CN115634791A - Large-span continuous spraying system and spraying method - Google Patents
Large-span continuous spraying system and spraying method Download PDFInfo
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- CN115634791A CN115634791A CN202211467223.XA CN202211467223A CN115634791A CN 115634791 A CN115634791 A CN 115634791A CN 202211467223 A CN202211467223 A CN 202211467223A CN 115634791 A CN115634791 A CN 115634791A
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- 238000005507 spraying Methods 0.000 title claims abstract description 314
- 239000003973 paint Substances 0.000 claims description 57
- 239000007921 spray Substances 0.000 claims description 36
- 238000000034 method Methods 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000010422 painting Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 10
- 239000011248 coating agent Substances 0.000 description 9
- 238000000576 coating method Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention belongs to the technical field of automatic spraying, and discloses a large-span continuous spraying system and a spraying method, wherein the spraying system comprises a left spraying system and a right spraying system which are respectively arranged on the ground at the two sides of a spraying workshop and a rear spraying system which is arranged on the ground at the rear part of the spraying workshop; the left side spraying system is used for spraying the left side area of the airplane, the right side spraying system is used for spraying the right side area of the airplane, and the rear spraying system is used for spraying the rear part of the airplane. The space positions of the sub-spraying systems in the spraying workshop are set, and the structures of the sub-spraying systems are optimally set, so that the requirement of the setting of the spraying systems on the space of the spraying workshop and the occupation of the space are reduced while the full-coverage continuous spraying of the surface of the airplane is realized, and the resource utilization rate of the spraying workshop is improved; the large-span continuous spraying operation of the airplane can be realized, and the overall spraying quality of the airplane is ensured.
Description
Technical Field
The invention belongs to the technical field of automatic spraying, and particularly relates to a large-span continuous spraying system and a spraying method which can be applied to continuous spraying of an airplane surface.
Background
When the spraying operation is carried out on the surface of an airplane, the problems of large spraying span, complex spraying profile, complex spraying process flow and the like often exist, the spraying operation is inconvenient, the spraying period is long, the problems of large fluctuation of the thickness of the sprayed coating, poor uniformity and the like are very easy to occur in the spraying operation, and the requirement on the spraying quality is difficult to meet.
The existing spraying system is used for comprehensively spraying the surface of an airplane, spraying operation is usually carried out in a mode that a gantry track structure is combined with a spraying robot, the requirement of spraying function is met in the mode, the gantry track is usually required to be hoisted and arranged in a spraying workshop, the movable range on the gantry track can cover the whole size of the airplane, the structure of the gantry track is complex, meanwhile, very high requirements on the height and the space size of the spraying workshop are provided, and the construction cost of the whole spraying production line is increased. In addition, due to the limitation of the gantry track structure, the synchronism between the track and the operation of the spraying robot is limited in the spraying process, continuous spraying on the surface of the airplane is difficult to realize, a large number of spraying lap joint areas are formed on the surface of the airplane, and the requirement on the spraying quality of the airplane is difficult to meet.
Disclosure of Invention
The invention aims to provide a large-span continuous spraying system and a spraying method, which solve the problems that continuous spraying is difficult to realize in the surface spraying operation of an airplane, the structure of the spraying system is complex and the requirement on a spraying space is high.
The invention is realized by the following technical scheme:
a large-span continuous spraying system comprises a left spraying system and a right spraying system which are respectively arranged on the ground at two sides of a spraying workshop, and a rear spraying system which is arranged on the ground at the rear part of the spraying workshop;
the left side spraying system is used for spraying a left side area of the airplane, the right side spraying system is used for spraying a right side area of the airplane, and the rear part spraying system is used for spraying the rear part of the airplane;
the left spraying system, the right spraying system and the rear spraying system respectively comprise an X-direction guide rail assembly, a Y-direction guide rail assembly and a Z-direction guide rail assembly which are paved on the ground of a spraying workshop, the X-direction guide rail assembly is arranged along the length direction of the spraying workshop, the Y-direction guide rail assembly is arranged on the X-direction guide rail assembly and is arranged along the width direction of the spraying workshop and can move along the arrangement direction of the X-direction guide rail assembly, and the Z-direction guide rail assembly is arranged on the Y-direction guide rail assembly and is arranged along the vertical direction and can move along the arrangement direction of the Y-direction guide rail assembly;
and the Z-direction guide rail assemblies of the left spraying system, the right spraying system and the rear spraying system are respectively provided with a spraying robot which can move up and down along the vertical direction of the Z-direction guide rail assemblies.
As a further improvement to the technical scheme, the X-direction guide rail assembly is arranged below the ground plane of the spraying workshop, so that the upper surface of the X-direction guide rail assembly is flush with the ground plane of the spraying workshop or lower than the ground plane of the spraying workshop.
As a further improvement to the above technical solution, a cover plate is disposed above the X-direction rail assembly, the cover plate is engaged with the X-direction rail assembly and can cover the X-direction rail assembly, and a gap for connecting the Y-direction rail assembly and the X-direction rail assembly is disposed on the cover plate or between the cover plate and the cover plate.
As a further improvement to the technical scheme, the upper surface of the cover plate is flush with the ground level of the spraying workshop.
As a further improvement to the above technical solution, the X-guide rail assembly includes a driving rail disposed in parallel with each other and two supporting rails disposed at two sides of the driving rail, respectively, the driving rail is used for driving the Y-guide rail assembly to move horizontally along the driving rail, and the Y-guide rail assembly is connected with the supporting rails at two ends thereof in a sliding fit manner, respectively.
As a further improvement to the technical scheme, the front end of the arm of the spraying robot is provided with an extension pipe, and an automatic spray gun of the spraying robot is arranged at the end part of the extension pipe.
As a further improvement of the above technical scheme, the spraying robot is provided with a signal collector, and the signal collector is used for collecting characteristic point location information of the aircraft to determine the relative position and posture between the aircraft to be sprayed and the spraying system.
As a further improvement to the above technical solution, the painting system further comprises a paint supply system, the paint supply system is connected to the painting robot and supplies paint to the painting robot, and the paint supply system is disposed on the X-guide rail assembly, the Y-guide rail assembly, or the Z-guide rail assembly so as to be movable with the painting robot or always located close to the painting robot.
As a further improvement to the above technical solution, the paint supply system includes a paint tank, and the paint tank is connected with the spraying robot through a pipeline and forms a circulation loop for circulating paint therebetween.
On the other hand, the invention also provides a spraying method based on the large-span continuous spraying system, which comprises the following steps;
s1, stopping an airplane to be sprayed to a position between a left spraying system and a right spraying system in a spraying workshop, wherein the rear spraying system is positioned at the position close to the rear side of the rear part of the airplane;
s2, collecting characteristic point location information of the airplane, and determining the relative position and posture between the airplane and a spraying system;
s3, correcting a preset spraying control program according to the determined relative position and posture;
and S4, controlling the motion of the Y-direction guide rail assembly, the Z-direction guide rail assembly and the spraying robot in the left spraying system, the right spraying system and the rear spraying system through the corrected spraying control program to finish the spraying operation of the airplane.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1) Through setting up the spatial position of each sub-paint finishing in the spraying factory building to among this large-span continuous paint finishing to optimize the setting to each sub-paint finishing's structure, when the realization carries out the continuous spraying of full coverage to the aircraft surface, reduce paint finishing's setting and to the requirement of spraying factory building space and the occupation of space, improve the resource utilization of spraying factory building.
2) Based on the layout and the structure setting of the spraying system, the spraying system can make full use of the characteristic that the curvature change of the aerodynamic profile of the airplane per se in the direction of the spraying operation and can better meet the requirement of continuous motion along the direction of the aerodynamic profile when planning the spraying track, thereby realizing the large-span continuous spraying operation of the airplane, reducing the lap joint between spraying areas, ensuring the requirements on the integral thickness and uniformity index of the coating and ensuring the integral spraying quality of the airplane.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and it is obvious for those skilled in the art that other related drawings can be obtained according to these drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a large-span continuous spray system of the present invention.
FIG. 2 is a schematic diagram of a right-side spray system configuration in a long-span continuous spray system of the present invention.
Fig. 3 is a schematic structural diagram of a spraying robot in the large-span continuous spraying system.
Fig. 4 is a block diagram of a coating supply system in the long-span continuous spray coating system of the present invention.
Wherein:
10. a left side spray system, 20, a right side spray system, 30, a rear spray system;
100. an X-direction guide rail assembly 101, a driving rail 102 and a supporting rail;
200. a Y-direction guide rail assembly;
300. a Z-guide rail assembly;
400. a spraying robot 401, an extension pipe 402 and an automatic spray gun;
500. the system comprises a paint supply system 501, a paint tank 502, a delivery pump 503, a filter 504, a pressure stabilizing valve 505, a metering pump 506, a flow meter 507, a shutoff valve 508 and a backpressure valve;
600. and a signal collector.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention.
In the spraying construction of the airplane, due to the large span of the spraying surface on the surface and the complex spraying molded surface, the continuous spraying of the airplane is difficult to realize, the continuous spraying operation of the airplane is an important guarantee for realizing the thickness uniformity and the spraying quality of the spraying coating of the airplane, and the full coverage of the spraying system on the span of the spraying surface of the airplane is needed to realize the continuous spraying of the airplane. The existing spraying system is generally in a portal frame track structure for realizing full coverage of a spraying surface of an airplane, a portal frame track is generally hung at the top of a spraying workshop, and a spraying robot is arranged on the portal frame track to realize the comprehensive spraying operation of the airplane.
Referring to fig. 1, the large-span continuous spraying system in this embodiment includes a left side spraying system 10 and a right side spraying system 20 which are respectively arranged on the ground on both sides of the spraying workshop, and a rear side spraying system 30 which is arranged on the ground on the rear portion of the spraying workshop, and the three sub-spraying systems of the left side spraying system 10, the right side spraying system 20, and the rear side spraying system 30 respectively have independent spraying operation functions, and can complete the spraying operation on the corresponding position and the working surface. Taking the perspective of fig. 1 as an example, in a standing position toward the opposite side of the rear spray system, the left side spray system 10 is located on the left side, and the right side spray system 20 is located on the right side, so that a spray operation space for an airplane parking spray operation is formed among the left side spray system, the right side spray system, and the rear side spray system.
The left spraying system 10 is arranged at a position close to the wall on the left side of the spraying workshop in a distributed mode and used for spraying the left area of the airplane; the right side spraying system 20 is arranged at the position close to the wall on the right side of the plant and used for spraying the right side area of the airplane, and the rear spraying system is arranged at the position close to the wall on the rear portion of the plant and used for spraying the rear portion of the airplane.
The left side spraying system, the right side spraying system and the rear spraying system in the embodiment can independently realize free movement in three freedom degree directions, before each sub-spraying system can complete the independent spraying function, how to combine the sub-spraying system with each sub-spraying system in the spatial position layout of the spraying plant by structurally setting each sub-spraying system needs to be considered, the space requirement of the spraying plant is reduced, meanwhile, interference of each self-spraying system in the spraying operation process can be avoided to the maximum extent, and finally, the large-span continuous spraying operation of an airplane is realized, and the optimization of a spraying track route and the simplification of a control program are facilitated. Meanwhile, it is considered that, in the process of realizing continuous spraying operation, each sub-spraying system needs to complete movement under various tracks together with the spraying robot, so that position precision control and movement stability in the movement process of each sub-spraying system are also important for realizing the overall performance of the spraying system.
Referring to fig. 1 and 2, the left spray system 10, the right spray system 20, and the rear spray system 30 used herein are each composed of an X-direction rail assembly 100, a Y-direction rail assembly 200, and a Z-direction rail assembly 300, wherein the X-direction rail assembly 100 is disposed along the length direction of the spray booth, the Y-direction rail assembly 200 is disposed transversely along the width direction of the booth, and the Z-direction rail assembly 300 is disposed vertically along the height direction of the spray booth; the Y-guide rail assembly 200 is disposed on the X-guide rail assembly 100 and is movable thereon in the X-guide rail assembly disposition direction, and the Z-guide rail assembly 300 is disposed on the Y-guide rail assembly 200 and is movable thereon in the Y-guide rail assembly disposition direction. In each sub-spraying system, the spraying robot 400 which can move up and down along the vertical direction is respectively arranged on the Z-direction guide rail assembly 300 of each sub-spraying system, so far, the X-direction guide rail assembly, the Y-direction guide rail assembly, the Z-direction guide rail assembly and the spraying robot are matched in structure and movement, the movement of the spraying robot in the X-axis, Y-axis and Z-axis multi-degree-of-freedom directions in each sub-spraying system can be realized, and the spraying robot can move to any position which needs to be sprayed; meanwhile, by combining the motion control of the spraying robot, the sub-spraying system adopting the structure can respectively meet the spraying requirements of the left side, the right side and the rear side spraying areas of the airplane.
The Y-guide rail assembly and the Z-guide rail assembly may have a single rail structure, and the movement driving between the Y-guide rail assembly and the X-guide rail assembly, the movement driving of the Z-guide rail assembly on the Y-guide rail assembly, and the movement driving of the painting robot on the Z-guide rail assembly may be implemented by using conventional driving means, which are easily implemented.
As an important improvement direction of the present invention, in the spatial layout of the spray system, the X-guide rail assemblies 100 in each sub-spray system are respectively disposed below the ground level of the spray plant, so that the upper surfaces of the X-guide rail assemblies are flush with or lower than the ground level of the spray plant, thereby realizing the hidden layout of the X-guide rail assemblies in the spray plant. When the X-direction guide rail assembly is arranged, a pit or a groove matched with the X-direction guide rail assembly can be formed in the ground of the spraying workshop in advance, and the X-direction guide rail assembly is arranged in the pit or the groove in a matched mode.
As a preferred embodiment, a cover plate is disposed above the X-guide rail assembly 100, the cover plate is engaged with the X-guide rail assembly and can cover the X-guide rail assembly, the cover plate may be of an integral structure or an assembly structure composed of a plurality of cover plates, and a gap for connecting the Y-guide rail assembly and the X-guide rail assembly is disposed on the cover plate or between the cover plate and the cover plate, so as to meet the requirement of connection between the Y-guide rail assembly and the X-guide rail assembly while the X-guide rail assembly is hidden.
Here with apron upper surface and spraying factory building ground level parallel and level setting, can see, cover X to guide rail subassembly this moment through the apron, expose just outside the ground this moment to Y guide rail subassembly only, Z guide rail subassembly and the spraying robot of setting on Z guide rail subassembly, and when moving X to guide rail subassembly rear with Y guide rail subassembly, just can hide each corner of spraying factory building with the spraying robot among each sub-painting system in, the setting of the inside spraying system of spraying factory building does not occupy the too big space of spraying factory building this moment in fact, the effect is showing in demand and the occupation of reducing to spraying factory building space. And the operating space that the spraying factory building vacated this moment can also satisfy the operating requirement under other operating procedure of aircraft, for example when needs man-machine combination operation, can directly remove the spraying robot to the corner of spraying factory building, then sets up frock such as work ladder at aircraft both sides and rear portion and carry out man-machine combination operation to can guarantee the effective utilization in spraying factory building resource, space.
In the optimized setting of the structure of the sub-spraying system, the X-direction guide rail assembly 100 in this embodiment includes a driving rail 101 and two supporting rails 102, the driving rail 101 and the Y-direction guide rail assembly 200 are connected in a driving manner and are used for driving the Y-direction guide rail assembly to move horizontally on the X-direction guide rail assembly, the Y-direction guide rail assembly 200 is connected with the supporting rails 102 at two ends in a sliding fit manner, the Y-direction guide rail assembly 200 is stably supported by the two supporting rails 102, and the stability of the Y-direction guide rail assembly in the moving process is ensured.
The sub-spraying system is matched with the layout of the spraying workshop, and although the X-direction guide rail assembly is provided with the plurality of rails, the X-direction guide rail assembly does not occupy the ground space of the spraying workshop, so that the effect of taking into account the space of the spraying workshop and the stability of system operation is also obvious.
As shown in fig. 3, an extension pipe 401 is provided at the tip of the arm of the painting robot 400, the extension pipe 401 is attached to the flange of the painting robot 400, and an automatic spray gun 402 of the painting robot is provided at the end of the extension pipe 401. Through set up the extension pipe on spraying robot, can expand spraying robot's spraying coverage greatly to can effectively avoid the interference of system operation in-process, and make spraying robot's body joint keep away from the aircraft organism in operation process, improve the security of system, spraying robot in service.
As another possible implementation manner, a signal collector 600 is disposed on the spraying robot 400, and the signal collector 600 is configured to collect feature point location information of an aircraft to determine a relative position and a relative attitude between the aircraft to be sprayed and the spraying system, that is, to obtain spatial location information of the aircraft in the spraying plant, so as to implement subsequent automatic control of the spraying operation. The signal collector 600 can adopt a laser range finder, the actual parking position and the attitude of the airplane in the spraying workshop can be determined by collecting the characteristic point location information of the airplane, the spraying control system can perform coordinate conversion with the theoretical position and the attitude according to the parking position and the attitude of the airplane, the spraying control program of the system is adjusted and changed, and the quick multiplexing of the spraying control program is ensured.
On the other hand, performance factors of the aircraft paint itself need to be considered in the aircraft spraying operation, most aircraft paints have certain requirements on the curing period and often cannot be prepared in real time, so that the paint supply of the spraying robot in the spraying operation process in a large-span range needs to be timely, the length of a paint supply conveying pipeline needs to be shortened as much as possible, and a paint supply system can move along with the spraying robot. Therefore, a paint supply system may be provided in the painting system to be respectively engaged with the painting robots, the paint supply system being respectively connected to the painting robots and supplying paint to the painting robots, the paint supply systems being respectively provided on the X-guide rail assembly, the Y-guide rail assembly, or the Z-guide rail assembly in the corresponding sub-painting systems and being capable of moving together with the painting robots or being always located at a position close to the painting robots. Taking the paint supply system arranged on the X-direction guide rail assembly as an example, the paint supply system and the X-direction guide rail assembly are arranged to be connected in a sliding fit manner, and the paint supply system can be driven to move on the X-direction guide rail assembly along with the spraying robot when the Y-direction guide rail assembly moves, so that the length of a pipeline for supplying paint can be greatly shortened, and the waste of paint is reduced.
The paint supply system 500 here includes a paint tank 501, and the paint tank 501 is connected to the painting robot 400 through a pipe and forms a circulation loop for circulating paint therebetween. Specifically, referring to fig. 4, a feed pipeline provided between the paint tank 501 and the painting robot 400 is provided with a delivery pump 502, a filter 503, a pressure stabilizing valve 504, a metering pump 505, a flow meter 506, and the like for controlling the delivery and delivery of the paint, and a return pipeline provided between the paint tank and the painting robot is provided with a shutoff valve 507, a backpressure valve 508, and the like for controlling the return and feed back of the paint, so that the circulation of the paint in the pipeline is realized through the feed pipeline and the return pipeline, and the utilization rate of the paint is improved. The coating tank may be provided with a stirrer, and the stirrer is driven by a servo motor and a speed reducer to stir the coating in the coating tank.
On the other hand, the method for spraying the aircraft by adopting the large-span continuous spraying system with the structure comprises the following steps:
s1, stopping an airplane to be sprayed at a position between a left spraying system and a right spraying system in a spraying workshop, wherein the rear spraying system is positioned at the position close to the rear side of the rear part of the airplane;
s2, collecting characteristic point location information of the airplane through signal collecting equipment such as a laser range finder and the like arranged on the spraying robot to determine the parking position and the attitude of the airplane, namely the relative position and the attitude between the airplane and a spraying system;
s3, the spraying control system performs coordinate conversion between the actual position and the theoretical position according to the acquired position and posture information, corrects a preset spraying control program in the spraying control system, avoids the influence of self-manufacturing assembly errors or parking position errors of the airplane on spraying operation, improves the spraying quality and ensures the reusability of the preset spraying control program;
and S4, controlling the motion of the Y-direction guide rail assembly, the Z-direction guide rail assembly and the spraying robot in the left spraying system, the right spraying system and the rear spraying system through the corrected spraying control program to finish the spraying operation of the airplane.
During spraying operation, paint is added into the paint box, the conveying pump and the stirrer are started to convey the paint for the spraying robot, and the movement of the spraying robot in the sub-spraying systems at all positions is controlled, so that the spraying robot performs spraying operation on the airplane according to a preset track route. The left spraying system and the right spraying system are sprayed from the front end of the airplane and the head of the air inlet channel, and the rear spraying system is sprayed from the tail of the airplane; in the motion control of the spraying track, the characteristic that the curvature change of the aerodynamic profile of the airplane in the direction of the aircraft is smooth can be utilized to control the left spraying system and the right spraying system to realize the long-span continuous spraying operation between the head and the tail of the airplane along the course along the aerodynamic profile direction of the airplane, and the rear spraying system can perform the continuous spraying operation on the tail of the airplane along the course near the vertical tail. By combining the structure of the system and the planning of the spraying track, the motion joint of the spraying robot can be effectively prevented from swinging or moving greatly in the spraying operation process, so that the problem of irregular or unsmooth spraying fan width is avoided, the overlapping operation among spraying areas in the spraying operation process can be effectively reduced, the requirements on the thickness and uniformity of the spraying coating are met, the quality of overall spraying is ensured, the spraying efficiency is improved, and the spraying effect of continuous spraying without chromatic aberration and high uniformity of the overall coating can be achieved.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. used herein refer to the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the products of the present invention are used, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present invention do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. A large-span continuous spraying system is characterized by comprising a left spraying system and a right spraying system which are respectively arranged on the ground at two sides of a spraying workshop, and a rear spraying system which is arranged on the ground at the rear part of the spraying workshop;
the left side spraying system is used for spraying the left side area of the airplane, the right side spraying system is used for spraying the right side area of the airplane, and the rear spraying system is used for spraying the rear part of the airplane;
the left spraying system, the right spraying system and the rear spraying system respectively comprise an X-direction guide rail assembly, a Y-direction guide rail assembly and a Z-direction guide rail assembly which are paved on the ground of a spraying workshop, the X-direction guide rail assembly is arranged along the length direction of the spraying workshop, the Y-direction guide rail assembly is arranged on the X-direction guide rail assembly and is arranged along the width direction of the spraying workshop and can move along the arrangement direction of the X-direction guide rail assembly, and the Z-direction guide rail assembly is arranged on the Y-direction guide rail assembly and is arranged along the vertical direction and can move along the arrangement direction of the Y-direction guide rail assembly;
and the Z-direction guide rail assemblies of the left spraying system, the right spraying system and the rear spraying system are respectively provided with a spraying robot which can move up and down along the vertical direction of the Z-direction guide rail assemblies.
2. The large-span continuous spray system of claim 1, wherein the X-guide rail assembly is disposed below a ground level of the spray booth such that an upper surface of the X-guide rail assembly is level with or below the ground level of the spray booth.
3. The long-span continuous spray system of claim 2, wherein a cover plate is disposed above the X-direction rail assembly to cooperate with and cover the X-direction rail assembly, and a gap is disposed on or between the cover plate and the Y-direction rail assembly to connect the X-direction rail assembly and the Y-direction rail assembly.
4. The large-span continuous spray system of claim 3, wherein the cover plate upper surface is disposed flush with a spray floor level.
5. The long-span continuous spray system of claim 1, wherein the X-guide rail assembly comprises a driving rail disposed in parallel with each other and two supporting rails disposed at both sides of the driving rail, respectively, the driving rail being used for driving the Y-guide rail assembly to move horizontally therealong, and the Y-guide rail assembly being connected at both ends thereof with the supporting rails in a sliding fit, respectively.
6. The long-span continuous spray coating system according to claim 1, wherein the front end of the arm of the spray coating robot is provided with an extension pipe, and the automatic spray gun of the spray coating robot is provided at the end of the extension pipe.
7. The large-span continuous spraying system according to claim 1, wherein the spraying robot is provided with a signal collector, and the signal collector is used for collecting characteristic point location information of an airplane to determine the relative position and posture between the airplane to be sprayed and the spraying system.
8. The long-span continuous paint spraying system of claim 1, further comprising a paint supply system connected to the paint spraying robot and supplying paint to the paint spraying robot, the paint supply system being provided on the X-guide rail assembly, the Y-guide rail assembly, or the Z-guide rail assembly so as to be movable with the paint spraying robot or to be always located close to the paint spraying robot.
9. The large-span continuous paint spraying system of claim 8, wherein the paint supply system comprises a paint tank, the paint tank is connected with the paint spraying robot through a pipeline, and a circulation loop is formed for the paint to circulate between the paint tank and the paint spraying robot.
10. The method for spraying based on the long-span continuous spray system of any one of claims 1-9, comprising the steps of;
s1, stopping an airplane to be sprayed to a position between a left spraying system and a right spraying system in a spraying workshop, wherein the rear spraying system is positioned at the position close to the rear side of the rear part of the airplane;
s2, collecting characteristic point location information of the airplane, and determining the relative position and posture between the airplane and the spraying system;
s3, correcting a preset spraying control program according to the determined relative position and posture;
and S4, controlling the motion of the Y-direction rail assembly, the Z-direction rail assembly and the spraying robot in the left spraying system, the right spraying system and the rear spraying system through the corrected spraying control program to finish the spraying operation of the airplane.
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| JPH08164349A (en) * | 1994-12-12 | 1996-06-25 | Kobe Steel Ltd | Automobile coating system |
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