The automatic spraying project of AVIC aircraft robot undertaken by our hospital successfully passed the equipment acceptance.

Tsinghua University Tianjin High-end equipment Research Institute (hereinafter referred to as "High-end Institute") Robot and Automation equipment Engineering Research Institute (hereinafter referred to as "Robot Institute") has undertaken the aircraft robot automatic spraying project of AVIC. On April 10, 2018, the project successfully passed the equipment acceptance, which marks that the robot team of Professor Chen Ken of Tsinghua University has made phased practical application achievements in the transformation of scientific research achievements, technological innovation and engineering application promotion.

The central turntable is installed in place, and the on-site staff take photos.

In September 2015, the High-end Institute of Robotics and AVIC formally signed a project development contract. With the strong support of the high-end institute, over the past two years, the team organized by the Robot Institute has overcome all difficulties and worked hard to tackle key problems, and has successively completed R & D and design, production and manufacturing, assembly and commissioning, on-site installation and testing, and so on.

Since October 2017, Qingyan Tongchuang Robot (Tianjin) Co., Ltd., a high-end institute robot and its incubation enterprise, has sent technical backbones to the site in batches to carry out on-site system assembly and commissioning and equipment acceptance tests.

Check the central control room

On the day of acceptance, the acceptance team composed of the heads of the technical renovation department, equipment department, flight test station and other relevant departments of the user side conducted a strict review of the equipment completeness, spraying effect, explosion-proof safety and other aspects, and the test results showed that all performances met the requirements.

Multi-joint long arm spraying manipulator

Based on the long-term research and development accumulation and innovation achievements of the robot team of Professor Chen Ken of Tsinghua University in the automatic spraying technology and system direction of the internal and external surfaces of the aircraft, the Institute of Robotics of the High-end Institute further improved and innovated the overall layout, structure, measurement and control of the system in accordance with the characteristics of the project in the process of technology transfer and industrialization promotion and application of the team, thus effectively solving the project problems.

The system accepted this time includes two robot bodies and a turntable, with a total travel range of 10.6 meters and a lifting crank arm of 2.8 meters. The seven-degree-of-freedom spraying robot body of the key equipment breaks the limitations of the structural design and motion trajectory algorithm of regular industrial robots, and realizes multi-redundancy and modular design. The working arm extends over 4 meters long and the end repeated positioning accuracy is 0.08mm. It is a set of spraying robot system products suitable for coating the inner and outer surfaces of large and complex curved workpieces and equipment.

Robot and Automation Equipment Engineering Research Institute Report/Gu Menghong