Automatic heatproof material filling and repairing device for cylindrical product counterbore

Abstract

The invention relates to an automatic heatproof material filling and repairing device for a cylindrical product counterbore, which is characterized by comprising an execution unit, a visual system (11) and a control cabinet (13), the visual system (11) is mounted on the execution unit, and the control cabinet (13) is respectively connected with the execution unit and the visual system (11); the execution unit comprises a logistics line (2), a ground rail (8), a moving platform (6), a mechanical arm (5) and a material table (9); the logistics line (2), the ground rail (8) and the material table (9) are sequentially installed in the same site in parallel. According to the automatic heat-proof material filling and repairing system, the functions of visual guidance, heat-proof material filling, heat-proof material shaping and the like are integrated, the filling and repairing operation actuator is designed in a matched mode, and the heat-proof material automatic filling and repairing process for the counterbore is achieved on the surface of a cylindrical product.

Description

Technical Field

[0001] The invention relates to the field of composite material spraying and discloses an automated improvement technology for a heat-resistant material filling and repairing process for countersunk holes of cylindrical products. Background Art

[0002] A large number of cylindrical product assembly tasks involve the application of heat-resistant coatings on the product surface and local repairs of exposed countersunk holes. The above-mentioned heat-resistant materials use semi-solid hazardous materials with high viscosity and low fluidity, and the curing time after mixing is less than 20 minutes. In addition, the repair work of heat-resistant materials has extremely high quality and appearance requirements. Considering the stability of the product's aerodynamic performance, it is required that the joint surface between the repair work area and the product surface maintain a smooth transition, and the thickness of the repair area is controlled within ±0.5mm relative to the product surface reference. Due to the stringent requirements of the heat-resistant material repair work, the complex mechanical properties of the heat-resistant material, and the short operation window, the local repair work of the traditional countersunk heat-resistant material is all done manually, and the repair consistency is poor. In order to improve the work efficiency and work quality, a set of filling and repairing equipment based on automated methods has been developed.

[0003] Invention patent content

[0004] The purpose of the present invention is to address the problem of automatic filling and repairing of heat-proof materials that cannot be solved by existing technologies, and to propose an automatic filling and repairing device for heat-proof materials for countersunk holes of cylindrical products.

[0005] A heat-resistant material automatic filling and repairing device for cylindrical product countersunk holes, characterized in that it includes an execution unit, a visual system 11 and a control cabinet 13, wherein the visual system 11 is installed on the execution unit, and the control cabinet 13 is connected to the execution unit and the visual system 11 respectively.

[0006] The execution unit includes a logistics line 2, a ground rail 8, a mobile platform 6, a robotic arm 5 and a material table 9; the logistics line 2, the ground rail 8 and the material table 9 are sequentially and parallelly installed in the same site;

[0007] A double-speed chain 14 is provided on the logistics line 2, and the logistics line 2 is driven by the double-speed chain 14; the cylindrical product 1 to be processed is transferred from the logistics line 2 to the processing station and locked by the double-speed chain 14 for basic positioning; two logistics trays 4 are also provided at a set distance between the logistics line 2 and the double-speed chain 14, and a rotary tool 3 is fixedly installed on each logistics tray 4, and the rotary tool 3 is used to clamp the cylindrical product 1 to be processed;

[0008] A mobile platform 6 is mounted on the ground rail 8, and two robotic arms 5 are mounted on the mobile platform 6. A visual system 11 and an actuator 23 are integrated at the ends of the robotic arms 5.

[0009] A vacuum cleaner 7 is placed next to the material table 9, and a quick-change rack 10 is placed on the material table 9. A pneumatic component 12 is installed on the side of the material table 9, providing temporary storage and power source for multiple groups of actuators 23. A control cabinet 13 is installed next to the vacuum cleaner 7, in which the work station control system is integrated. The control cabinet 13 is connected to the speed chain 14, the mobile platform 6, the robot arm 5, and the pneumatic component 12 respectively. The quick-change rack 10 is equipped with positions for the hole filling and repairing actuator 24, the coupling agent application actuator 25, and the grinding and shaping actuator 26.

[0010] The end of the robotic arm 5 is fixedly connected to an adapter 39, the lower end of which is connected to a quick-change master plate 20, and the side of the adapter 39 is connected to a 2D camera; the lower end of the quick-change master plate 20 can be connected to any one of the hole filling and repairing actuators 24, the coupling agent applying actuator 25, or the grinding and shaping actuator 26 through the quick-change sub-plate 27;

[0011] The hole filling and repairing actuator 24, coupling agent applying actuator 25, or polishing and shaping actuator 26 are all powered by the pneumatic element 12 during operation and are connected to the control system PLC to cooperate with the robot to implement the operations of coupling agent application, heat-resistant material filling and repairing, and shaping and cleaning of the repaired area;

[0012] During operation, the cylindrical product 1 to be processed on the logistics pallet 4 is moved to the set workstation on the logistics line 2, and the speed chain 14 provides longitudinal positioning. The ring tooling 3 clamps the cylindrical product 1 to be processed and rotates according to the set time to process the various components of the cylindrical product 1 to be processed; the visual system 11 cooperates with the actuator 23, and the visual system 11 detects the working status of the actuator 23 in real time to confirm the subsequent actions of the actuator 23.

[0013] The rotating tooling 3 includes an upper holding ring base plate 15, a lower holding ring base plate 16, a gear ring 17, an automatic locking pin 19, an arc guide rail 41, and the gear ring is driven by a motor 18 and a driving gear 40; the upper holding ring base plate 15 and the lower holding ring base plate 16 are the main structures of the rotating tooling; the gear ring 17, the automatic locking pin 19 and the arc guide rail 41 are installed on the upper holding ring base plate 15 and the lower holding ring base plate 16; the gear ring is controlled by the motor 18 to drive the gear 40 to drive the upper holding ring base plate 15 and the lower holding ring base plate 16 along the arc guide rail 41 to realize rolling motion.

[0014] The hole filling and repairing actuator 24 includes a hole filling and repairing actuator main structure 28, a rubber cylinder 29 and a vacuum suction cup 30; wherein the rubber cylinder 29 and the vacuum suction cup 30 are respectively fixedly installed on the hole filling and repairing actuator main structure 28, and a quick-change mother disk 20 is connected to the upper end surface of the hole filling and repairing actuator main structure 28.

[0015] The coupling agent smearing actuator 25 includes a coupling agent smearing actuator main structure 31 and a glue coating pen 32 , and the glue coating pen 32 is fixedly mounted on the coupling agent smearing actuator main structure 31 ; a quick-change master disc 20 is connected to the upper end surface of the coupling agent smearing actuator main structure 31 .

[0016] The grinding and shaping actuator 26 includes a grinding actuator main structure 33, a dust suction tool 34, a pneumatic grinding tool 35, a pneumatic polishing tool 36, a felt grinding head 37 and a plush polishing head 38; the pneumatic grinding tool 35, the dust suction tool 34 and the pneumatic polishing tool 36 are fixedly installed on the grinding actuator main structure 33, wherein the lower end of the pneumatic grinding tool 35 is equipped with a felt grinding head 37; the lower end of the pneumatic polishing tool 36 is equipped with a plush polishing head 38; the dust suction tool 34 is connected to the vacuum cleaner 7 next to the material table 9, which is used to clean the heat-proof material powder after grinding; the upper end of the grinding actuator main structure 33 is fixedly connected to a quick-change sub-disc 27.

[0017] The object of the present invention is achieved like this:

[0018] First, the relative positions of the workbench, floor rail, robot, and quick-change rack base are fixed within the robotic arm's workspace, and the workbench and floor rail are leveled. Before the repair operation, the product is transferred from the logistics line to this workstation and positioned and fixed using a material tray. The product is then engraved at the preceding workstation. After the product is secured, a robotic arm equipped with a 2D camera moves over the product, selecting a countersunk hole and a cover plate outline on the product surface as positioning features. It then identifies the product's current angular posture and transmits this data to the control system, updating the robotic arm's trajectory. The robotic arm then moves to the quick-change rack and picks up a coupling agent application actuator. Following the updated robotic arm trajectory, coupling agent is applied to all countersunk hole features on the product surface to improve the adhesion of the heat-resistant material. To ensure accessibility to difficult working areas such as the opposite and lower sides of the product, the control system divides the product's 360° circumference into four equally scaled working areas based on data from the rotary tooling motor. After the dual robotic arms complete the coupling agent application in the first working area, the rotary tooling automatically rotates the product 80° to access the second working area. To compensate for motion errors, the 2D camera re-identifies and locates the product's posture each time the product is rolled, updating the robot's trajectory. After repeating this process three times, the coupling agent application is complete.

[0019] During the filling operation: After the coupling agent is applied, the heat-resistant material is transported to this workstation by the auxiliary material logistics line, and the operator installs the rubber cylinder that has been encapsulated with the heat-resistant material on the hole repair actuator. The rotary tool then drives the product to rotate in the opposite direction and return to the zero position. The control system plans the motion trajectory offline based on the rotary tool motor data recorded during the coupling agent application operation and the posture of the product after repositioning. Subsequently, the robotic arm is replaced to control the repair actuator, and the heat-resistant material filling operation is performed with the end of the syringe as the TCP. After completing the filling operation in the first working area, the vacuum suction cup is used as the TCP to perform the PTFE film adsorption process. A piece of PTFE film is picked up from the tray, moved to each hole position, and the PTFE film is pressed on the product to play a preliminary shaping role. After completing the filling and PTFE film adsorption operations in the first working area, the operations in the second, third, and fourth working areas are carried out at one time.

[0020] Repair Operation: The rotary fixture drives the product back to zero a second time. The robotic arm moves to the quick-change rack to replace the grinding and repair actuator. Using a pneumatic grinding tool as the TCP, the robot removes excess heat-resistant material from all repaired points in the first work area, simultaneously removing any PTFE film attached to the surface. Subsequently, using a pneumatic polishing tool as the TCP, the heat-resistant material at each point in the first work area is polished and reshaped. The work area is then cleaned using a vacuum actuator as the TCP. Following the same process, grinding, polishing, and cleaning operations are performed on the repaired points in the second, third, and fourth work areas.

[0021] Post-process: After the heat-proof material filling and repair work is completed, the rotary tooling drives the product back to zero, the positioning mechanism releases the product tray, and the product is transferred to the next station via the logistics line.

[0022] Benefits of the present invention

[0023] The present invention integrates the functions of visual guidance, heat-proof material filling, heat-proof material shaping and the like into one automatic filling and repairing system for heat-proof materials. A filling and repairing operation executor is designed in conjunction with the system to realize the automatic filling and repairing process of heat-proof materials for countersunk holes on the surface of cylindrical products.

[0024] This invention is aimed at the task of spraying heat-resistant materials on the surface of spacecraft. It is developed based on machine vision and collaborative robot technology. It can realize the fully automatic spraying of composite materials such as heat-resistant coatings and aerodynamic shape repair operations. It is expected to reduce 16,000 man-hours in the workshop each year and increase the single spraying pass rate to 99%. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 , is a schematic diagram of the structure of the present invention;

[0026] Figure 2 , is a schematic diagram of the rotary tooling structure of the present invention;

[0027] Figure 3 , is a schematic diagram of the connection structure of the end of the robot arm of the present invention;

[0028] Figure 4 , is a schematic structural diagram of the state of the quick-change frame 10 on which the end effector of the robot arm is placed;

[0029] Figure 5 , is a structural diagram of a hole filling and repairing actuator 24 connected to the end of the robot arm of the present invention;

[0030] Figure 6 , is a structural diagram of a coupling agent coating actuator 25 connected to the end of the robotic arm of the present invention;

[0031] Figure 7 , is a structural diagram of the grinding and shaping actuator 26 connected to the end of the robot arm of the present invention;

[0032] Figure 8 , is a flow chart of the filling and repairing operation of the heat-proof material of the present invention.

[0033] Description of the symbols in the accompanying drawings:

[0034] 1 is a cylindrical product, 2 is a logistics line, 3 is a rotary tooling, 4 is a logistics tray, 5 is a robotic arm, 6 is a mobile platform, 7 is a vacuum cleaner, 8 is a floor rail, 9 is a material table, 10 is a quick-change rack, 11 is a visual system, 12 is a pneumatic component, 13 is a control cabinet, 14 is a speed chain, 15 is an upper holding ring base plate, 16 is a lower holding ring base plate, 17 is a gear ring, 18 is a motor, 19 is an automatic locking pin, 20 is a quick-change master disc, 21 is a light source, 22 is a 2D camera, 23 is an actuator, and 24 is a hole position Filling and repairing actuator, 25 is a coupling agent smearing actuator, 26 is a grinding and shaping actuator, 27 is a quick-change sub-disc, 28 is the main structure of the hole repairing actuator, 29 is a rubber cartridge, 30 is a vacuum suction cup, 31 is the main structure of the coupling agent smearing actuator, 32 is a glue pen, 33 is the main structure of the grinding actuator, 34 is a dust collection tool, 35 is a pneumatic grinding tool, 36 is a pneumatic polishing tool, 37 is a felt grinding head, 38 is a plush polishing head, 39 is an adapter, 40 is a drive gear, 41 is an arc guide DETAILED DESCRIPTION

[0035] To achieve the above purpose, the technical solution of the present invention is as follows:

[0036] A technology for automatically filling and repairing countersunk holes of cylindrical products with heat-resistant materials. The specific functions include an execution unit, a vision unit, and a control unit.

[0037] The execution unit is composed of a logistics line, a product rotating fixture, a ground rail, a robotic arm, a filling and repairing actuator, a quick-change rack, etc. Further explanation:

[0038] The logistics line is arranged in the center of the repair station. Specifically, the product trays are placed on the logistics line rollers, which have the functions of product circulation and positioning.

[0039] The product rotating fixture is composed of a frame and a ring.

[0040] The rack consists of a main frame and circular arc guide rails. Furthermore, the rack is fixed to the logistics tray via bottom mounting holes. The circular arc guide rails are mounted on the inside of the rack via threaded holes, and radial screws and end wedges are used to position and install the rails.

[0041] The holding ring is composed of upper and lower holding ring base plates, arc guide rails, functional components, automatic locking pins, gear rings, and motors. Specifically, the upper and lower holding ring base plates are both semi-circular arc-shaped and are connected on one side through an oil-free bushing to ensure a tight connection and smooth movement. The automatic locking pin is installed at the connection between the upper and lower base plates to provide a closed self-locking function for the holding ring. The functional components specifically include support, clamping, measurement and other modules to achieve the clamping and positioning functions of various cylindrical products. The gear ring is installed in the mounting hole of the holding ring base plate by a positioning bolt, and the distance between the gear ring and the base plate meets the installation requirements of each functional component. The motor is fixedly installed on the base of the frame, and the drive gear cooperates with the holding ring gear ring to drive the holding ring to roll automatically.

[0042] The ground rail consists of a base, a mobile platform, and a drive module. Specifically, the base is installed parallel to one side of the logistics line, secured and leveled with anchor bolts. The mobile platform integrates a drive module that drives the mobile platform along the rail.

[0043] The robotic arm adopts a collaborative robotic arm, the base of which is mounted on the ground rail support plate by bolts, and an adapter is installed at the end of the robotic arm to connect the quick-change mother disk and the visual system, so as to carry various actuators to complete the repair work.

[0044] The filling and repairing actuator is composed of a countersink filling actuator, a coupling agent coating actuator and a polishing and repairing actuator. Specifically, the countersink filling actuator is composed of an actuator main structure, a quick-change sub-disc, a glue dispensing cylinder and a vacuum suction cup. The quick-change sub-disc is installed on the actuator main structure and cooperates with the mother disk to realize the replacement of different actuators during repair operations. The glue dispensing cylinder is installed on the actuator main structure parallel to the robot flange axis and is compressed by the outer diameter of the glue cylinder. The glue cylinder is connected to the glue dispensing machine through a conversion joint to supply pressure to the cylinder. The vacuum suction cup is installed on the main structure perpendicular to the robot flange axis and connected to the vacuum system for sucking up the polytetrafluoroethylene film. The coupling agent coating actuator is composed of an actuator main structure, a quick-change sub-disc and a glue pen. Similar to the countersink filling actuator, the quick-change sub-disc is installed on the main structure for cooperation and connection with the mother disk. The glue pen is installed on the main structure opening slot parallel to the robot flange axis and tightened with bolts. The grinding and repairing actuator consists of an actuator main structure, a quick-change sub-disc, a pneumatic grinding tool, a pneumatic polishing tool, and a dust suction tool. The actuator main structure and quick change are the same as those described above and will not be repeated here. The pneumatic grinding tool is installed on the main structure parallel to the robot flange axis and uses a felt grinding head for removing excess heat-resistant coating. The pneumatic polishing tool is also installed on the main structure parallel to the robot flange axis and uses a fluff polishing head for repairing the heat-resistant material on the hole surface. The dust suction tool is installed on one side of the main structure and is connected to the vacuum cleaner arranged on one side of the workstation to clean the heat-resistant material powder left on the product by grinding and polishing.

[0045] The quick-change rack has four mounting positions, specifically a base, a frame, and locating pins. Specifically, the base is mounted on the opposite side of the workbench from the floor rail and secured with anchor bolts. The frame is mounted on the base's working surface and secured with bolts. Locating pins are installed in each working position of the rack and mate with the locating pin holes of the quick-change sub-plate to position the actuator.

[0046] The vision unit consists of a 2D camera. Specifically, the camera is installed on the end adapter of the robotic arm and is used to identify and locate product features, thereby guiding the robotic arm to perform repair operations.

[0047] The control unit specifically includes a PLC, a vacuum system, a dispensing machine, and a host computer. All components are encapsulated in a positive pressure explosion-proof cabinet. The operator accesses the interactive interface of the host computer through the touch screen of the explosion-proof cabinet and sends control instructions to each execution unit.

[0048] The following describes the implementation mode with reference to the accompanying drawings:

[0049] Figure 1This is a schematic diagram of a heat-resistant material filling and repairing station, including a logistics line 2, which is driven by a double-speed chain 14. Logistics pallets 4 are arranged on the logistics line 2, and two sets of logistics pallets 4 are provided with holding rings 3 to clamp cylindrical products 1. The cylindrical product 1 is transferred to the station by the logistics line 2 and locked by the double-speed chain 14 to provide basic positioning. A ground rail 8 is placed on one side of the logistics line 2 of the heat-resistant repair station, on which a mobile platform 6 and a robotic arm 5 are installed for performing heat-resistant material filling and repairing actions. The robotic arm 5 is integrated with a visual system 11 and an actuator 23. A material table 9 is arranged on the other side of the ground rail 8, on which a quick-change rack 10 and pneumatic components 12 are placed, providing temporary storage and power source for multiple sets of actuators 23. A vacuum cleaner 7 and a control cabinet 13 are placed next to the material table 9, wherein the control cabinet 13 integrates a station control system.

[0050] Figure 2 The diagram of the rotary tooling is shown, which includes an upper ring base plate 15 and a lower ring base plate 16, which are the main structure of the rotary tooling. The upper (lower) ring base plate 15 (16) is equipped with a gear ring 17, an automatic locking pin 19, and an arc guide rail 41. The gear ring is controlled by a motor 18 to drive a gear 40 to drive the upper and lower base plates 15 (16) along the arc guide rail 41 to achieve rolling motion.

[0051] Figures 3 to 7 Figure 3 shows an actuator schematic. Adapter 39 is mounted on the flange of robotic arm 8. It houses the quick-change master disc 20, light source 21, and 2D camera, integrating the quick-change and vision systems of actuator 23. Hole filling and repair actuator 24, comprising a main structure 28, on which are mounted quick-change sub-disc 27, adhesive cartridge 29, and vacuum suction cup 30, is responsible for filling holes with heat-resistant material and adsorbing the Teflon film. Coupling agent application actuator 25, comprising a main structure 31, on which are mounted quick-change sub-disc 27 and adhesive applicator 32, is used to apply coupling agent to product surfaces. The grinding and shaping actuator 26 comprises a main structure 33, mounted with a quick-change sub-plate 27, a pneumatic grinding tool 35 equipped with a felt grinding head 37, a pneumatic polishing tool 36 equipped with a plush polishing head 38, and a vacuum cleaner 34 connected to a vacuum cleaner 7 near the material table 9 for cleaning heat-resistant material powder after grinding. The quick-change sub-plate, master plate, dispensing cartridge, grinding tool, and polishing tool are all powered by a pneumatic system and connected to a PLC control system to coordinate robotic operations such as applying coupling agent, filling and repairing heat-resistant material, and cleaning the repaired area.

[0052] Figure 8This is a flowchart for the heat-proof material filling and repair operation. During the specific operation, the pre-process is coated to protect the surface of the cylindrical product 1 from damage during the operation. When the factory operation reaches this process, the cylindrical product 1 is transferred to the work station through the logistics line 2 and is positioned and locked by the double-speed chain 14. The two robotic arms 5, the rotary tooling 3, and the mobile platform 6 on the ground rail 8 are reset. The robotic arm 5 moves to the quick-change rack 10 position, and uses the quick-change mother disk 20 installed on the adapter 39 to cooperate with the quick-change sub-disc 27. The control system controls the pneumatic components to lock the mother-sub-disc (27, 20) to pick up the coupling agent application actuator 25. The rotary tooling 3 fixes the product and moves to the first working area. The robotic arm 5 is equipped with a 2D camera to perform rough positioning of the product, identify the current product X and RX postures, correct the workpiece coordinate system of the first working area, and store it synchronously to the control system and update the operation trajectory of the robotic arm 5. Subsequently, the robotic arm 5 is equipped with a coupling agent application actuator 25 and uses a glue pen 32 to apply coupling agent to the repair holes in the first working area. After completing the work in this area, the rotary tool 3 rotates 80° counterclockwise, and the cylindrical product 1 is transferred to the second work area. The product coordinate system correction, work trajectory update, and coupling agent application are repeated. After the coupling agent application process is complete in all four work areas, the rotary tool is reset to zero. Simultaneously, the material logistics line transports the packaged heat-resistant material to the current work station. The operator places the rubber cartridge 29 containing the heat-resistant material on the main structure 28 of the hole filling and repair actuator and connects it to the air path of the quick-change sub-disc 27. Robot arm 5 replaces the hole filling and repair actuator 24, updates its TCP to the rubber cartridge TCP, and performs the heat-resistant material filling process under the TCP of the rubber cartridge 29 based on the coordinates and work trajectory of the cylindrical product 1 identified in the previous process. Subsequently, robot arm 5's TCP is updated to the vacuum suction cup 30 TCP, and the Teflon film suction process is performed, adhering the Teflon film to the surface of the filled hole. The rotary tool 3 then carries the cylindrical product 1 to the subsequent work areas, completing the heat-resistant material filling and Teflon film suction processes, respectively. After the filling operation is complete, rotary tool 3 returns to zero, robotic arm 5 replaces the grinding and shaping actuator, and the robotic arm TCP is updated with pneumatic grinding tool 35TCP, pneumatic polishing tool 36TCP, and vacuum tool 34TCP, respectively. These perform the sanding, polishing, and vacuuming operations of the heat-resistant material, respectively. Similar to the above process, rotary tool 3 moves to four work areas, repeating the grinding, shaping, and cleaning operations. After completing the grinding, shaping, and cleaning operations in all four work areas, rotary tool 3 returns to zero, and cylindrical product 1 is transferred along logistics line 2 to the next work station.

Claims

1. A heat-resistant material automatic filling and repairing device for the countersunk holes of cylindrical products, characterized in that: The system comprises an execution unit, a visual system (11) and a control cabinet (13), wherein the visual system (11) is installed on the execution unit, and the control cabinet (13) is connected to the execution unit and the visual system (11) respectively; The execution unit comprises a logistics line (2), a ground rail (8), a mobile platform (6), a robotic arm (5) and a material table (9); the logistics line (2), the ground rail (8) and the material table (9) are sequentially and parallelly installed in the same field; A double-speed chain (14) is provided on the logistics line (2), and the logistics line (2) is driven by the double-speed chain (14); the cylindrical product (1) to be processed is transferred from the logistics line (2) to the processing station and is locked by the double-speed chain (14) for basic positioning; two logistics trays (4) are also provided on the logistics line (2) and the double-speed chain (14) at a set distance, and a rotating tool (3) is fixedly installed on each logistics tray (4), and the rotating tool (3) is used to clamp the cylindrical product (1) to be processed; A mobile platform (6) is installed on the ground rail (8), two robotic arms (5) are installed on the mobile platform (6), and a visual system (11) and an actuator (23) are integrated at the ends of the robotic arms (5); A vacuum cleaner (7) is placed next to the material table (9), a quick-change rack (10) is placed on the material table (9), and a pneumatic element (12) is provided on the side of the material table (9), and the pneumatic element (12) provides temporary storage and power source for multiple groups of actuators (23); a control cabinet (13) is provided next to the vacuum cleaner (7), wherein the control cabinet (13) integrates a work station control system; the control cabinet (13) is respectively connected to the speed chain (14), the mobile platform (6), the robot arm (5) and the pneumatic element (12); the quick-change rack (10) is provided with positions for placing a hole filling and repairing actuator (24), a coupling agent applying actuator (25) and a grinding and shaping actuator 26; The end of the robotic arm (5) is fixedly connected to an adapter (39), the lower end of the adapter (39) is connected to a quick-change mother disk (20), and the side of the adapter (39) is connected to a 2D camera; the lower end of the quick-change mother disk (20) can be connected to any one of the hole filling and repairing actuator (24), the coupling agent smearing actuator (25) or the polishing and shaping actuator (26) through the quick-change sub-disk (27); The hole filling and repairing actuator (24) or coupling agent smearing actuator (25) or polishing and shaping actuator (26) are all powered by the pneumatic element (12) when in operation, and are connected to the control system PLC to cooperate with the robot to realize the operations of coupling agent smearing, heat-resistant material filling and repairing, and shaping and cleaning of the repaired area; During operation, the cylindrical product (1) to be processed on the logistics tray (4) is moved to a set work station on the logistics line (2), and the speed chain (14) provides longitudinal positioning. The ring tooling (3) clamps the cylindrical product (1) to be processed and rotates according to the set time to process various parts of the cylindrical product (1) to be processed; the visual system (11) cooperates with the actuator (23), and the visual system (11) detects the working status of the actuator (23) in real time to confirm the subsequent actions of the actuator (23).

2. The automatic heat-resistant material filling and repairing device for the countersunk holes of cylindrical products according to claim 1 is characterized in that: The rotating tooling (3) comprises an upper embracing ring base plate (15), a lower embracing ring base plate (16), a gear ring (17), an automatic locking pin (19), an arc guide rail (41), and the gear ring is driven by a motor (18) and a driving gear (40); the upper embracing ring base plate (15) and the lower embracing ring base plate (16) are the main structure of the rotating tooling; the gear ring (17), the automatic locking pin (19) and the arc guide rail (41) are installed on the upper embracing ring base plate (15) and the lower embracing ring base plate (16); the gear ring is driven by a motor (18) to drive the upper embracing ring base plate (15) and the lower embracing ring base plate (16) along the arc guide rail (41) to realize rolling motion.

3. The automatic heat-proof material filling device for the countersunk holes of cylindrical products according to claim 1 or 2, characterized in that: The hole filling and repairing actuator (24) comprises a hole filling and repairing actuator main structure (28), a rubber cylinder (29) and a vacuum suction cup (30); wherein the rubber cylinder (29) and the vacuum suction cup (30) are respectively fixedly mounted on the hole filling and repairing actuator main structure (28), and a quick-change mother disc (20) is connected to the upper end surface of the hole filling and repairing actuator main structure (28).

4. The automatic heat-proof material filling device for the countersunk holes of cylindrical products according to claim 1 or 2, characterized in that: The coupling agent smearing actuator (25) comprises a coupling agent smearing actuator main structure (31) and a glue coating pen (32), wherein the glue coating pen (32) is fixedly mounted on the coupling agent smearing actuator main structure (31); and a quick-change mother disc (20) is connected to the upper end surface of the coupling agent smearing actuator main structure (31).

5. The automatic heat-proof material filling device for the countersunk holes of cylindrical products according to claim 1 or 2, characterized in that: The grinding and shaping actuator (26) includes a grinding actuator main structure (33), a dust suction tool (34), a pneumatic grinding tool (35), a pneumatic polishing tool (36), a felt grinding head (37) and a plush polishing head (38); the pneumatic grinding tool (35), the dust suction tool (34) and the pneumatic polishing tool (36) are fixedly installed on the grinding actuator main structure (33), wherein the lower end of the pneumatic grinding tool (35) is equipped with a felt grinding head (37); the lower end of the pneumatic polishing tool (36) is equipped with a plush polishing head (38); the dust suction tool (34) is connected to the dust collector (7) next to the material table (9) for cleaning the heat-proof material powder after grinding; the upper end of the grinding actuator main structure (33) is fixedly connected with a quick-change sub-disc (27).

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