Repair device and repair method for smooth filling of gap of cylindrical product cover plate

Abstract

The invention relates to a repairing device and a repairing method for smooth filling of a gap of a cylindrical product cover plate, and the repairing device is characterized by comprising a collaborative robot (1), a glue discharging and blade coating actuator (2), a ground rail (3) and an embracing ring rotation tool (4), wherein a holding ring rotation tool (4) is fixedly installed on a fixed workbench beside the ground rail (3), a movable platform is connected to the ground rail (3) in a sliding mode, a collaborative robot (1) is connected to the movable platform, and a glue discharging and blade coating actuator (2) is connected to the tail end of the collaborative robot (1); on the basis of the ground rail, the six-degree-of-freedom collaborative robot and the rotary embracing ring, the long and thin cylinder type part needing to be subjected to heat-proof repairing is built, the ground rail moving platform drives the six-degree-of-freedom collaborative robot and the rotary embracing ring to cooperate, and efficient, accurate and flexible repairing operation on the long and thin cylinder type product is achieved.

Description

Technical Field

[0001] The present invention relates to a repairing device and a repairing method for smoothly filling gaps in cylindrical product covers, and in particular to a robot processing system that uses off-line programming software to plan filling and repair trajectories. Background Art

[0002] In industries like aerospace and machinery manufacturing, for products like engine casings and large pipes that have strict airtightness and high-temperature insulation requirements, after the surface covers or screws are tightened, a special heat-resistant colloid must be filled into the cover gaps and screw holes to repair the gaps. This colloid must then be compacted and smoothed to ensure heat protection and product aesthetics. Traditional heat-resistant repairs rely entirely on manual labor, requiring extensive manpower to operate, including mixing, caulking, compacting, applying, and smoothing. The colloid materials used for heat-resistant repairs have a limited shelf life after mixing, requiring repairs to be completed within a short period of time. The colloid components contain a variety of harmful gases, posing an occupational hazard to manual workers. Repairs to the surfaces of rotating products like cylinders require operators to repeatedly climb or squat, and for ground-facing repaired features, they may even need to lie on the ground. Compacting and applying, which require highly skilled techniques, require repeated training on actual products, resulting in lengthy technical training. Therefore, there is a need for a repair technology that is more automated and less reliant on manual labor. For cylindrical rotating bodies or other large products with numerous repair features, the use of collaborative robots and repair actuators can significantly free up manpower. An eight-degree-of-freedom linkage system, based on a floor rail, a six-degree-of-freedom collaborative robot, and a rotating ring, can automate the repair of various surface features on rotating products with large aspect ratios. Summary of the Invention

[0003] The purpose of the present invention is to provide a repair device and a repair method for smoothly filling gaps in cover plates of cylindrical products, so as to reduce the proportion of manual work in traditional repair processes and improve product quality.

[0004] The present invention is a repair device for smoothly filling gaps in cylindrical product cover plates, characterized in that it includes a collaborative robot 1, a glue discharging and scraping actuator 2, a ground rail 3 and a ring-holding rotary tooling 4; wherein, a ring-holding rotary tooling 4 is fixedly installed on a fixed workbench next to the ground rail 3, a mobile platform is slidably connected to the ground rail 3, the mobile platform is connected to the collaborative robot 1, and a glue discharging and scraping actuator 2 is connected to the end of the collaborative robot 1; the glue discharging and scraping actuator 2 includes a quick-change head 6, a scraper 12, A rubber cylinder 13, a camera 8, a light source 9, a first adapter 5, a second adapter 7 and a third adapter 11; wherein, the first adapter 5 is connected to the top of the quick-change head 6, the third adapter 11 is connected to the bottom of the quick-change head 6, a scraper 12 and a rubber cylinder 13 are provided on the side of the third adapter 11, an air pipe interface 10 is provided at the upper end of the rubber cylinder 13, and a glue discharge needle 14 is provided below the rubber cylinder 13; the second adapter 7 is also connected next to the first adapter 5, the camera 8 is connected to the side of the second adapter 7, and the light source 9 is connected below the second adapter 7.

[0005] A method for repairing a cylindrical product cover plate using a repair device for softly filling gaps is characterized by:

[0006] Step 1. Install the ring-holding rotary fixture 4, the collaborative robot 1, and the glue discharging and scraping actuator 2: Install the collaborative robot 1 and the ring-holding rotary fixture 4 with the cylindrical product on a fixed workbench, and install the glue discharging and scraping actuator 2 at the end of the collaborative robot 1. Connect the solenoid valve through the collaborative robot DO signal port to control the air circuit on / off and glue discharging of the glue discharging and scraping actuator 2. Control the movement of the collaborative robot 1 base on the ground rail 3 and the rolling of the ring-holding rotary fixture 4 through the PLC. Use the four-point method to calibrate the TCP point of the glue discharging needle 14 when discharging glue and the TCP point of the scraper 12 on the product surface.

[0007] Step 2: Calibrate the positions of the collaborative robot 1 and the ring-shaped rotary fixture 4: Enter the base coordinate system of the collaborative robot 1, the workpiece coordinate system of the ring-shaped rotary fixture 4, and the tool coordinate system of the dispensing and coating actuator 2 into the offline programming software to build a virtual simulation environment close to the actual object;

[0008] Step 3. Generate motion trajectory and readable script program for collaborative robot 1: In the offline programming simulation environment, select the cover plate gap feature that needs to be sealed as the object, select the glue discharging TCP and the scraping TCP respectively to generate the basic glue discharging trajectory and basic scraping trajectory of collaborative robot 1. On this basis, interpolate the points on the basic motion trajectory so that collaborative robot 1 moves along the cubic Bezier curve path when the action of each point changes, achieving smooth transition, and set the control statements for starting and stopping glue discharging at the key points of the glue discharging trajectory;

[0009] Step 4: Calibrate the actual workpiece coordinate system with camera 8: Use the camera 6 integrated on the dispensing and coating actuator 2 to photograph key points on the product, perform image recognition processing on the center coordinates of the key points and the normal features of the points on the product cylinder, and compare them with the relative position of the product in the virtual simulation environment. Based on the actual shooting results, adjust the relative position of the workpiece coordinate system and the collaborative robot 1 in the offline programming virtual simulation environment, and recompile the corresponding robot trajectory program;

[0010] Step 5. Confirm that the actual collaborative robot 1 runs the program: Import the script compiled in the offline programming software into the actual collaborative robot 1, run it through the program, confirm the final accurate workpiece coordinate system and the position of the robot base on the ground rail 3, write the corresponding PLC program, and synthesize it into a program file that can be run by the final collaborative robot 1.

[0011] Furthermore, the installation of the ring-holding rotary tooling 4, the collaborative robot 1 and the glue discharging and scraping actuator 2 in the step one, the rotation movement of the ring-holding rotary tooling 4 and the movement of the ground rail 3 on which the collaborative robot 1 is installed are realized by PLC controlling the corresponding motors; the ring-holding rotary tooling 4 is a workbench in the form of a ring, which can clamp and fix slender cylindrical products. The rotation of the product can be realized by sending instructions to the rotary motor controlling the ring-holding rotary tooling 4 through the PLC, so that the features at different angular directions on the rotating surface of the product are rotated to the top during processing; the collaborative robot 1 is installed on the mobile platform of the ground rail 3, and the PLC controls the position of the collaborative robot 1 by controlling the servo motor corresponding to the mobile platform, so as to realize accessibility to different features on the product; the glue discharging and scraping actuator 2 has a glue cylinder filled with repair glue and a scraper for scraping, which has both glue discharging and scraping functions, and controls the solenoid valve through the signal output port of the robot's electrical control cabinet to realize automatic glue discharging.

[0012] Furthermore, the step 2 calibrates the collaborative robot 1 and the 4 positions of the ring rotary tooling. The specific process is as follows:

[0013] (a) Determine the approximate relative position of the collaborative robot 1 and the product tooling: Adjust and secure the mobile platform and product tooling on the floor rail 3 so that the product is within the reach of the collaborative robot 1. Install a standard-sized spike on the end flange of the robot. Operate the robot so that the spike aligns with a feature point on the product surface. Record the robot's position at this point. This serves as a reference for the approximate relative position of the collaborative robot 1, floor rail 3, and ring-shaped rotary tooling 4 in the simulation environment.

[0014] (b) Calibrate the tool coordinate systems for glue dispensing and coating respectively: Fix a sharp point within the reach of the robot flange and use the four-point method to calibrate the tool coordinate systems of the collaborative robot 1 during glue dispensing and coating respectively; the glue dispensing tool coordinate system uses the end of the glue dispensing needle as the TCP, and the coating tool coordinate system uses the center of the flexible scraper as the TCP; after calibration, import the collaborative robot 1 model and the actuator model into the offline programming simulation environment for assembly, and adjust the two tool coordinate systems based on the calibration results so that the needle does not scratch the product surface during glue dispensing and the scraper can fully fit the product surface during coating. The adjusted results are used as the tool coordinate system for generating the final trajectory;

[0015] Furthermore, the specific process of generating the motion trajectory of the collaborative robot 1 and the executable script in step 3 is as follows:

[0016] (a) Drawing of the input model: Draw the features to be repaired on the product body in the 3D modeling software, and rotate the product body around the axis so that the machining features are output at the rotation angle of the product facing upward, and obtain the STP standard format file;

[0017] (b) Product model import and position planning: The generated workpiece STP is imported into the offline programming software as the part to be processed, and the relative position between the part and the robot is adjusted to make the processing environment in the simulation as close to the actual processing environment as possible;

[0018] (c) Planning of the glue dispensing path and generation of an executable script: The tool coordinate system for simulation is selected as glue dispensing. For cover plate gap features, the path type uses "Feature Edge" and selects the window edge curve features in sequence. The DO port that controls glue dispensing is set to a high level at the starting point to start glue dispensing and to a low level at the end point to stop glue dispensing. The software can automatically plan an executable script for collaborative robot 1 to dispense glue along the window edge. Based on the spatial distribution of the starting and ending points of different glue dispensing action segments, the action can be optimized according to the Bezier curve in the offline programming software to achieve sufficient smoothness during operation.

[0019] (d) Planning of scraping paths and generation of executable scripts: The tool coordinate system for simulation is selected as scraping. For cover plate features, the edges of the cover plate window features are selected in sequence to generate the corresponding scraping motion trajectory. Based on the spatial distribution of the starting and ending points of different scraping action segments, the motion can be optimized according to the Bezier curve in the offline programming software to achieve sufficient smoothness during operation. After the trajectory is generated, simulation is required to ensure that there will be no interference or collision during the operation of the equipment.

[0020] Furthermore, the step 4 uses the camera 8 to calibrate the actual workpiece coordinate system. The specific process is as follows:

[0021] (a) Camera installation and calibration: The end effector of collaborative robot 1 integrates camera 8, which is used to accurately locate the product's workpiece coordinate system. A sharp point is fixed to the smooth surface of the actuator with hot melt adhesive. Collaborative robot 1 is operated in fine-tuning mode to align with the fixed target point. An algorithm is used to fit the position of camera 8's coordinate system relative to the flange coordinate system of collaborative robot 1.

[0022] (b) Calibrate the accurate workpiece coordinate system: After the camera 8 is calibrated, it photographs the characteristic holes on the product surface used for positioning, and fits parameters such as the hole center coordinates and the hole position normal vector. This can accurately locate the workpiece coordinate system of the actual product and compare it with the workpiece coordinate system set in the virtual environment in step 3. The workpiece coordinate system in the offline programming software is adjusted according to the actual workpiece coordinate system, and all trajectories are regenerated to obtain an executable script that can ultimately be applied to the actual device.

[0023] Furthermore, the step 5 confirms the actual robot running program, and the specific process is as follows:

[0024] (a) Robot idle run executable file: Import the executable script generated in step 4 into the robot controller. Run the program idle with the rotary tooling without holding the product. Confirm that it is correct and there will be no collisions, then save it.

[0025] (b) Joint debugging and testing with the PLC: Certain repair features on the product require the robot to be at different positions on the ground rail and the holding ring to be rotated to a certain angle to complete. The PLC needs to control the ground rail motor to move to the corresponding position before the robot can execute the executable script to repair the corresponding feature.

[0026] Beneficial effects of the present invention:

[0027] The present invention is based on a floor rail + six-degree-of-freedom collaborative robot + a rotating ring to build slender cylindrical parts that need to be repaired for heat protection. The floor rail mobile platform drives the coordinated cooperation of the six-degree-of-freedom collaborative robot and the rotating ring to achieve efficient, accurate and flexible repair operations for slender cylindrical products.

[0028] 1) Efficiency: The collaborative robot and the rotary ring work together to achieve comprehensive and rapid automated repair of slender cylindrical products, significantly improving repair efficiency and shortening the repair cycle by more than 50% compared to traditional manual repair methods.

[0029] 2) High precision: The absolute positioning accuracy of the six-degree-of-freedom collaborative robot is ±1mm, and the repeatability is ±

[0030] 0.2mm, which meets the repair accuracy requirements of the cover gap; combined with the precise guidance of visual camera detection, the repair accuracy can reach 0.1mm BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 , is a schematic diagram of the structure of the device of the present invention.

[0032] Figure 2 , is a schematic structural diagram of the glue-discharging repair actuator of the present invention;

[0033] Figure 3 , is a schematic diagram of the glue outlet integrated on the actuator of the present invention continuously discharging glue along the gap of the cover plate.

[0034] The figure is a schematic diagram of the flexible scraper integrated on the actuator scraping along the gap of the cover plate;

[0035] The symbols in the diagram are as follows: 1-collaborative robot, 2-glue dispensing and coating actuator, 3-ground rail, 4-rotating gripping ring. All hardware devices are integrated and controlled by the host computer, including the movement of the platform on the ground rail and the collaborative robot's executable scripts for different features to be repaired. The control system pre-inputs the different positions of the robot's mobile platform on the guide rail, the different rotation angles of the gripping ring, and the start signals that drive the robot and actuator to perform corresponding glue dispensing and coating actions at different positions and different rotation angles of the gripping ring. The host computer is installed with offline programming software, which draws 3D model features and inputs information such as the defect location on the product surface and repair process parameters. The repair path and operation process are planned using intelligent algorithms, and the motion trajectory composed of discrete points is processed using Bezier spline curves to obtain a sufficiently smooth motion path.

[0036] Figure 2 The specific structure of the glue dispensing and coating actuator includes a first connector 5, a quick-change head 6, a second adapter 7, a camera 8, a light source 9, an air pipe interface 10, a third adapter 11, a scraper 12, a rubber cylinder 13, and a glue dispensing needle 14. The adapter 7 is welded together from multiple sheet metal parts. The camera 8 and light source 9 are fixed to the connector 7 via bolts. The air pipe interface 10, adapter 11, scraper 12, rubber cylinder 13, and glue dispensing needle 14 are integrated into the actuator via the adapter 11. DETAILED DESCRIPTION

[0037] A repair device for smoothly filling gaps in cylindrical product cover plates, characterized in that it includes a collaborative robot 1, a glue discharging and scraping actuator 2, a ground rail 3 and a ring-holding rotary tooling 4; wherein, a ring-holding rotary tooling 4 is fixedly installed on a fixed workbench next to the ground rail 3, a mobile platform is slidably connected to the ground rail 3, the mobile platform is connected to the collaborative robot 1, and a glue discharging and scraping actuator 2 is connected to the end of the collaborative robot 1; the glue discharging and scraping actuator 2 includes a quick-change head 6, a scraper 12, a rubber cylinder 13, camera 8, light source 9, first adapter 5, second adapter 7 and third adapter 11; wherein, the first adapter 5 is connected to the top of the quick-change head 6, the third adapter 11 is connected to the bottom of the quick-change head 6, a scraper 12 and a rubber cylinder 13 are provided on the side of the third adapter 11, an air pipe interface 10 is provided at the upper end of the rubber cylinder 13, and a glue discharge needle 14 is provided below the rubber cylinder 13; the second adapter 7 is also connected next to the first adapter 5, the camera 8 is connected to the side of the second adapter 7, and the light source 9 is connected to the bottom of the second adapter 7.

[0038] A method for repairing a cylindrical product cover plate using a repair device for softly filling gaps is characterized by:

[0039] Step 1. Install the ring-holding rotary fixture 4, the collaborative robot 1, and the glue discharging and scraping actuator 2: Install the collaborative robot 1 and the ring-holding rotary fixture 4 with the cylindrical product on a fixed workbench, and install the glue discharging and scraping actuator 2 at the end of the collaborative robot 1. Connect the solenoid valve through the collaborative robot DO signal port to control the air circuit on / off and glue discharging of the glue discharging and scraping actuator 2. Control the movement of the collaborative robot 1 base on the ground rail 3 and the rolling of the ring-holding rotary fixture 4 through the PLC. Use the four-point method to calibrate the TCP point of the glue discharging needle 14 when discharging glue and the TCP point of the scraper 12 on the product surface.

[0040] Step 2: Calibrate the positions of the collaborative robot 1 and the ring-shaped rotary fixture 4: Enter the base coordinate system of the collaborative robot 1, the workpiece coordinate system of the ring-shaped rotary fixture 4, and the tool coordinate system of the dispensing and coating actuator 2 into the offline programming software to build a virtual simulation environment close to the actual object;

[0041] Step 3. Generate motion trajectory and readable script program for collaborative robot 1: In the offline programming simulation environment, select the cover plate gap feature that needs to be sealed as the object, select the glue discharging TCP and the scraping TCP respectively to generate the basic glue discharging trajectory and basic scraping trajectory of collaborative robot 1. On this basis, interpolate the points on the basic motion trajectory so that collaborative robot 1 moves along the cubic Bezier curve path when the action of each point changes, achieving smooth transition, and set the control statements for starting and stopping glue discharging at the key points of the glue discharging trajectory;

[0042] Step 4: Calibrate the actual workpiece coordinate system with camera 8: Use the camera 6 integrated on the dispensing and coating actuator 2 to photograph key points on the product, perform image recognition processing on the center coordinates of the key points and the normal features of the points on the product cylinder, and compare them with the relative position of the product in the virtual simulation environment. Based on the actual shooting results, adjust the relative position of the workpiece coordinate system and the collaborative robot 1 in the offline programming virtual simulation environment, and recompile the corresponding robot trajectory program;

[0043] Step 5. Confirm that the actual collaborative robot 1 runs the program: Import the script compiled in the offline programming software into the actual collaborative robot 1, run it through the program, confirm the final accurate workpiece coordinate system and the position of the robot base on the ground rail 3, write the corresponding PLC program, and synthesize it into a program file that can be run by the final collaborative robot 1.

[0044] Furthermore, the installation of the ring-holding rotary tooling 4, the collaborative robot 1 and the glue discharging and scraping actuator 2 in the step one, the rotation movement of the ring-holding rotary tooling 4 and the movement of the ground rail 3 on which the collaborative robot 1 is installed are realized by PLC controlling the corresponding motors; the ring-holding rotary tooling 4 is a workbench in the form of a ring, which can clamp and fix slender cylindrical products. The rotation of the product can be realized by sending instructions to the rotary motor controlling the ring-holding rotary tooling 4 through the PLC, so that the features at different angular directions on the rotating surface of the product are rotated to the top during processing; the collaborative robot 1 is installed on the mobile platform of the ground rail 3, and the PLC controls the position of the collaborative robot 1 by controlling the servo motor corresponding to the mobile platform, so as to realize accessibility to different features on the product; the glue discharging and scraping actuator 2 has a glue cylinder filled with repair glue and a scraper for scraping, which has both glue discharging and scraping functions, and controls the solenoid valve through the signal output port of the robot's electrical control cabinet to realize automatic glue discharging.

[0045] Furthermore, the step 2 calibrates the collaborative robot 1 and the 4 positions of the ring rotary tooling. The specific process is as follows:

[0046] (a) Determine the approximate relative position of the collaborative robot 1 and the product tooling: Adjust and secure the mobile platform and product tooling on the floor rail 3 so that the product is within the reach of the collaborative robot 1. Install a standard-sized spike on the end flange of the robot. Operate the robot so that the spike aligns with a feature point on the product surface. Record the robot's position at this point. This serves as a reference for the approximate relative position of the collaborative robot 1, floor rail 3, and ring-shaped rotary tooling 4 in the simulation environment.

[0047] (b) Calibrate the tool coordinate systems for glue dispensing and coating respectively: Fix a sharp point within the reach of the robot flange and use the four-point method to calibrate the tool coordinate systems of the collaborative robot 1 during glue dispensing and coating respectively; the glue dispensing tool coordinate system uses the end of the glue dispensing needle as the TCP, and the coating tool coordinate system uses the center of the flexible scraper as the TCP; after calibration, import the collaborative robot 1 model and the actuator model into the offline programming simulation environment for assembly, and adjust the two tool coordinate systems based on the calibration results so that the needle does not scratch the product surface during glue dispensing and the scraper can fully fit the product surface during coating. The adjusted results are used as the tool coordinate system for generating the final trajectory;

[0048] Furthermore, the specific process of generating the motion trajectory of the collaborative robot 1 and the executable script in step 3 is as follows:

[0049] (a) Drawing of the input model: Draw the features to be repaired on the product body in the 3D modeling software, and rotate the product body around the axis so that the machining features are output at the rotation angle of the product facing upward, and obtain the STP standard format file;

[0050] (b) Product model import and position planning: The generated workpiece STP is imported into the offline programming software as the part to be processed, and the relative position between the part and the robot is adjusted to make the processing environment in the simulation as close to the actual processing environment as possible;

[0051] (c) Planning of the glue dispensing path and generation of an executable script: The tool coordinate system for simulation is selected as glue dispensing. For cover plate gap features, the path type uses "Feature Edge" and selects the window edge curve features in sequence. The DO port that controls glue dispensing is set to a high level at the starting point to start glue dispensing and to a low level at the end point to stop glue dispensing. The software can automatically plan an executable script for collaborative robot 1 to dispense glue along the window edge. Based on the spatial distribution of the starting and ending points of different glue dispensing action segments, the action can be optimized according to the Bezier curve in the offline programming software to achieve sufficient smoothness during operation.

[0052] (d) Planning of scraping paths and generation of executable scripts: The tool coordinate system for simulation is selected as scraping. For cover plate features, the edges of the cover plate window features are selected in sequence to generate the corresponding scraping motion trajectory. Based on the spatial distribution of the starting and ending points of different scraping action segments, the motion can be optimized according to the Bezier curve in the offline programming software to achieve sufficient smoothness during operation. After the trajectory is generated, simulation is required to ensure that there will be no interference or collision during the operation of the equipment.

[0053] Furthermore, the step 4 uses the camera 8 to calibrate the actual workpiece coordinate system. The specific process is as follows:

[0054] (a) Camera installation and calibration: The end effector of collaborative robot 1 integrates camera 8, which is used to accurately locate the product's workpiece coordinate system. A sharp point is fixed to the smooth surface of the actuator with hot melt adhesive. Collaborative robot 1 is operated in fine-tuning mode to align with the fixed target point. An algorithm is used to fit the position of camera 8's coordinate system relative to the flange coordinate system of collaborative robot 1.

[0055] (b) Calibrate the accurate workpiece coordinate system: After the camera 8 is calibrated, it photographs the characteristic holes on the product surface used for positioning, and fits parameters such as the hole center coordinates and the hole position normal vector. This can accurately locate the workpiece coordinate system of the actual product and compare it with the workpiece coordinate system set in the virtual environment in step 3. The workpiece coordinate system in the offline programming software is adjusted according to the actual workpiece coordinate system, and all trajectories are regenerated to obtain an executable script that can ultimately be applied to the actual device.

[0056] Furthermore, the step 5 confirms the actual robot running program, and the specific process is as follows:

[0057] (a) Robot idle run executable file: Import the executable script generated in step 4 into the robot controller. Run the program idle with the rotary tooling without holding the product. Confirm that it is correct and there will be no collisions, then save it.

[0058] (b) Joint debugging and testing with the PLC: Certain repair features on the product require the robot to be at different positions on the ground rail and the holding ring to be rotated to a certain angle to complete. The PLC needs to control the ground rail motor to move to the corresponding position before the robot can execute the executable script to repair the corresponding feature.

[0059] The present invention will be further described below with reference to the accompanying drawings.

[0060] 1. Product positioning and fixation: Place the product to be repaired in the rotary ring fixture, tighten the pad to fix the product, and the upper computer control system automatically adjusts the position and rotation angle of the ring to make the product in the predetermined initial repair posture;

[0061] 2. Determine the actual workpiece coordinate system: Use the camera on the actuator to photograph the characteristic holes on the product surface used for positioning. Fit the center, axis, and other features of the hole position images obtained. Compare the results with those in the offline programming software to obtain the accurate workpiece coordinate system. Based on this, adjust the robot's executable script.

[0062] 3. Perform repair work: The collaborative robot moves along the ground rail to the repair starting position and adjusts its posture according to the control system's instructions so that the glue head can accurately align with the repair gap of the cover plate. The rotary ring drives the product to rotate according to the planned rotation angle and speed. The ground rail motor drives the robot to different positions and cooperates with the robot, actuator, and ring to perform corresponding actions.

[0063] 4. Repair Quality Inspection and Polishing Optimization: After the repair is completed, the visual camera will inspect the repaired area again to evaluate the repair quality. If the repair effect is found to be substandard, the control system will adjust the repair parameters and process parameters based on the inspection results to ensure that the repair quality meets the process requirements.

Claims

1. A repair device for smoothly filling gaps in cylindrical product cover plates, characterized in that: The invention comprises a collaborative robot (1), a glue discharging and scraping actuator (2), a ground rail (3) and a ring-holding rotary tool (4); wherein, the ring-holding rotary tool (4) is fixedly installed on a fixed workbench next to the ground rail (3); a mobile platform is slidably connected to the ground rail (3); the mobile platform is connected to the collaborative robot (1); and the glue discharging and scraping actuator (2) is connected to the end of the collaborative robot (1); the glue discharging and scraping actuator (2) comprises a quick-change head (6), a scraper (12), a glue cylinder (13), a camera (8), a light source (9), a first adapter (5 ), a second adapter (7) and a third adapter (11); wherein the quick-change head (6) is connected to the first adapter (5) on the top, and the quick-change head (6) is connected to the third adapter (11) on the bottom, a scraper (12) and a rubber cylinder (13) are provided on the side of the third adapter (11), an air pipe interface (10) is provided on the upper end of the rubber cylinder (13), and a glue discharge needle (14) is provided below the rubber cylinder (13); the first adapter (5) is also connected to the second adapter (7), the second adapter (7) is connected to the side of the camera (8), and the second adapter (7) is connected to the light source (9) below.

2. A method for repairing cylindrical product cover plate gaps using the repair device for compliantly filling gaps in claim 1, characterized in that: Step 1, install the ring-holding rotary tooling (4), the collaborative robot (1) and the glue-discharging and scraping actuator (2): install the collaborative robot (1) and the ring-holding rotary tooling (4) with the cylindrical product placed on a fixed workbench, install the glue-discharging and scraping actuator (2) on the end of the collaborative robot (1), connect the solenoid valve through the collaborative robot DO signal port to control the air circuit on / off and glue-discharging of the glue-discharging and scraping actuator (2), and control the movement of the base of the collaborative robot (1) on the ground rail (3) and the rolling of the ring-holding rotary tooling (4); and use the four-point method to calibrate the TCP point of the glue-discharging needle (14) when discharging glue and the TCP point of the scraper (12) on the surface of the scraped product; Step 2: Calibrate the positions of the collaborative robot (1) and the ring-shaped rotary fixture (4): enter the base coordinate system of the collaborative robot (1), the workpiece coordinate system of the ring-shaped rotary fixture (4), and the tool coordinate system of the glue-discharging and scraping actuator (2) into the offline programming software to build a virtual simulation environment close to the real object; Step 3, generating a motion trajectory and a readable script program for the collaborative robot (1): in an offline programming simulation environment, selecting the cover plate gap feature that needs to be sealed as an object, selecting the glue discharging TCP and the scraping TCP to generate the basic glue discharging trajectory and the basic scraping trajectory of the collaborative robot (1), and on this basis, interpolating the points on the basic motion trajectory so that the collaborative robot (1) moves along a cubic Bezier curve path when the action of each point is changed to achieve a smooth transition, and setting control statements for starting and stopping glue discharging at key points of the glue discharging trajectory; Step 4: Calibrate the actual workpiece coordinate system with the camera (8): Use the camera (6) integrated on the dispensing and coating actuator (2) to shoot key points on the product, perform image recognition processing on the center coordinates of the key points and the normal features of the points on the product cylinder, and compare them with the relative position of the product in the virtual simulation environment. According to the actual shooting results, adjust the relative position of the workpiece coordinate system and the collaborative robot (1) in the offline programming virtual simulation environment, and recompile the corresponding robot trajectory program; Step 5. Confirm that the actual collaborative robot (1) runs the program: import the script compiled in the offline programming software into the actual collaborative robot (1), run it through the program, confirm the final accurate workpiece coordinate system and the position of the robot base on the ground rail (3), write the corresponding PLC program, and synthesize it into a program file that can be run by the final collaborative robot (1).

3. A repair method for smoothly filling gaps in cylindrical product cover plates according to claim 2, characterized in that: The installation of the ring-holding rotary tooling (4), the collaborative robot (1) and the glue discharging and scraping actuator (2) in the step 1, the rotation movement of the ring-holding rotary tooling (4) and the movement of the ground rail (3) on which the collaborative robot (1) is installed are realized by PLC controlling the corresponding motors; the ring-holding rotary tooling (4) is a ring-shaped workbench that can clamp and fix slender cylindrical products, and the rotation of the product can be realized by sending instructions to the rotary motor controlling the ring-holding rotary tooling (4) by the PLC, so that the features of the product on the rotating surface of different angles are rotated to the top during processing; the collaborative robot (1) is installed on the mobile platform of the ground rail (3), and the PLC controls the position of the collaborative robot (1) by controlling the servo motor corresponding to the mobile platform, so as to realize the accessibility of different features on the product; the glue discharging and scraping actuator (2) has a glue cylinder filled with repair glue and a scraper for scraping, and has both glue discharging and scraping functions, and controls the solenoid valve through the signal output port of the robot electric control cabinet to realize automatic glue discharging.

4. A repair method for smoothly filling gaps in cylindrical product cover plates according to claim 2 or 3, characterized in that: The second step is to calibrate the positions of the collaborative robot (1) and the ring-holding rotary tooling (4), and the specific process is as follows: (a) Determine the approximate relative position of the collaborative robot 1 and the product tooling: adjust and fix the mobile platform and product tooling on the ground rail (3) so that the product is within the reach of the collaborative robot (1). Install a standard-sized sharp point on the end flange of the robot. Operate the robot so that the sharp point is aligned with the characteristic point on the surface of the product. Record the position of the robot at this time and use it as a reference for the approximate relative position of the collaborative robot (1), the ground rail (3) and the ring rotary tooling (4) in the simulation environment. (b) Calibrate the tool coordinate systems for glue dispensing and coating respectively: fix a sharp point within the reach of the robot flange and use the four-point method to calibrate the tool coordinate systems of the collaborative robot (1) during glue dispensing and coating respectively; the glue dispensing tool coordinate system takes the end of the glue dispensing needle as TCP, and the coating tool coordinate system takes the center of the flexible scraper as TCP; After the calibration is completed, the collaborative robot (1) model and the actuator model are imported into the offline programming simulation environment for assembly. Based on the calibration results, the two tool coordinate systems are adjusted so that the needle does not scratch the product surface when dispensing glue and the scraper can fully fit the product surface when scraping. The adjusted results are used as the tool coordinate system for the final trajectory generation.

5. A repair method for smoothly filling gaps in cylindrical product cover plates according to claim 2 or 3, characterized in that: The specific process of generating the motion trajectory of the collaborative robot (1) and the executable script in step 3 is as follows: (a) Drawing of the input model: Draw the features to be repaired on the product body in the 3D modeling software, and rotate the product body around the axis so that the machining features are output at the rotation angle of the product facing upward, and obtain the STP standard format file; (b) Product model import and position planning: The generated workpiece STP is imported into the offline programming software as the part to be processed, and the relative position between the part and the robot is adjusted to make the processing environment in the simulation as close to the actual processing environment as possible; (c) Planning of glue discharge path and generation of executable script: The tool coordinate system for simulation is selected as glue discharge. For the cover plate gap type feature, the path type uses "feature edge" and selects the window edge curve feature in turn. The DO port for controlling glue discharge is set to a high level at the starting point to start glue discharge, and the end point is set to a low level to stop glue discharge. The software can automatically plan the executable script for the collaborative robot (1) to discharge glue along the window edge; according to the spatial distribution of the starting and ending points of different segments of glue discharge action, the action can be optimized according to the Bezier curve in the offline programming software to achieve full flexibility during operation; (d) Planning of scraping paths and generation of executable scripts: The tool coordinate system for simulation is selected as scraping. For cover plate features, the edges of the cover plate window features are selected in sequence to generate the corresponding scraping motion trajectory. Based on the spatial distribution of the starting and ending points of different scraping action segments, the motion can be optimized according to the Bezier curve in the offline programming software to achieve sufficient smoothness during operation. After the trajectory is generated, simulation is required to ensure that there will be no interference or collision during the operation of the equipment.

6. A repair method for smoothly filling gaps in cylindrical product cover plates according to claim 2 or 3, characterized in that: The fourth step is to use the camera (8) to calibrate the actual workpiece coordinate system. The specific process is as follows: (a) Camera installation and calibration: The collaborative robot (1) end effector is integrated with a camera (8) to accurately locate the workpiece coordinate system of the product; a sharp point is fixed on the smooth surface of the actuator with hot melt adhesive, and the collaborative robot (1) is operated in fine-tuning mode to align with the fixed target point. The position and orientation of the camera (8) coordinate system relative to the collaborative robot (1) flange coordinate system can be fitted by an algorithm; (b) Calibrate the accurate workpiece coordinate system: After the camera (8) is calibrated, it photographs the characteristic holes on the product surface used for positioning, and fits the parameters such as the hole center coordinates and the normal vector of the hole position. This can locate the accurate workpiece coordinate system of the actual product and compare it with the workpiece coordinate system set in the virtual environment in step 3. The workpiece coordinate system in the offline programming software is adjusted according to the actual workpiece coordinate system, and all trajectories are regenerated to obtain an executable script that can be applied to the actual device.

7. A repair method for smoothly filling gaps in cylindrical product cover plates according to claim 2 or 3, characterized in that: The step 5 confirms the actual robot running program, and the specific process is as follows: (a) Robot idle run executable file: Import the executable script generated in step 4 into the robot controller. Run the program idle with the rotary tooling without holding the product. Confirm that it is correct and there will be no collisions, then save it. (b) Joint debugging and testing with the PLC: Certain repair features on the product require the robot to be at different positions on the ground rail and the holding ring to be rotated to a certain angle to complete. The PLC needs to control the ground rail motor to move to the corresponding position before the robot can execute the executable script to repair the corresponding feature.

Images