the storage tooling position of the rotor to be painted, specifically comprising:
the AGV transferring platform conducts path navigation through a front magnetic navigation sensor, a right magnetic navigation sensor, a rear magnetic navigation sensor and a left magnetic navigation sensor, moves to the bottom of a storage tool position of a rotor wing to be painted, conducts obstacle detection through a front safety scanner and a rear safety scanner in the operation process, and ensures the safety of the operation process;
PGV transports platform to AGV carries out accurate positioning and attitude control, specifically includes:
well PGV and back PGV through on the AGV transports platform are through discerning the fixed two-dimensional code in ground, and the angle and the gesture of platform are transported to accurate adjustment AGV, and the precision can reach 1 mm.
10. A helicopter rotor intelligent spraying method according to claim 8, wherein in step S7, the robot spraying system self-test process determines whether all sensors and detection switches in the paint spray booth are normal, specifically comprising: detecting whether an inlet door of a paint spray booth is closed in place or not and whether an outlet door of the paint spray booth is closed in place or not; detecting that the temperature ranges detected by the temperature sensor 1 and the temperature sensor 2 are within a specified range; the humidity detected by the humidity sensor 1 and the humidity sensor 2 is within a predetermined humidity range; signals are sent to the movable tool detection switch 1 and the movable tool detection switch 2; all the pressure values of the paint tank pressure sensor and the detergent tank pressure sensor are normal; the liquid level values of all the paint tank liquid level sensors and all the detergent tank liquid level sensors are normal; and detecting whether the pressure value of the pressure sensor of the dust removal system is normal or not and the temperature value of the temperature sensor of the dust removal system is normal.
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