A spindle repair robot control system and control method

Abstract

The present application relates to a kind of main shaft repair robot control system and control method, including weld detection component, 3D laser camera A is fixedly arranged on weld detection component, weld detection component includes fixed plate, multiple probes and multiple springs, multiple stepped cylindrical through holes are continuously opened on the fixed plate, multiple stepped cylindrical through holes are arranged in linear type, probe is slidably arranged in stepped cylindrical through hole, spring is sleeved on the bottom of probe, and is fixed with spring, 3D laser camera B is provided on mounting bracket, and negative pressure suction device is also provided on mounting bracket.The present application designs a kind of main shaft repair robot control system and control method, the shape of weld is restored by weld detection component, depth, the main shaft and the weld on the main shaft are modeled in combination with image information, to accurately plan the motion trajectory of wall-climbing robot and control welding robot arm to weld, polishing device is polished, accurate, efficient work effect is achieved.

Description

Technical Field

[0001] This invention belongs to the technical field, and specifically relates to a control system and control method for a spindle repair robot. Background Technology

[0002] After prolonged operation, the sealing rings of the tunnel boring machine's main shaft will show signs of wear, requiring repair. Because tunnel boring machines operate underground year-round and their main shafts are large, disassembly for repair is not feasible. Current repair methods involve operators lying prone in the narrow gap behind the cutterhead to weld and fill the worn grooves at the wear point, followed by grinding and polishing with an angle grinder / polishing machine. This process results in harsh working conditions and limited operating space, leading to low repair efficiency. Repair work typically takes 30-45 days, severely delaying the construction schedule.

[0003] CN111300194A discloses a system and method for controlling a pipe grinding robot. However, due to the special structure of tunnel boring machines (TBMs), the pipe grinding robot cannot be used on them. Furthermore, the repair of the TBM's main shaft requires welding before grinding, making the operation quite difficult. CN112288707A discloses a robot weld grinding algorithm based on feature point recognition. This method obtains a point cloud model of the weld grinding scene through segmented scanning and then identifies the weld information. This method is relatively complex and cannot be applied to the welding of ring-shaped components.

[0004] Therefore, a main shaft repair robot control system is urgently needed for the welding and grinding operations of the main shaft of the tunnel boring machine. Summary of the Invention

[0005] This invention addresses the problem that existing grinding robots and their welding and grinding methods cannot meet the welding and grinding requirements of the main shaft of a tunnel boring machine (TBM). It proposes a main shaft repair robot control system and method, which includes a wall-climbing robot capable of circular movement on the TBM, a welding robotic arm for welding, and a grinding device for grinding. A weld detection component reconstructs the shape and depth of the weld. By combining image information with modeling of the main shaft and the welds on it, the system accurately plans the movement trajectory of the wall-climbing robot and controls the welding robotic arm for welding and the grinding device for grinding, achieving precise and efficient operation.

[0006] To achieve the above objectives, a first aspect of the present invention provides a spindle repair robot control system, comprising a wall-climbing robot, a grinding device, and a welding robotic arm. The wall-climbing robot is detachably connected to the grinding device and the welding robotic arm. The wall-climbing robot includes a frame and permanent magnet wheels disposed on the lower part of the frame. The permanent magnet wheels are equipped with a servo drive system. An attitude detection module is disposed on the frame. The welding robotic arm includes a welding torch and a multi-axis robotic arm. One end of the multi-axis robotic arm is connected to the frame, and the other end is connected to the welding torch. The grinding device includes a mounting frame and an angle grinder. The angle grinder is connected to the frame via the mounting frame. The connection also includes a weld inspection component, on which a 3D laser camera A is fixedly mounted. The weld inspection component includes a fixing plate, multiple probes, and multiple springs. The fixing plate is arranged laterally and is detachably connected to the vehicle frame. Multiple stepped cylindrical through holes are continuously opened on the fixing plate. The multiple stepped cylindrical through holes are arranged in a straight line, with the large diameter end located at the lower end of the fixing plate and the small diameter end located at the upper end of the fixing plate. The probes are slidably arranged in the stepped cylindrical through holes. The bottom of the probes is fitted with springs and fixed to the springs. The springs are arranged in the large diameter end of the stepped cylindrical through holes and are limited by the large diameter end of the stepped cylindrical through holes. The mounting frame is equipped with a 3D laser camera B and a negative pressure adsorption device.

[0007] Furthermore, the servo drive system, attitude detection module, multi-axis robotic arm, welding torch, angle grinder, and negative pressure adsorption device are connected to a controller. The controller, 3D laser camera A, and 3D laser camera B are all connected to a communication module. The controller, 3D laser camera A, and 3D laser camera B are connected to a host computer through the communication module.

[0008] 3D laser cameras A and B are set up to acquire parameters of the spindle and weld. Data is transmitted through a communication module. The host computer sends control commands to the controller through the communication module, thereby realizing a highly automated spindle repair operation.

[0009] Furthermore, the two permanent magnet wheels located on both sides of the frame are connected to a servo drive system. The servo drive system includes a driver, a servo motor, and a planetary reducer. The output shaft of the servo motor is connected to the permanent magnet wheel through the planetary reducer. A track is installed between the two permanent magnet wheels arranged in front and behind, and the two permanent magnet wheels are connected by track drive. The driver is communicatively connected to the controller, and the servo motor is connected to the power supply through the driver.

[0010] The servo control system facilitates speed control. The two permanent magnet wheels, arranged in front and rear rows, are connected by track drive for smooth operation. The two permanent magnet wheels, arranged diagonally to the left and right, are connected to servo drive systems. The controller can adjust the servo drive systems individually to achieve differential speed correction.

[0011] Furthermore, the grinding device also includes a servo lifting system, which includes a cylinder, a first connecting plate, a rotary motor, and a second connecting plate. The output end of the cylinder is fixedly connected to the first connecting plate, which has a Z-shaped structure. The lower plane of the first connecting plate is fixed to the rotary motor. The output shaft of the rotary motor is fixedly connected to the second connecting plate. The second connecting plate is connected to a fixing plate, which has an L-shaped frame structure. The angle grinder is obliquely mounted on the horizontal end of the fixing plate. A housing is provided at the upper end of the angle grinder, and the housing is fixed to the fixing plate. A through hole is opened at the upper end of the housing, and a negative pressure adsorption device is provided corresponding to the position of the through hole.

[0012] Because the weld seam is uneven after welding, the height of the angle grinder is adjusted using a servo lifting system to ensure that the grinder is in contact with the grinding position during operation. Fine debris is generated during grinding; to facilitate cleaning, a negative pressure adsorption device is installed to adsorb and remove the debris during grinding, ensuring the spindle remains clean.

[0013] Furthermore, the negative pressure adsorption device includes a pipe and a negative pressure fan, the pipe is fixed to the housing, and the negative pressure fan is electrically connected to the controller.

[0014] The negative pressure adsorption device has a simple structure, and the negative pressure fan is controlled by a controller to automatically start and stop during the grinding operation.

[0015] Furthermore, a laser rangefinder is fixedly installed on the outer wall of the second connecting plate, and the output end of the laser rangefinder is electrically connected to the input end of the controller; The controller is electrically connected to the cylinder and the rotary motor respectively.

[0016] A laser rangefinder is used to measure the distance between the angle grinder and the surface being ground, ensuring that the angle grinder can contact the surface and measure the grinding depth, thus ensuring a smooth surface.

[0017] The second aspect of this invention provides a control method for a spindle repair robot control system, comprising: Step 1: Sandblast the weld to remove rust and clean the residue to create a frosted surface on the inner surface of the spindle defect; Step 2: Install the multi-axis robotic arm and the frame, place the frame on the main shaft, attach the permanent magnet wheels to the main shaft, and set the moving speed of the frame through the host computer; Step 3: The weld seam detection component deforms under stress after contacting the weld seam during movement. Multiple probes form the shape of the weld seam. During the movement of the frame, 3D laser camera A takes segmented pictures of the weld seam detection component, the main shaft, and the weld seam, and transmits the image information to the host computer through the communication module. Step 4: The host computer models the model using the image information and marks the coordinates of the weld position on the established model; The depth, width, and volume of the weld are obtained from the image information. The host computer then plans the running trajectory and speed of the welding robot arm based on the weld model. The host computer issues control commands, and the controller controls the welding torch to weld the seam. Step 5: Remove the multi-axis robotic arm, install the grinding device on the front and rear ends of the frame, place the frame on the main shaft, and attach the permanent magnet wheels to the main shaft. Set the moving speed of the frame through the host computer. Step 6: The chassis moves, and two 3D laser cameras B take segmented pictures of the two weld seam detection components. The 3D laser cameras B upload the image information to the host computer through the communication module. Step 7: The host computer models the weld seam based on the image information of one of the weld seam inspection groups to obtain the weld seam information after welding. The host computer then plans the left and right movement trajectory of the grinding head. The host computer uses image information from another weld inspection group to model and obtain grinding position information to determine whether the grinding head is working properly. Step 8: During the weld grinding operation, the host computer issues a control command, and the controller controls the negative pressure adsorption device to process the slag under grinding. After the weld grinding is completed, the frame is removed from the main shaft.

[0018] Furthermore, the frame movement includes correction control: The attitude detection module detects the attitude of the frame, the controller receives the detection parameters from the attitude detection module, and the controller controls the servo drive system to correct the frame alignment through dual-wheel differential.

[0019] During welding and grinding, the chassis needs to move back and forth, necessitating chassis alignment control to ensure its position matches the weld location. During operation, information from the attitude detection module is combined with image information transmitted from either 3D laser camera A or 3D laser camera B, and the controller uses a servo drive system for alignment correction. This allows the chassis to smoothly move the grinding device and welding robotic arm along the weld location. Furthermore, the weld grinding operation also includes: A laser rangefinder detects the distance between the angle grinder and the work surface. The laser rangefinder transmits the detected parameters to a controller, which adjusts the cylinder to make the angle grinder act on the work surface.

[0020] The beneficial effects of the present invention through the above technical solution are as follows: 1. This invention enables precise detection of the shape, depth, and width of welds. During welding, a 3D laser camera A continuously captures images of the main axis to determine the location of the weld. As the camera moves, the weld detection component reaches the weld location. Because there is a notch at the weld location, probes enter the notch. Multiple probes are arranged in a line, and the shape and depth of the weld are revealed between them. The 3D laser camera A captures images of the probes during the imaging process, thus determining the weld's shape, depth, width, and location. Similarly, during weld grinding, a 3D laser camera B captures images of the main axis to determine the weld location, and the weld detection component obtains the shape, height, and width of the surface to be ground.

[0021] 2. This invention can clean up the fine shavings after grinding, ensuring that the spindle repair operation can be completed efficiently and neatly.

[0022] 3. A control method for a spindle repair robot control system of the present invention, wherein during the movement of the frame, a 3D laser camera A takes segmented pictures of the weld detection component, the spindle, and the weld, and transmits the image information to the host computer through a communication module; thereby, the host computer models the model based on the image information and marks the weld position coordinates on the established model; The depth, width, and volume of the weld are obtained from the image information. The host computer then plans the running trajectory and speed of the welding robot arm based on the weld model, thus achieving precise automatic welding.

[0023] During the grinding operation, two 3D laser cameras B take segmented pictures of the two weld seam detection components. The 3D laser cameras B upload the image information to the host computer through the communication module. The host computer uses the image information of one of the weld seam detection groups to build a model and obtain the weld seam information after welding. The host computer then plans the left and right movement trajectory of the grinding head. The host computer uses image information from another weld inspection group to model and obtain grinding location information, determining whether the grinding head is working properly; thus enabling precise grinding operations and facilitating the repair of the tunnel boring machine's main shaft. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the operation of the spindle repair robot control system and control method of the present invention; Figure 2 for Figure 1 Enlarged view of point A; Figure 3 This is a schematic diagram of the weld seam detection component of a spindle repair robot control system and control method according to the present invention.

[0025] Figure 4This is a schematic diagram of the wall-climbing robot structure of the spindle repair robot control system and control method of the present invention.

[0026] Figure 5 This is one of the schematic diagrams of a grinding device structure for a spindle repair robot control system and control method according to the present invention; Figure 6 This is a second schematic diagram of the grinding device structure of the spindle repair robot control system and control method of the present invention; Figure 7 This is a schematic diagram of the grinding device operation of the spindle repair robot control system and control method of the present invention; Figure 8 This is a schematic diagram of a welding robotic arm that provides a spindle repair robot control system and control method according to the present invention. Figure 9 This is a schematic diagram of the system structure of a spindle repair robot control system and control method according to the present invention.

[0027] Reference numerals: 1 is the frame, 2 is the permanent magnet wheel, 3 is the attitude detection module, 4 is the welding torch, 5 is the multi-axis robotic arm, 6 is the mounting bracket, 7 is the angle grinder, 8 is the 3D laser camera A, 9 is the fixing plate, 10 is the probe, 11 is the spring, 12 is the stepped cylindrical through hole, 13 is the 3D laser camera B, 14 is the negative pressure adsorption device, 15 is the controller, 16 is the communication module, 17 is the host computer, 18 is the servo motor, 19 is the planetary reducer, 20 is the controller, 21 is the first connecting plate, 22 is the rotary motor, 23 is the second connecting plate, 24 is the housing, 25 is the laser rangefinder, 26 is the guide wheel, and 27 is the cylinder. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: Example 1 like Figures 1-9As shown, a spindle repair robot control system includes a wall-climbing robot, a grinding device, and a welding robotic arm. The wall-climbing robot is detachably connected to the grinding device and the welding robotic arm. The wall-climbing robot includes a frame 1 and permanent magnet wheels 2 disposed on the lower part of the frame 1. The permanent magnet wheels 2 are equipped with a servo drive system. An attitude detection module 3 is installed on the frame 1. The welding robotic arm includes a welding torch 4 and a multi-axis robotic arm 5. One end of the multi-axis robotic arm 5 is connected to the frame 1, and the other end is connected to the welding torch 4. The grinding device includes a mounting frame 6 and an angle grinder 7. The angle grinder 7 is connected to the frame 1 through the mounting frame 6. It also includes a weld detection component. A 3D laser camera A8 is fixedly mounted on the weld inspection assembly. The weld inspection assembly includes a fixing plate 9, multiple probes 10, and multiple springs 11. The fixing plate 9 is arranged horizontally and is detachably connected to the frame 1. Multiple stepped cylindrical through holes 12 are continuously opened on the fixing plate 9. The multiple stepped cylindrical through holes 12 are arranged in a straight line, with the large diameter end located at the lower end of the fixing plate 9 and the small diameter end located at the upper end of the fixing plate 9. The probes 10 are slidably mounted in the stepped cylindrical through holes 12. The bottom of the probes 10 is fitted with springs 11 and fixed to the springs 11. The springs 11 are located in the large diameter end of the stepped cylindrical through holes 12 and are limited by the large diameter end of the stepped cylindrical through holes 12. The mounting frame 6 is equipped with a 3D laser camera B13 and a negative pressure adsorption device 14.

[0029] The servo drive system, attitude detection module 3, multi-axis robotic arm 5, welding torch 4, and negative pressure adsorption device 14 are connected to a controller 15. The controller 15, 3D laser camera A8, and 3D laser camera B13 are all connected to a communication module 16. The controller 15, 3D laser camera A8, and 3D laser camera B13 are connected to a host computer 17 through the communication module 16.

[0030] The two permanent magnet wheels 2, which are located on both sides of the frame 1, are connected to a servo drive system. The servo drive system includes a driver, a servo motor 18, and a planetary reducer 19. The output shaft of the servo motor 18 is connected to the permanent magnet wheel 2 through the planetary reducer 19. A track is provided between the two permanent magnet wheels 2 arranged in front and behind, and the two permanent magnet wheels 2 are connected by track drive. The driver is communicatively connected to the controller 15, and the servo motor 18 is connected to the power supply through the driver.

[0031] In this embodiment, two guide wheels 26 are provided on the side of the chassis 1, and the guide wheels 26 roll in contact with the end face of the tunnel boring machine's main shaft. The guide wheels 26 limit the movement of the chassis 1.

[0032] The attitude detection module 3 includes a gyroscope, accelerometer, and magnetometer. The controller 20 acquires data every 2ms. After each data acquisition, the accelerometer and magnetometer are used to correct the drift of the gyroscope, obtaining the current attitude information quaternion. The quaternion is then used to perform inverse Euler angle decomposition to obtain the corresponding attitude angles, namely pitch, roll, and yaw. The 3D laser cameras A8 and B13 use LMI_2530 cameras.

[0033] In this embodiment, for ease of operation, the spindle repair robot is equipped with a remote controller, which is wirelessly connected to the controller 20.

[0034] The main welding component of the tunnel boring machine's main shaft is the runway weld. Before welding, the weld is sandblasted to remove rust, and the residue is cleaned to create a frosted surface on the inner surface of the main shaft.

[0035] During welding operations, the multi-axis robotic arm 5 is installed on the chassis 1. After installation, the main shaft repair robot is sent into the shield machine's oil seal position through the tunnel boring machine's runway access hole. The guide wheel 26 contacts the outer contour edge of the shield machine's oil seal position to limit the movement of the chassis 1. The permanent magnet wheel 2 is attached to the main shaft. The moving speed of the chassis 1 is set via the host computer 17.

[0036] When the weld seam inspection component moves and comes into contact with the weld seam, it is deformed by force. Multiple probes 10 form the shape of the weld seam. During the movement of the frame 1, the 3D laser camera A8 takes segmented pictures of the weld seam inspection component, the main shaft and the weld seam, and transmits the image information to the host computer 17 through the communication module 16. The host computer 17 models the model using image information and marks the coordinates of the weld position on the established model; The depth, width, and volume of the weld are obtained from the image information. The host computer 17 plans the running trajectory and speed of the welding robot arm based on the weld model. The host computer 17 issues a control command, and the controller 20 controls the welding gun 4 to work and weld the weld seam.

[0037] Example 2 The polishing operation is described in Example 2 based on Example 1: The grinding device also includes a servo lifting system, which includes a cylinder 27, a first connecting plate 21, a rotary motor 22, and a second connecting plate 23. The output end of the cylinder 27 is fixedly connected to the first connecting plate 21, which has a Z-shaped structure. The lower plane of the first connecting plate 21 is fixed to the rotary motor 22. The output shaft of the rotary motor 22 is fixedly connected to the second connecting plate 23. The second connecting plate 23 is connected to a fixing plate 9, which has an L-shaped frame structure. The angle grinder 7 is obliquely mounted on the horizontal end of the fixing plate 9. A housing 24 is mounted on the upper end of the angle grinder 7, which is fixed to the fixing plate 9. A through hole is opened on the upper end of the housing 24, and a negative pressure adsorption device 14 is mounted corresponding to the position of the through hole.

[0038] The negative pressure adsorption device 14 includes a pipe and a negative pressure fan. The pipe is fixed to the housing 24, and the negative pressure fan is electrically connected to the controller 15.

[0039] A laser rangefinder 25 is fixedly installed on the outer wall of the second connecting plate 23, and the output end of the laser rangefinder 25 is electrically connected to the input end of the controller 15. The controller 15 is electrically connected to the cylinder 27 and the rotary motor 22 respectively.

[0040] The grinding device consists of two sets, which are fixed to the frame 1 via an adjusting plate. The two grinding devices are installed in a staggered manner. During the grinding operation, the frame 1 is placed on the main shaft, and the permanent magnet wheel 2 is attracted to the main shaft. The moving speed of the frame 1 is set by the host computer 17. The frame 1 moves, and the two 3D laser cameras B13 take segmented pictures of the two weld seam detection components. The 3D laser cameras B13 upload the image information to the host computer 17 through the communication module 16. The host computer 17 models the weld seam information after welding by using the image information of one of the weld seam inspection groups. The host computer 17 then plans the left and right movement trajectory of the grinding head. The host computer 17 obtains the grinding position information by using the image information from another weld inspection group to model and determine whether the grinding head is working properly. During the weld grinding operation, to ensure the vertical accuracy of the frame 1 and the splicing requirements of adjacent spraying trajectories in the vertical direction, it is necessary to correct the walking posture of the frame 1 to ensure the straightness of the movement trajectory. The posture detection module 3 detects the posture of the frame 1, and the controller 15 receives the detection parameters from the posture detection module 3. The controller 15 controls the servo drive system to correct the posture of the frame 1 through the dual-wheel differential speed.

[0041] Meanwhile, the laser rangefinder 25 detects the distance between the angle grinder 7 and the working surface, and transmits the detection parameters to the controller 15. The controller 15 adjusts the cylinder 27 to make the angle grinder 7 act on the working surface.

[0042] During operation, cylinder 27 drives the first connecting plate 21 closer to the grinding position. Rotary motor 22 adjusts the angle of the angle grinder 7. When the fixed plate 9 approaches the grinding position, the angle grinder 7 contacts the grinding position, grinding the welded additive area until the weld seam height is flush with the shield machine's oil seal. During this process, the negative pressure adsorption device 14 operates, and the negative pressure fan cleans away the fine debris from the grinding. After the weld seam grinding is completed, the frame 1 is removed from the main shaft. The shield machine main shaft repair work is then complete.

[0043] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included within the scope of the present invention.

Claims

1. A spindle repair robot control system, comprising a wall-climbing robot, a grinding device, and a welding robotic arm, wherein the wall-climbing robot is detachably connected to the grinding device and the welding robotic arm, the wall-climbing robot comprising a frame (1) and permanent magnet wheels (2) disposed on the lower part of the frame (1), the permanent magnet wheels (2) being provided with a servo drive system, the frame (1) being provided with an attitude detection module (3), the welding robotic arm comprising a welding torch (4) and a multi-axis robotic arm (5), one end of the multi-axis robotic arm (5) being connected to the frame (1) and the other end being connected to the welding torch (4), the grinding device comprising a mounting frame (6) and an angle grinder (7), the angle grinder (7) being connected to the frame (1) through the mounting frame (6), characterized in that, It also includes a weld inspection component, on which a 3D laser camera A (8) is fixedly installed. The weld inspection component includes a fixing plate (9), multiple probes (10) and multiple springs (11). The fixing plate (9) is arranged horizontally and is detachably connected to the frame (1). Multiple stepped cylindrical through holes (12) are continuously opened on the fixing plate (9). The multiple stepped cylindrical through holes (12) are arranged in a straight line, with the large diameter end located at the lower end of the fixing plate (9) and the small diameter end located at the upper end of the fixing plate (9). The probes (10) are slidably installed in the stepped cylindrical through holes (12). The bottom of the probes (10) is fitted with springs (11). The probes (10) are fixed to the springs (11). The springs (11) are set in the large diameter end of the stepped cylindrical through holes (12) and are limited by the large diameter end of the stepped cylindrical through holes (12). The mounting bracket (6) is equipped with a 3D laser camera B (13) and a negative pressure adsorption device (14).

2. The spindle repair robot control system according to claim 1, characterized in that, The servo drive system, attitude detection module (3), multi-axis robotic arm (5), welding torch (4), angle grinder (7) and negative pressure adsorption device (14) are connected to a controller (15). The controller (15), 3D laser camera A (8) and 3D laser camera B (13) are all connected to a communication module (16). The controller (15), 3D laser camera A (8) and 3D laser camera B (13) are connected to a host computer (17) through the communication module (16).

3. The spindle repair robot control system according to claim 2, characterized in that, The two permanent magnet wheels (2) located on both sides of the frame (1) are connected to a servo drive system. The servo drive system includes a driver, a servo motor (18) and a planetary reducer (19). The output shaft of the servo motor (18) is connected to the permanent magnet wheel (2) through the planetary reducer (19). A track is provided between the two permanent magnet wheels (2) arranged in front and behind, and the two permanent magnet wheels (2) are connected by track drive. The driver is connected to the controller (15) in communication, and the servo motor (18) is connected to the power supply through the driver.

4. The spindle repair robot control system according to claim 2, characterized in that, The grinding device also includes a servo lifting system, which includes a cylinder (27), a first connecting plate (21), a rotary motor (22), and a second connecting plate (23). The output end of the cylinder (27) is fixedly connected to the first connecting plate (21). The first connecting plate (21) has a Z-shaped structure. The lower plane of the first connecting plate (21) is fixed to the rotary motor (22). The output shaft of the rotary motor (22) is fixedly connected to the second connecting plate (23). The second connecting plate (23) is connected to a fixing plate (9). The fixing plate (9) has an L-shaped frame structure. The angle grinder (7) is obliquely mounted on the horizontal end of the fixing plate (9). The upper end of the angle grinder (7) is provided with a housing (24). The housing (24) is fixed to the fixing plate (9). A through hole is opened at the upper end of the housing (24), and a negative pressure adsorption device (14) is provided corresponding to the position of the through hole.

5. The spindle repair robot control system according to claim 4, characterized in that, The negative pressure adsorption device (14) includes a pipe and a negative pressure fan. The pipe is fixed to the housing (24), and the negative pressure fan is electrically connected to the controller (15).

6. The spindle repair robot control system according to claim 4, characterized in that, A laser rangefinder (25) is fixedly installed on the outer wall of the second connecting plate (23), and the output end of the laser rangefinder (25) is electrically connected to the input end of the controller (15); The controller (15) is electrically connected to the cylinder (27) and the rotary motor (22).

7. The control method for a spindle repair robot control system according to any one of claims 1 to 6, characterized in that, include: Step 1: Sandblast the weld to remove rust and clean the residue to create a frosted surface on the inner surface of the spindle defect; Step 2: Install the multi-axis robotic arm (5) and the frame (1), place the frame (1) on the main shaft, and attach the permanent magnet wheel (2) to the main shaft. Set the moving speed of the frame (1) through the host computer (17). Step 3: The weld seam detection component is deformed by force after contacting the weld seam during the movement. Multiple probes (10) form the shape of the weld seam. During the movement of the frame (1), the 3D laser camera A (8) takes pictures of the weld seam detection component, the main shaft and the weld seam in segments, and transmits the image information to the host computer (17) through the communication module (16). Step 4: The host computer (17) models the model using the image information and marks the coordinates of the weld position on the established model; The depth, width and volume of the weld are obtained from the image information. The host computer (17) plans the running trajectory and running speed of the welding robot arm based on the weld model. The host computer (17) issues a control command, and the controller (20) controls the welding gun (4) to work and weld the weld seam; Step 5: Remove the multi-axis robotic arm (5), install the grinding device on the front and rear ends of the frame (1), place the frame (1) on the main shaft, and attach the permanent magnet wheel (2) to the main shaft. Set the moving speed of the frame (1) through the host computer (17). Step 6: The frame (1) moves and takes segmented pictures of the two weld seam detection components through two 3D laser cameras B (13). The 3D laser cameras B (13) upload the image information to the host computer (17) through the communication module (16). Step 7: The host computer (17) models the weld seam information after welding by using the image information of one of the weld seam inspection groups. The host computer (17) plans the left and right movement trajectory of the grinding head. The host computer (17) obtains the grinding position information by modeling through the image information of another weld inspection group, and determines whether the grinding head is working properly; Step 8: During the weld grinding operation, the host computer (17) issues a control command, and the controller (15) controls the negative pressure adsorption device (14) to work and process the slag under grinding. After the weld grinding operation is completed, the frame (1) is removed from the main shaft.

8. The control method for a spindle repair robot control system according to claim 7, characterized in that, The movement of the frame (1) includes correction control: The attitude detection module (3) detects the attitude of the frame (1), the controller (15) receives the detection parameters from the attitude detection module (3), and the controller (15) controls the servo drive system to correct the frame (1) through the dual-wheel differential.

9. The control method for a spindle repair robot control system according to claim 7, characterized in that, The weld grinding operation also includes: The laser rangefinder (25) detects the distance between the angle grinder (7) and the working surface. The laser rangefinder (25) transmits the detection parameters to the controller (15), which adjusts the cylinder (27) to make the angle grinder (7) act on the working surface.

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