Research On The Key Technology Of The Robot Painting System For Civil Aircraft

As for aircraft spraying,due to the large spraying space,complex curvature changes and difficult implementation of automation,artificial spraying is the mainstream choice.However,the artificial spraying brings low spraying efficiency and bad quality stability,so that it is hard to meet the high requirements which are put forward by large civil aircraft coating quality and the protection level in long service cycle.Considering the automatic spraying demand for large horizontal parts of civil aircraft of Shanghai Aircraft Manufacturing Company and the strongly support from the major topic " Key Technology Research and Equipment Development of Civil Aircraft Robot Coating System" of Shanghai Municipal Commission of Economy and Informatization,this paper researches the automatic spraying progress,spray trajectory planning and key technology of PC control software,integrating the mature spraying robot,PLC control system,spraying system,cleaning system and humancomputer interaction system to realize the target of aircraft automatic spraying.This paper discusses the differences among several common spraying methods.Generally,airless spraying is the main choice for aircraft spraying.The characteristics of airless spraying and the chemical properties of AC-850 are studied deeply in the paper.Meanwhile,the viscosity of AC-850 has been measured newly as an important reference for the selection of spraying equipment.According to the real situation of manual aircraft spraying,the mathematical model of spraying-Gauss model,is highly improved,which contributes the modified coating accumulation rate model and the spraying trajectory mathematical model.Based on the "Line fitting curve" thought,this paper gives two ways to fit the free curves.One is the pitch lines fitting curves,the other is the uniform lines fitting curves.To simulate the painting trajectory that is obtained from the improved Gauss model,the RobotStudio software is used and spraying experiments is done in the actual spraying conditions to validate the optimized spraying mathematical model further.This project integrates PLC,spraying robot,spraying implements and other equipments to make the overall design of automatic spraying system for the engineering application of the aircraft tail,which joins the automatic cleaning as a new airless spraying function.Lots of things about the project have been done,including spraying infrastructure demand design,spray / cleaning process design,PLC control system design,electrical design,signal logic design and so on.According to the criteria for the selection of spraying equipments,the automatic airless spray gun,color changing valve,flow meter,cleaning pump and other key equipments are chose for the special paint-AC-850.The STEP-7 software is applied for PLC signal simulation and off-line programming.The RobotStudio software is used for spraying station simulation and robot off-line programming and the WINCC software is used for interface HMI graphics rendering and running.