CN-122006936-A - Automatic spraying device and spraying method for long and narrow curved surface space

CN122006936ACN 122006936 ACN122006936 ACN 122006936ACN-122006936-A

Abstract

The invention discloses an automatic spraying device and a spraying method for a long and narrow curved surface space, which belong to the technical field of automatic spraying, wherein a crankshaft track is established in the long and narrow curved surface space based on the central axis of the long and narrow curved surface space, a flexible traction device drives a spraying trolley to smoothly move along the crankshaft track, a circumferential rotation mechanism on the spraying trolley drives a spraying gun to circumferentially rotate, a radial linear movement mechanism on the spraying trolley drives the spraying gun to radially translate, and the spraying gun can accurately move according to a preset movement route in cooperation with the movement of the spraying trolley, so that the long and narrow curved surface space can be accurately and efficiently sprayed by the spraying gun, and the control difficulty of the posture of the spraying gun is simplified.

Inventors

LUO LINGLING
TANG KAI
JIANG WEI
LIU HUASEN
YU LIANG
SUN SIYU
LIU DAWEI
CHEN YAHUI
LEI PEI
WANG FEI
TU FUQUAN
HUANG JINGJIN
LIANG JIE
NIE HAIPING

Assignees

成都飞机工业（集团）有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260407

Claims (10)

1. An automatic spraying device facing an elongated curved surface space comprises a crankshaft track (200) which is adapted to the central axis of the elongated curved surface space, and is characterized in that a spraying trolley (100) is sleeved outside the crankshaft track (200), swing guide parts which are in shape-following sliding fit with the surface of the crankshaft track (200) are arranged at the front end and the rear end of the spraying trolley (100), a gesture regulator which can circumferentially rotate and radially move relative to the outline of the inner surface of the elongated curved surface space is arranged outside the spraying trolley (100), a spray gun (400) is arranged at the action end of the gesture regulator, a flexible traction device (300) is arranged outside the crankshaft track (200), the traction end of the flexible traction device (300) is connected with the spraying trolley (100), and the traction end of the flexible traction device (300) is always in shape-following fit with the crankshaft track (200) in the traction process.
2. The automatic spraying device facing to the long and narrow curved surface space according to claim 1, wherein the posture regulator comprises a circumferential rotation mechanism (104) and a radial linear movement mechanism (105), the circumferential rotation mechanism (104) is coaxially and rotatably sleeved outside the spraying trolley (100), the radial linear movement mechanism (105) is arranged on the rotation end of the circumferential rotation mechanism (104), and the spray gun (400) is arranged on the movement end of the radial linear movement mechanism (105).
3. The automatic spraying device facing the long and narrow curved surface space according to claim 2, wherein the circumferential slewing mechanism (104) comprises a slewing fixed support (1041), a slewing bearing (1042), a slewing frame (1043) and a slewing driving mechanism (1044), the slewing fixed support (1041) is fixedly installed outside the spraying trolley (100), the slewing bearing (1042) is coaxially arranged inside the slewing fixed support (1041), the slewing driving mechanism (1044) is arranged on the slewing fixed support (1041), the slewing frame (1043) is rotatably installed inside the slewing bearing (1042), the slewing frame (1043) is provided with a radial linear moving mechanism (105), and the slewing driving mechanism (1044) is used for driving the slewing frame (1043) to circumferentially rotate.
4. An automatic spraying device facing an elongated curved surface space according to claim 3, characterized in that the radial linear moving mechanism (105) comprises a radial fixing bracket (1051), a sliding rail (1052), a sliding block (1053) and a linear driving mechanism (1054), the radial fixing bracket (1051) is fixedly installed on a revolving frame (1043), the sliding rail (1052) and the linear driving mechanism (1054) are arranged on the radial fixing bracket (1051), the sliding block (1053) is installed on the sliding rail (1052) in a sliding fit manner, the spraying gun (400) is installed on the sliding block (1053), and the driving end of the linear driving mechanism (1054) is connected with one side of the sliding block (1053).
5. An automatic spraying device facing an elongated curved space according to claim 4, characterized in that the turret (1043) is provided with weight adjusting parts (106) on opposite sides of the radial linear movement mechanism (105).
6. An automatic spraying device facing to a long and narrow curved surface space according to any one of claims 1-5, characterized in that the swinging guide part comprises a guide frame, supporting rollers (102) and a spherical hinge (103), the guide frame is sleeved outside a crankshaft track (200), two opposite sides of the guide frame are connected with the end part of a spraying trolley (100) through the spherical hinge (103), a plurality of supporting rollers (102) are rotatably arranged on the inner wall of the guide frame, and the supporting rollers (102) are in rolling contact with the outer surface of the crankshaft track (200).
7. An automatic spraying device facing an elongated curved space according to any one of claims 1-5, characterized in that the flexible traction device (300) comprises a flexible traction rope (301), traction wheels (302) and a traction wheel driving mechanism (303), a traction groove is arranged on the side wall of the crank track (200), the traction wheels (302) are rotatably arranged at two ends of the traction groove, the flexible traction rope (301) is wound between the traction wheels (302) at two ends, the flexible traction rope (301) is connected with the spraying trolley (100), and the traction wheels (302) are in transmission connection with the traction wheel driving mechanism (303).
8. An automatic spraying method facing to an elongated curved surface space, which is realized based on the automatic spraying device of any one of claims 1-7, and is characterized by comprising the following steps: Step 1, taking the central axis of the long and narrow curved surface space as a reference, erecting a crank shaft track (200) in the long and narrow curved surface space, and installing a spraying trolley (100) and a flexible traction device (300) outside the crank shaft track (200); step 2, installing a posture regulator at a calibration position outside the spraying trolley (100), controlling the posture regulator to move to a zero position, and installing a spray gun (400) at the calibration position on the posture regulator; And 3, planning a movement track of the spray gun (400) according to the shape of the inner surface of the long and narrow curved surface space, drawing the spraying trolley (100) to move along the crankshaft track (200) through the flexible drawing device (300), and driving the spray gun (400) to perform circumferential rotation and radial movement through the posture regulator in the drawing process, so that the spray gun (400) moves along the planned movement track, and spraying on the long and narrow curved surface is completed.
9. The method for automatically spraying an elongated curved space according to claim 8, wherein said step 1 comprises: Step 1.1, off-line track programming design, namely obtaining a motion track of a spraying trolley (100) in a theoretical state through simulation based on a theoretical long and narrow curved surface model, extracting the motion track of the spraying trolley (100) to design a theoretical center crankshaft, and designing a crankshaft track (200) by a theoretical central axis of the theoretical long and narrow curved surface model; Step 1.2, based on a theoretical long and narrow curved surface model, a space coordinate system is established, a plurality of first type characteristic points are distributed along the axial direction and the circumferential direction on the theoretical long and narrow curved surface model, and first theoretical coordinates of the first type characteristic points are extracted; step 1.3, based on a theoretical central axis, embedding a plurality of sectional arc-shaped track modules (201) into a long and narrow curved surface space for pre-splicing to form a crankshaft track (200); Step 1.4, establishing a world coordinate system, measuring a first actual coordinate of a first type of feature point under the world coordinate system, and measuring a second actual coordinate of a second type of feature point; Step 1.5, converting second-class feature points on a crankshaft track (200) from a world coordinate system to a space coordinate system based on a position transformation matrix to obtain second transformation coordinates of the second feature points; Step 1.6, calculating a deviation characterization quantity between a second theoretical coordinate and a second transformation coordinate, and adjusting the pose of each segmented arc track module (201) based on the deviation vector until the deviation characterization quantity between the second theoretical coordinate and the second transformation coordinate reaches the standard; And 1.7, fixing each segmented arc-shaped track module (201), and installing a spraying trolley (100) and a flexible traction device (300) outside the formed crankshaft track (200).
10. The method for automatically spraying a space facing an elongated curved surface according to claim 9, wherein, the deviation characterization quantity comprises a deviation vector DeltaP i between the second theoretical coordinate and the second transformation coordinate, and the deviation characterization quantity is judged to reach the standard when DeltaP i is less than or equal to + -5 mm.

Description

Automatic spraying device and spraying method for long and narrow curved surface space Technical Field The invention belongs to the technical field of automatic spraying, and particularly relates to an automatic spraying device and a spraying method for a long and narrow curved surface space. Background When spraying is carried out on a long and narrow curved surface space inside a curved surface shell with a large length-diameter ratio, the following two spraying modes are mainly adopted in the prior art: The first is that the spray gun is manually stretched into the space of the long and narrow curved surface, and the spray gun is controlled to spray through manual operation, because the internal visual field of the long and narrow space is difficult to obtain, and the quality consistency of the internal spray of the long and narrow curved surface space is difficult to guarantee due to the fact that the manual spray operation level is relied on. And secondly, the spray gun is driven by the manipulator to extend into the long and narrow curved surface space, and the spray gun is driven by the manipulator to linearly move and rotate according to a preset action, so that the spraying of the inside of the long and narrow curved surface space is realized. Compared with a manual operation mode, the gesture of the spray gun is more accurate through the manipulator regulation and control, but the manipulator is difficult to penetrate into a long and narrow curved surface space to cause limited spraying range facing the parts with complex internal shape and outline and large length-diameter ratio, and the manipulator is easy to interfere with the parts in the spraying process. Therefore, the invention discloses an automatic spraying device and a spraying method for an elongated curved surface space, aiming at the defects in the spraying process of the interior of the elongated curved surface space in the prior art. Disclosure of Invention The invention discloses an automatic spraying device and a spraying method for a long and narrow curved surface space, which can ensure that a spray gun moves strictly according to a preset movement route, so that accurate and efficient spraying operation is performed inside the long and narrow curved surface space, and the spray gun cannot interfere with parts in the spraying process. The invention is realized by the following technical scheme: An automatic spraying device facing to a long and narrow curved surface space comprises a crankshaft track which is suitable for being arranged on the central axis of the long and narrow curved surface space, a spraying trolley is sleeved outside the crankshaft track, swing guide parts which are in sliding fit with the surface of the crankshaft track along with the shape are arranged at the front end and the rear end of the spraying trolley, a gesture regulator which can circumferentially rotate and radially move relative to the outline of the inner surface of the long and narrow curved surface space is arranged outside the spraying trolley, a spray gun is arranged at the action end of the gesture regulator, a flexible traction device is arranged outside the crankshaft track, the traction end of the flexible traction device is connected with the spraying trolley, and the traction end of the flexible traction device is always clung to the crankshaft track along with the shape in the traction process. In order to better realize the invention, the gesture regulator further comprises a circumferential rotation mechanism and a radial linear movement mechanism, wherein the circumferential rotation mechanism is coaxially and rotatably sleeved outside the spraying trolley, the radial linear movement mechanism is arranged at the rotation end of the circumferential rotation mechanism, and a spray gun is arranged at the movement end of the radial linear movement mechanism. In order to better realize the invention, the circumferential slewing mechanism further comprises a slewing fixed support, a slewing bearing, a slewing frame and a slewing driving mechanism, wherein the slewing fixed support is fixedly arranged outside the spraying trolley, the slewing bearing is coaxially arranged in the slewing fixed support, the slewing driving mechanism is arranged on the slewing fixed support, the slewing frame is rotatably arranged in the slewing bearing, and the slewing frame is provided with a radial linear moving mechanism which is used for driving the slewing frame to circumferentially rotate. In order to better realize the invention, the radial linear movement mechanism further comprises a radial fixed support, a sliding rail, a sliding block and a linear driving mechanism, wherein the radial fixed support is fixedly arranged on the revolving frame, the sliding rail and the linear driving mechanism are arranged on the radial fixed support, the sliding block is arranged on the sliding rail in a sliding fit manner, the spraying gun is arranged on the slid