Rocket cylinder segment automatic polishing and gluing workstation and operation control method thereof

Abstract

The application discloses a rocket barrel section automatic polishing and gluing workstation in the field of rocket barrel section automatic operation and an operation control method thereof, solves the problems of low assembly efficiency and quality caused by manual operation in the existing rocket barrel polishing and instrument bonding process, and comprises a polishing sliding table, a jacking and rotating mechanism, a six-axis robot, a vision device and a quick-change connector located at the operation end of the six-axis robot, a tool setting table and an instrument connection table located at one side of the polishing sliding table, polishing tools, gluing tools and adsorption and pressing tools are arranged on the tool setting table, and each process of "polishing-gluing-instrument pressing and curing" is completed in one station in a full-automatic mode, so that the operation efficiency is greatly improved, and the operation quality is improved.

Description

Technical Field

[0001] This invention belongs to the field of automated operation of rocket launcher sections, specifically an automated grinding and gluing workstation for rocket launcher sections and its operation control method. Background Technology

[0002] With strong national policy support for commercial spaceflight and the rapid development of domestic commercial spaceflight, the number of domestic commercial spacecraft models and launches has shown a year-on-year growth trend. Against this backdrop, rocket assembly, as a crucial link in the aerospace industry chain, directly impacts the completion schedule and reliability of launch missions through its efficiency and quality. Therefore, higher requirements are placed on the efficiency and quality of the rocket assembly process.

[0003] Traditional rocket assembly is largely manual, especially in the sub-assembly processes of barrel section grinding and instrument bonding, which rely heavily on the experience of the assembly technicians. In barrel section grinding, workers use measuring tools and their eyes to determine the grinding area, and their experience is crucial for controlling the grinding force and angle. However, due to differences in worker habits and skill levels, and the potential for fatigue after prolonged work, the grinding area becomes inaccurate, and parameters such as the surface smoothness and gloss of the ground barrel section fluctuate significantly, making it difficult to establish uniform quality standards. Similarly, in the instrument bonding process, the amount, uniformity, and application trajectory of adhesive are also manually controlled. Too much or too little adhesive will affect the bonding strength, while uneven application can lead to imbalances in instrument stress, severely impacting the overall rocket assembly quality.

[0004] Meanwhile, traditional manual assembly methods are inefficient enough to meet the demands of the rapidly developing commercial space industry. The grinding of rocket sections and the bonding of instruments are complex and require high precision. Manual operation is slow, and frequent tool changes and parameter adjustments further extend the time required for each process. With the increasing number of launch missions, this manual assembly method is gradually becoming a bottleneck restricting rocket production progress and hindering the efficient advancement of batch assembly.

[0005] In addition, the grinding process generates a large amount of metal dust, which permeates the working environment. Long-term inhalation of this dust can cause serious damage to the respiratory system and harm the health of operators, and does not meet the occupational health and safety requirements of modern industrial production.

[0006] With the continuous improvement of intelligent technology across various industries, the aerospace industry also urgently needs to transform towards intelligent manufacturing. It needs to explore a new grinding, gluing, and assembly mode that can replace traditional manual operations to solve problems such as unstable quality, low efficiency, and health hazards in existing assembly processes, thereby promoting the upgrading and development of rocket assembly technology. While there are publicly available technologies related to robotic gluing and grinding in other processing fields, no such technologies or combinations exist in the processing of rocket tube sections. Summary of the Invention

[0007] The present invention aims to solve the problem of low assembly efficiency and quality caused by the reliance on manual operation for barrel section grinding and instrument bonding in the existing rocket assembly process, and provides an automated grinding and gluing workstation for rocket barrel sections and its operation control method.

[0008] The technical solution of this invention is:

[0009] An automated grinding and gluing workstation for rocket launcher sections includes grinding fixtures and a six-axis robot. Its unique features include: a grinding slide, a lifting and rotating mechanism positioned between two tracks on the grinding slide for raising, lowering, and rotating the rocket launcher section, a six-axis robot, a vision device and quick-change connectors at the robot's working end, a fixture mounting platform on one side of the grinding slide, and an instrument docking platform for connecting instruments. The fixture mounting platform is equipped with grinding fixtures, gluing fixtures, and suction / pressing fixtures. Each of these fixtures has a quick-change connector mounted on its respective fixture support.

[0010] As a further limitation of the present invention, the adsorption pressing fixture includes a fixture mounting plate mounted on a fixture bracket, a quick-change connector fixed on the fixture mounting plate, a Z-shaped support plate fixed below the fixture mounting plate, a suction cup mounting plate fixed below the Z-shaped support plate, two slotted holes provided on the suction cup mounting plate, a suction cup installed at the slotted holes through a hollow helical tube, a negative pressure mechanism connected to the hollow helical tube, an upper pressure plate located below the suction cup mounting plate, and a lower pressure plate located below the upper pressure plate. Two studs pass sequentially through the upper pressure plate and the lower pressure plate from the suction cup mounting plate. The stud between the upper and lower pressure plates has a smooth bushing and spring running from the inside to the outside; the distance between the suction cup mounting plate and the upper pressure plate is fixed, while the distance between the upper and lower pressure plates varies with the spring deformation; the suction nozzle is located between the two suction cups and mounted on the upper pressure plate, passing through the upper and lower pressure plates sequentially from the suction cup mounting plate, with the upper end of the nozzle connected to the suction mechanism; in the spring's natural state, the lowest point of the suction nozzle is lower than the lowest point of the suction cup, so when the suction nozzle picks up the instrument, the two suction cups do not obstruct the suction of the instrument; when the spring is compressed, the lowest point of the suction nozzle is higher than the lowest point of the suction cup.

[0011] As a further limitation of the present invention, the adhesive application fixture includes two glue cylinders for storing adhesive A and adhesive B respectively, a mixing valve body connected to the two glue cylinders, and a mixing cylinder connected to the mixing valve body for controlling the pressure and flow rate of the two glue cylinders respectively. The mixing valve body is provided with a Y-shaped channel, one channel is connected to the glue cylinder as an input channel for adhesive A, one channel is connected to the other glue cylinder as an input channel for adhesive B, and one channel serves as an output channel for adhesive A and adhesive B and is connected to a mixing tube. A spiral mixing rod is provided inside the mixing tube, and the spiral mixing rod is driven to rotate by a mixing motor. The outlet of the mixing tube is connected to a dispensing valve, which is controlled by a dispensing cylinder. A dispensing needle is installed at the outlet of the dispensing valve.

[0012] As a further limitation of the present invention, the grinding fixture includes a fixture mounting plate mounted on a fixture bracket, a Z-shaped connector fixed on the fixture mounting plate, a grinding head fixed on the Z-shaped connector, and a quick-change connector fixed on the fixture mounting plate.

[0013] As a further limitation of the present invention, the tooling bracket includes a base column mounted on the tooling mounting platform, a top plate mounted on the top of the base column, and side plates mounted on both ends of the top plate, wherein an infrared sensor for detecting whether the tooling is in place is also mounted on one of the side plates.

[0014] As a further limitation of the present invention, the lifting and rotating mechanism includes a frame, four linked synchronous screw jacks fixed on the frame, a lifting plate driven by the four linked synchronous screw jacks, a rotary drive motor mounted on the lifting plate, a gear located at the drive end of the rotary drive motor, a gear ring meshing with the gear and mounted on the lifting plate, a pallet placement platform fixed on the gear ring, and a pallet positioning pin fixed on the pallet placement platform.

[0015] As a further limitation of the present invention, an XYZ axis moving mechanism is also fixed on the frame of the lifting and rotating mechanism; a laser rangefinder is installed on the XYZ axis moving mechanism, and a rotating platform is installed on the top of the laser rangefinder. The rotating platform can rotate relative to the laser rangefinder. A projection device for displaying the boundary of the work area and its starting point and work parameters is installed on the upper surface of the rotating platform. Three laser rangefinders are fixed on the lower surface of the rotating platform. The projection device and the laser rangefinders rotate with the rotating platform. Three measuring holes for the laser rangefinders are opened on the laser rangefinder. The included angle between two adjacent laser rangefinders is 60 degrees. The rotating platform is driven to rotate by a precision motor.

[0016] As a further limitation of the present invention, a connecting slide for receiving cylindrical section trays is provided at the inlet end of the grinding slide; the connecting slide, grinding slide, lifting and rotating mechanism, six-axis robot, instrument connecting platform, and tooling placement platform are all located inside the grinding protective room. The grinding protective room includes a room body, a roller shutter door 1 located at the inlet of the connecting slide, a roller shutter door 2 located between the grinding slide and the connecting slide, and a roller shutter door 3 located at the inlet of the instrument connecting platform. A gap is left between the grinding slide and the connecting slide for the roller shutter door 2 to rise and fall. The top of the grinding protective room is also equipped with an air inlet connected to the air inlet duct, and the side wall of the grinding protective room is equipped with an air outlet connected to the air outlet duct.

[0017] This invention also provides an operation control method for an automated grinding and gluing workstation for rocket launcher sections, characterized by the following steps:

[0018] S1. Confirm that the materials and tooling are in place: The materials that need to be delivered to the automated grinding and gluing workstation for rocket tube sections include rocket tube sections, instruments, and glue; the tooling includes gluing tooling, grinding tooling, and adsorption and pressing tooling.

[0019] S2. The grinding slide moves the cylinder section tray and cylinder section to the grinding slide working area.

[0020] S3. The four linked synchronous screw jacks of the lifting and rotating mechanism carry out the lifting work to realize the lifting and rotating control of the cylinder section pallet.

[0021] S4. Adjust the projection device to be positioned on the central axis of the cylinder section and then project the image:

[0022] The XYZ axis moving mechanism drives the laser rangefinder tube to rise into the tube section. Three laser rangefinders emit lasers in three directions to measure the distance. The adjustment direction of the XYZ axis moving mechanism is calculated based on the measured values ​​until the distances measured by the three laser rangefinders in three directions are equal, so that the projection device is located on the central axis of the tube section and coincides with the center point of the bottom surface of the tube section.

[0023] With the center point of the bottom surface of the cylinder section as the origin of the projection coordinate system, the projection device pre-calculates the coordinate sequence of the boundary of each working area and its starting coordinates and collects the working parameter information according to the design drawings; the projection device moves up and down and rotates on the central axis of the cylinder section, displays the boundary of the working area on the inner wall of the cylinder section, uses different colored laser bright spots to indicate the starting position of the working area, and displays the working parameter information on the inner wall of the cylinder section.

[0024] S5. The vision device scans the cylindrical section structure. The six-axis robot calculates the movement path of the six-axis robot for the next operation based on the origin of the robot coordinate system. The six-axis robot puts on the required tooling and enters the cylindrical section, moving the core operation point of the tooling to the starting point of the area to be operated.

[0025] S6. Use the vision device to determine whether the starting position of the work area shown by the core work point of the tooling is consistent with the laser spot. If they are consistent, the vision device takes a picture and archives it, and starts the tooling operation. If they are inconsistent, repeat steps S4-S5 until the starting position of the work area shown by the core work point of the tooling is consistent with the laser spot, and the tooling starts the operation. During the operation, the vision device verifies in real time whether the six-axis robot's working position is within the working area shown by the current projection device. If it exceeds the range, it is reported to the human for processing in a timely manner.

[0026] S7. After the current tooling operation is completed, the vision device takes a picture for record and checks the operation quality according to the operation parameters projected on the inner wall of the cylinder section. It determines whether the operation area exceeds the boundary of the area displayed by the projection device and whether there are any missed operations. After confirming that the operation quality meets the requirements, the six-axis robot unloads the current tooling, moves to the tooling of the next process, installs it through the quick-change connector, and then rises and rotates to the top of the cylinder section. If the operation quality does not meet the requirements, it is reported to the human for handling.

[0027] S8. Repeat steps S4-S7 to confirm the working position for the next operation and complete the next tooling operation: Specifically, after the cylinder section is polished, the six-axis robot connects to the glue application tooling and moves to the inner wall of the cylinder section. Following steps S4-S7, the glue application position is confirmed. After confirming the glue application position, the glue application is completed. After the glue application is completed, the six-axis robot connects to the suction and pressing tooling, moves to the instrument docking station, and the suction nozzle adsorbs the instrument before moving to the inner wall of the cylinder section. Following steps S4-S7, the suction and pressing position is confirmed. After confirming the suction and pressing position, the suction cups on both sides are adsorbed onto the inner wall of the cylinder section, and the springs apply pressure to fix the instrument, ensuring that the instrument remains on the inner wall after glue application. The quick-connect coupling is then released, and the entire tooling is adsorbed onto the inner wall of the cylinder section. This tooling can remain in place for at least 10 hours, until the glue has cured. After this time, the tooling is manually removed or returned to its original position by the six-axis robot.

[0028] S9. After all instruments are installed and fixed, the three roller shutters are raised, the grinding slide moves the cylinder section to the connecting slide, and the AGV is called to complete the cylinder section transfer.

[0029] As a further limitation of the present invention, the core working point of the grinding fixture is the grinding head of the grinding fixture; the core working point of the adhesive application fixture is the dispensing needle; and the core working point of the adsorption and pressing fixture is the center point of the suction nozzle.

[0030] The advantages of this invention are:

[0031] (1) The one-stop fully automatic completion of each process of "grinding-applying glue-instrument pressing and curing" greatly improves the work efficiency: AGV automatically transfers the cylinder section pallet and instruments to the docking position without manual handling; the tooling is centrally stored in the tooling placement table, and the six-axis robot can automatically switch the grinding tooling, applying glue tooling and adsorption pressing tooling through quick-change connectors, avoiding the waiting time for manual tool changing; each process reduces the time spent on manual operation and auxiliary work, and can quickly complete the single process operation, effectively meeting the high-efficiency requirements of batch assembly and shortening the rocket production cycle.

[0032] (2) Multiple technical means improve the quality of operation, ensure the consistency of product quality during batch assembly, and greatly improve the reliability of rocket assembly: precise positioning and guidance, the central axis of the tube section is calibrated by the XYZ axis moving mechanism and three laser rangefinders, and the operation area and parameters are projected on the inner wall of the tube section by the projection device to ensure that the operation position is without deviation; the glue application fixture precisely controls the ratio and flow of A / B glue through the mixing cylinder to ensure that the glue is mixed evenly; the grinding force and angle, glue application amount and glue application trajectory are stably controlled by the robot; the vision device takes pictures of the operation results for archiving and quality inspection, ensuring that the surface flatness, glue application uniformity and other parameters fluctuate very little during batch assembly, forming a unified quality standard.

[0033] (3) This invention realizes real-time acquisition, recording, analysis and traceability of assembly process data through vision devices, six-axis robots, projection devices, etc., providing support for intelligent management and optimization of rocket assembly and promoting the intelligent transformation of the aerospace industry; it accurately determines the operation area through two coordinate systems and eliminates the position error accumulated by a single coordinate system.

[0034] (4) Strong compatibility and adaptability to multiple models of cylindrical products: The cylindrical tray is equipped with arc-shaped stops, which can match the curvature of cylindrical sections of different diameters. It can adapt to multiple specifications without changing the tray; The XYZ axis moving mechanism dynamically calibrates the center axis of cylindrical sections of different diameters through a laser rangefinder, ensuring that the projection size of the projection device is consistent in any diameter cylindrical section; The robot support component can adjust the position of the swing arm by lifting and rotating, and combined with the angle adjustment of the lifting and rotating mechanism, it can ensure that the six-axis robot can achieve full-position operation for cylindrical sections of different diameters and lengths. There is no need to customize equipment for a single model, which greatly reduces the equipment cost of multi-variety production and has strong applicability for promotion.

[0035] (5) Improve the working environment and protect the health of operators: The metal dust generated by grinding is collected and stored in a centralized manner through the "roller shutter door sealing + negative pressure ventilation system" to prevent the dust from spreading to the working environment, prevent damage to various processing equipment in the workstation, prevent dust from adhering to the rocket tube section and affecting subsequent processes, and also eliminate potential hazards to the health of operators, which is in line with occupational health and safety regulations. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0037] Figure 2 This is a schematic diagram of the lifting and rotating mechanism.

[0038] Figure 3 This is a schematic diagram of the tooling support structure.

[0039] Figure 4 This is a schematic diagram of the adhesive application fixture.

[0040] Figure 5 This is a schematic diagram of the adhesive application fixture from another angle.

[0041] Figure 6 This is a schematic diagram of the adhesive application fixture from another angle.

[0042] Figure 7 This is a structural diagram of the grinding fixture.

[0043] Figure 8 This is a schematic diagram of the adsorption and pressing device.

[0044] Figure 9 This is a schematic diagram of the adsorption and pressing tool from another angle.

[0045] Figure 10 This is a schematic diagram of the cylindrical tray and blocking device.

[0046] Figure 11 This is a schematic diagram of the pallet placement platform and pallet positioning pin structure of the lifting and rotating mechanism.

[0047] Figure 12 This is a schematic diagram of the end effector structure of a six-axis robot.

[0048] Figure 13 This is a schematic diagram of the robot support component structure.

[0049] Figure 14 This is a schematic diagram of the laser rangefinder tube and the rotating platform.

[0050] Figure 15 This is a schematic diagram of the tooling mounting platform and the overall structure of the three types of tooling.

[0051] The components include: 1. Connecting slide; 2. Grinding slide; 3. Lifting and rotating mechanism; 4. Six-axis robot; 5. Instrument connecting platform; 6. Tooling mounting platform; 61. Glue application tooling; 62. Grinding tooling; 63. Adsorption and pressing tooling; 64. Tooling bracket; 65. Quick-change connector; 66. Tooling mounting plate; 7. Vision device; 8. XYZ axis moving mechanism; 9. Cylindrical tray; 31. Four-unit linkage synchronous screw jack; 32. Rotary drive motor; 33. Lifting plate; 34. Gear; 35. Gear ring; 641. Base column; 642. Top plate; 643. Side plate; 644. Infrared sensor; 611. Glue cylinder; 612. Mixing motor; 613. Mixing tube; 614. Dispensing valve; 615. Mixing valve body; 616. L-shaped connector; 617. Mixing cylinder; 6 18. First mounting plate; 6181. Arc-shaped mounting hole; 6182. Strip-shaped mounting hole; 619. Second mounting plate; 621. Grinding head; 622. Z-shaped connector; 631. Z-shaped support plate; 632. Suction cup mounting plate; 633. Suction cup; 634. Upper pressure plate; 635. Lower pressure plate; 636. Suction nozzle; 637. Spring; 638. Instrument; 21. Limit block; 22. Drive cylinder; 23. Arc-shaped stop block; 36. Pallet placement platform; 37. Pallet positioning pin; 38. Guide roller; 71. Camera; 72. Lens; 73. Light source; 41. Lifting drive assembly; 45. Swing arm; 43. Column; 44. Base; 42. Rotation drive assembly; 81. Laser rangefinder tube; 82. Rotary table; 83. Laser rangefinder; 84. Measuring hole. Detailed Implementation

[0052] The automated grinding and adhesive application workstation for rocket launcher sections performs the following functions:

[0053] (1) Grind and clean the designated parts of the inner wall of the rocket launcher section, especially the rocket launcher section with a diameter of Ф1200mm~Ф2600mm;

[0054] (2) Apply adhesive to the designated part of the inner wall of the cylinder section;

[0055] (3) After applying the adhesive, the instrument 638 is bonded and pressed for a certain period of time.

[0056] like Figure 1As shown, the automated grinding and gluing workstation for rocket launcher sections mainly includes a grinding slide 2, a lifting and rotating mechanism 3 set between two tracks of the grinding slide 2 for lifting and rotating the rocket launcher section, a six-axis robot 4, a vision device 7 located at the working end of the six-axis robot 4 and a quick-change connector 65 for the robot, a tooling mounting platform 6 located on one side of the grinding slide 2 and an instrument docking platform 5 for connecting instruments 638. The tooling mounting platform 6 is equipped with a grinding tool 62, a gluing tool 61 and a suction and pressing tool 63. The grinding tool 62, the gluing tool 61 and the suction and pressing tool 63 are all equipped with quick-change connectors 65 for the robot.

[0057] The function of the grinding slide 2 is to connect and position the rocket launcher section. The grinding slide 2 includes two roller conveyor tracks, blocking devices on the tracks, and figure-eight guide blocks, etc. The figure-eight guide blocks guide the rocket launcher section tray 9 to the working position. The blocking devices include four right-angled triangular limit blocks 21 and drive cylinders 22 for the limit blocks 21. The drive cylinders 22 are fixed to the roller conveyor tracks, and the limit blocks 21 are fixed to the telescopic ends of the drive cylinders 22. Preferably, the rocket launcher section tray 9 is roughly square in shape, with chamfered corners. The four limit blocks 21 are located at the chamfered corners, meaning the hypotenuse of the right triangle matches the chamfered corner. When the rocket launcher section tray 9 reaches the working position, the drive cylinders 22 drive the four limit blocks to clamp the rocket launcher section tray 9 from four directions. Figure 10 As shown, the cylindrical section tray 9 is provided with arc-shaped stops 23 that match the curvature of cylindrical sections with different diameters.

[0058] A connecting slide 1 is provided at the inlet end of the grinding slide 2. The connecting slide 1 also includes two roller conveyor tracks for docking with the AGV and receiving the tube segment tray 9 carrying the rocket tube segment.

[0059] Metal dust generated during grinding is a major health hazard in traditional operations. Preferably, to ensure that the grinding and cleaning process does not cause dust and noise pollution to the entire workshop, the connecting slide 1, grinding slide 2, lifting and rotating mechanism 3, six-axis robot 4, instrument connecting platform 5, and tooling placement platform 6 are arranged in a grinding protective room. The grinding protective room includes a room body, a roller shutter door 1 located at the entrance of the connecting slide 1, a roller shutter door 2 located between the grinding slide 2 and the connecting slide 1, and a roller shutter door 3 located at the entrance of the instrument connecting platform 5. At the same time, a gap is left between the grinding slide 2 and the connecting slide 1 for the raising and lowering of the roller shutter door 2. The roller shutter door separates the material receiving area from the work area, further reducing dust spillage. The grinding protective room is equipped with an air inlet on the top connected to the air inlet duct, and an air outlet on the side wall connected to the air outlet duct. The exhaust system creates negative pressure inside the grinding protective room to adsorb and collect the dust generated during the grinding process, completely solving the problem of "operators' long-term inhalation of dust damaging their health" and meeting the occupational health and safety requirements of modern industry.

[0060] like Figure 2 The lifting and rotating mechanism 3 is mainly used to lift and rotate the cylinder section, facilitating grinding, gluing, and pressing at different positions on the cylinder section in conjunction with the six-axis robot 4. When the grinding, gluing, or pressing position exceeds the working range of the six-axis robot 4, the cylinder section can switch grinding positions through the lifting and rotating mechanism 3 to complete the work at different positions. The lifting and rotating mechanism 3 includes a frame, four linked synchronous screw jacks 31 fixed on the frame, a lifting plate 33 driven by the four linked synchronous screw jacks 31, a rotary drive motor 32 mounted on the lifting plate 33, a gear 34 located at the drive end of the rotary drive motor 32, a gear ring 35 meshing with the gear 34 and mounted on the lifting plate 33, a pallet placement platform 36 fixed on the gear ring 35, and a pallet positioning pin 37 fixed on the pallet placement platform 36. Guide rollers 38 are provided on the four sides of the cylinder section pallet 9. Figure 11 The pallet placement platform 36 and pallet positioning pin 37 are shown.

[0061] Preferred, such as Figure 2 An XYZ axis moving mechanism 8 is also fixed on the frame of the lifting and rotating mechanism 3. A laser rangefinder tube 81 is mounted on the XYZ axis moving mechanism 8, such as... Figure 14 A rotating platform 82 is mounted on the top of the laser rangefinder tube 81. The rotating platform 82 can rotate relative to the laser rangefinder tube 81. A projection device for displaying the boundary of the work area, its starting point, and work parameters is mounted on the upper surface of the rotating platform 82. Three laser rangefinders 83 are fixed on the lower surface of the rotating platform 82. The projection device and the laser rangefinders 83 can rotate with the rotating platform 82. Three measuring holes 84 are opened on the laser rangefinder tube 81 for the laser rangefinders 83 to measure. The included angle between two adjacent laser rangefinders 83 is 60 degrees. The rotating platform 82 is driven to rotate by a precision motor.

[0062] The laser rangefinder tube 81 is also equipped with a controller, which is electrically connected to the XYZ axis moving mechanism 8, the precision motor, the projection device, and the laser rangefinder 83. The controller receives the measurement data from the laser rangefinder 83 and controls the movement of the XYZ axis moving mechanism 8 and the rotation of the precision motor according to the measurement data. At the same time, it receives the coordinate sequence of the boundary of each working area and its starting coordinates, the collected working parameter information, etc. calculated by the projection device, and controls the projection device to display the corresponding content.

[0063] The controller is a PLC controller or an embedded microprocessor. The controller has a built-in storage module and a computing module. The storage module is used to store the measurement data of the laser rangefinder 83, the coordinate sequence of the boundary of each working area calculated by the projection device and its starting coordinates, and the working parameters collected by the projection device. The computing module is used to analyze and process the measurement data of the laser rangefinder 83 and generate control commands to control the movement of the XYZ axis moving mechanism 8.

[0064] The laser rangefinder 83 is connected to the controller via a data acquisition circuit, which includes a signal conditioning unit and an A / D conversion unit. The analog measurement signal output by the laser rangefinder 83 is filtered and amplified by the signal conditioning unit, and then converted into a digital signal by the A / D conversion unit before being transmitted to the controller. The signal conditioning unit includes a low-pass filter and an operational amplifier. The A / D conversion unit has a bit depth of at least 12 bits to ensure the accuracy of the measurement data.

[0065] The projection device and the controller are connected via a communication interface, which can be an RS232 interface, an RS485 interface, or an Ethernet interface. The controller sends display control commands and the boundary, starting point, and operation parameter data of the work area to be displayed to the projection device through the communication interface.

[0066] The controller is also electrically connected to the position feedback unit, the slider of the XYZ axis moving mechanism 8, and the rotary table 82. The position feedback unit is used to detect the moving position of the slider and the rotation angle of the rotary table 82 in real time, and transmits the position signals to the controller. The controller performs closed-loop control of the XYZ axis moving mechanism 8 and the precision motor based on the position signals. The position feedback unit includes a grating ruler and an encoder. The grating ruler is set on the guide rails of the X-axis moving assembly, Y-axis moving assembly, and Z-axis moving assembly, respectively, and is used to detect the slider position. The encoder is mounted on the output shaft of the precision motor and is used to detect the rotation angle of the rotary table 82.

[0067] This invention also includes a main control computer for parsing design drawings, extracting digital information such as boundary coordinates, starting point positions, and process parameters of the work area, and calculating the transformation matrix required to accurately map these virtual coordinates onto the inner wall of the actual cylinder section. Based on this data, the projection device projects the boundary trajectory onto the cylinder wall, and different colored lasers are used to mark the starting point with contrasting bright spots. If DLP projection is used, the synthesized graphic text image must be pre-corrected for surface distortion before overall projection.

[0068] The lifting and rotating mechanism 3 is equipped with a position sensor to meet the requirements of the cylinder section rotation and lifting for the limit position and origin position.

[0069] The cylindrical section tray 9 is clamped from four directions by four limiting blocks. However, the central axis of the cylindrical section tray 9 is not necessarily collinear with the central axis of the cylindrical section. Therefore, it is necessary to find the central axis of the cylindrical section according to the actual situation. For this purpose, an XYZ axis moving mechanism 8 is set up. Three laser rangefinders 83 emit lasers in three directions to measure the distance. The XYZ axis moving mechanism 8 should move in the direction of the measurement value until the distances measured by the three laser rangefinders 83 in the three directions are equal. This indicates that the laser rangefinder 81 is located on the central axis of the cylindrical section, that is, the projection device is located on the central axis of the cylindrical section. This ensures that the same image is projected onto the inner wall of the cylindrical section from any direction, and the projection size remains consistent without complicated calculations. The center of the cylindrical section tray 9 has a circular hole for the XYZ axis moving mechanism 8 to pass through.

[0070] The six-axis robot 4 is used to automate the grinding, gluing, and instrument 638 installation of the cylinder section. Considering the cylinder section dimensions and the robot 4's motion radius, this embodiment selects the FAOYIWU collaborative robot. This model has a working radius of 1854mm, a payload of 20kg, and a repeatability of ±0.1mm. This model features a large working radius and strong load capacity.

[0071] The quick-change connector 65 of the robot is a device that enables automatic switching between the end-effectors of the six-axis robot 4, including the grinding fixture 62, the gluing fixture 61, and the adsorption / pressing fixture 63. The quick-change connector 65 is divided into a robot-side quick-change connector 65 and a fixture-side quick-change connector 65. The robot-side quick-change connector 65 is installed at the end of the six-axis robot 4, while the fixture-side quick-change connector 65 is installed on the adsorption / pressing fixture 63, the grinding fixture 62, and the gluing fixture 61. Simultaneously, the quick-change connector 65 enables the conduction of compressed air and the transmission of control signals. This embodiment uses a navigation robot quick-change connector. Locking force: 1193N; Allowable bending moment: 26.5N·m (static); Allowable torque: 35.7N·m (static); Built-in 6-channel M5 air circuit, 2 module expansion mounting surfaces. Suitable for assembly, handling, and other applications. It features self-locking in case of gas pressure loss; even if the main plate unexpectedly loses air supply, the main plate and tool plate will not separate. Optional features include a master disk locking / unlocking sensor and a tool disk in-position detection sensor.

[0072] like Figure 13 The robot support assembly is primarily used to extend the reach of the six-axis robot 4. The robot support assembly includes a column 43, a rotary drive assembly 42 mounted on the column 43, a lifting drive assembly 41 mounted on the rotary drive assembly 42, and a swing arm 45 mounted on the lifting drive assembly 41. The column 43 is mounted on the ground via a base 44. The swing arm 45 is capable of height adjustment and rotation along the axis of the column 43. The six-axis robot 4 is mounted on the swing arm 45, thereby enabling rapid position adjustment of the six-axis robot 4 and ensuring that it can operate at various positions within the cylinder section.

[0073] like Figure 12 The six-axis robot 4 is also equipped with a vision device 7 at its end. The vision device 7 is used to accurately determine the work positions of the cylinder section grinding, gluing, and instrument 638 placement. At the same time, it can take pictures, judge, and save the relevant work results. The vision device 7 is mainly composed of a camera 71, a lens 72, and a light source 73. The camera 71 and lens 72 are used to capture images, and the light source 73 is used to provide illumination for taking pictures inside the cylinder section.

[0074] like Figure 15 The gluing fixture 61, the sanding fixture 62, and the adsorption and pressing fixture 63 are collectively placed on multiple fixture supports 64 on the fixture mounting platform 6. For example... Figure 3 The tooling bracket 64 includes a base column 641 mounted on the tooling mounting platform 6, a top plate 642 mounted on the top of the base column 641, and side plates 643 mounted on both ends of the top plate 642. Preferably, one of the side plates 643 is also equipped with an infrared sensor 644. The infrared sensor 644 is used to detect whether the tooling is in place and sends a signal to the six-axis robot 4. If the tooling is in place, the six-axis robot 4 can pick up the tooling; if the tooling is not in place, an error is reported to the operator. Figures 4-6 The gluing fixture 61 is mainly used to apply glue to designated areas inside the cylinder section. When not in use, the gluing fixture 61 is placed on a fixture bracket 64 on the fixture mounting platform 6; when gluing is required, the six-axis robot 4 connects to the fixture-side quick-change connector 65 of the gluing fixture 61 via the robot-side quick-change connector 65.

[0075] The adhesive application fixture 61 includes two glue cylinders 611 for storing adhesive A and adhesive B respectively, a mixing valve body 615 connected to the two glue cylinders 611, and two mixing cylinders 617 connected to the mixing valve body 615 for controlling the pressure and flow rate of the two glue cylinders 611 respectively. The mixing valve body 615 is provided with a Y-shaped channel. One channel is connected to the glue cylinder 611 as the input channel for adhesive A, one channel is connected to the other glue cylinder 611 as the input channel for adhesive B, and one channel serves as the output channel for adhesive A and adhesive B and is connected to the mixing tube 613. The mixing tube 613 is provided with a spiral mixing rod, which is driven to rotate by a mixing motor 612. The outlet of the mixing tube 613 is connected to a dispensing valve 614, which is controlled by a dispensing cylinder. A dispensing needle is installed at the outlet of the dispensing valve 614.

[0076] Both mixing cylinders 617 and mixing valve body 615 are mounted on one section of the L-shaped connector 616 via a second mounting plate 619. A tooling mounting plate 66 is mounted on the other section of the L-shaped connector 616. A first mounting plate 618 is fixed to the second mounting plate 619. The first mounting plate 618 has two parallel arc-shaped mounting holes 6181 and two parallel strip-shaped mounting holes 6182. The dispensing cylinder is mounted at the arc-shaped mounting hole 6181, and the dispensing valve 614 is mounted across the two strip-shaped mounting holes 6182 via a straight fixing strip. The two arc-shaped mounting holes 6181 and the two strip-shaped mounting holes 6182 can accommodate dispensing cylinders of different models and specifications, and also facilitate adjustment of the mounting angles of the dispensing cylinder and the dispensing valve 614.

[0077] When using the dispensing fixture 61 for dispensing, adhesive A and adhesive B are added to two glue cartridges 611 respectively. The mixing cylinder 617 controls the pressure inside the two glue cartridges 611 to extrude adhesive A and adhesive B in a set ratio and allow them to enter the mixing valve body 615, and then into the mixing tube 613 for mixing. At this time, the dispensing cylinder controls the dispensing valve 614 to be in the closed state. When the six-axis robot 4 reaches the designated dispensing position, the dispensing cylinder controls the dispensing valve 614 to be in the open state. The mixed adhesive in the mixing tube 613 will pass through the dispensing valve 614 and enter the dispensing needle to achieve dispensing.

[0078] like Figure 7 The grinding fixture 62 is used to grind a designated location on the inside of the cylinder section. When not in use, the grinding fixture 62 is placed on a fixture bracket 64 on the fixture mounting table 6.

[0079] The grinding fixture 62 includes a fixture mounting plate 66 mounted on a fixture support 64, a Z-shaped connector 622 fixed on the fixture mounting plate 66, a grinding head 621 fixed on the Z-shaped connector 622, and a fixture-side quick-change connector 65 fixed on the fixture mounting plate 66. The grinding fixture 62 is equipped with a fixture-side quick-change connector 65, which can be matched with a robot-side quick-change connector 65 to achieve quick connection. When not in use, the grinding fixture 62 is placed on the fixture support 64; when grinding operations are required, the six-axis robot 4 connects to the fixture-side quick-change connector 65 of the grinding fixture 62 via the robot-side quick-change connector 65.

[0080] like Figures 8-9 After the six-axis robot 4 confirms the installation position of the instrument 638, the adsorption and pressing fixture 63 picks up the instrument 638 from the instrument transfer tray, moves the instrument 638 to the glued position on the inner wall of the cylinder section, and places it there. Finally, the two suction cups 633 press the instrument 638 onto the inner wall of the cylinder section. When not in use, the adsorption and pressing fixture 63 is placed on a fixture bracket 64 on the fixture placement table 6.

[0081] The suction pressing fixture 63 includes a fixture mounting plate 66 mounted on a fixture bracket 64, a fixture side quick-change connector 65 fixed on the fixture mounting plate 66, a Z-shaped support plate 631 fixed below the fixture mounting plate 66, a suction cup mounting plate 632 fixed below the Z-shaped support plate 631, two strip holes on the suction cup mounting plate 632, a suction cup 633 installed at the strip holes through a hollow solenoid tube, a negative pressure mechanism connected to the hollow solenoid tube, an upper pressure plate 634 located below the suction cup mounting plate 632, and a lower pressure plate 635 located below the upper pressure plate 634. Two studs pass through the upper pressure plate 634 and the lower pressure plate 635 from the suction cup mounting plate 632 in sequence. The studs between the upper pressure plate 634 and the lower pressure plate 635 are covered with smooth bushings and springs 637 from the inside to the outside. The smooth bushings prevent the springs from getting stuck on the studs. The distance between the suction cup mounting plate 632 and the upper pressure plate 634 is fixed, while the distance between the upper pressure plate 634 and the lower pressure plate 635 varies with the deformation of the spring 637. The suction nozzle 636 is located between the two suction cups 633 and mounted on the upper pressure plate 634. Specifically, the suction nozzle 636 passes sequentially from the suction cup mounting plate 632 through the upper pressure plate 634 and the lower pressure plate 635, with its upper end connected to the suction mechanism. In its natural state, the lowest point of the suction nozzle 636 is lower than the lowest point of the suction cups 633. When the suction nozzle 636 picks up the instrument 638, the two suction cups 633 do not obstruct the suction of the instrument 638. When the spring 637 is compressed, the lowest point of the suction nozzle 636 is higher than the lowest point of the suction cups 633, allowing the suction cups 633 on both sides to adhere to the inner wall of the cylindrical section, and the suction nozzle 636 to apply pressure to the instrument 638. The suction and pressing fixture 63 is reusable.

[0082] The operation control method for the automated grinding and gluing workstation for rocket launcher sections includes the following steps:

[0083] S1. Determine if materials and tooling are in place: The materials to be delivered to the automated grinding and gluing workstation for rocket launcher sections include rocket launcher sections, instrument 638, and glue; the tooling includes gluing tool 61, grinding tool 62, and adsorption and pressing tool 63; the operator regularly checks and adds glue to the gluing tool 61; the required instrument 638 is assembled in the warehouse and delivered by AGV to the instrument receiving platform 5, and then the roller shutter door is lowered three times; the rocket launcher section and section tray 9 are directly transferred from the warehouse to the receiving slide 1 by AGV, and then the roller shutter door is lowered one time; the presence of materials such as rocket launcher sections, instrument 638, and glue can be determined by the in-situ detection sensor or vision device 7, and the tooling can be detected by the infrared sensor 644;

[0084] S2. The grinding slide 2 moves the cylindrical section tray 9 and the cylindrical section from the connecting slide 1 to the working area of ​​the grinding slide 2. Then the roller shutter door 2 descends: During the sliding process, the cylindrical section tray 9 slowly rolls between the limit blocks 21 through the figure-eight guide blocks and the guide rollers 38 on the four sides of the cylindrical section tray 9. The drive cylinder 22 drives the four limit blocks 21 to clamp the cylindrical section tray 9 from four directions, realizing the initial positioning of the cylindrical section tray 9.

[0085] S3, the four linked synchronous screw jacks 31 of the lifting and rotating mechanism 3 perform the lifting work, the pallet placement platform 36 lifts, and stops lifting after contacting the cylindrical pallet 9. The rotation drive motor 32 drives the pallet placement platform 36 to rotate. The pallet positioning pin 37 on the pallet placement platform 36 is aligned with the positioning hole on the cylindrical pallet 9 to prevent the cylindrical pallet 9 from moving when the pallet placement platform 36 rotates. The drive cylinder 22 retracts to realize the lifting and rotation control of the cylindrical pallet 9.

[0086] S4. Adjust the projection device to be located on the central axis of the cylinder section and project: The XYZ axis moving mechanism 8 drives the laser ranging cylinder 81 to rise into the cylinder section. The three laser rangefinders 83 emit lasers in three directions to measure the distance. The adjustment direction of the XYZ axis moving mechanism 8 is calculated based on the measurement value until the distances measured by the three laser rangefinders 83 in three directions are equal, so that the projection device is located on the central axis of the cylinder section and coincides with the center point of the bottom surface of the cylinder section.

[0087] With the center point of the bottom surface of the cylinder section as the origin of the projection coordinate system, the main control computer calculates the coordinate sequence of the boundary of each working area according to the design drawing, collects the working parameter information and sends it to the projection device; the projection device moves up and down and rotates on the central axis of the cylinder section, displays the boundary of the working area on the inner wall of the cylinder section, uses different colored laser bright spots to indicate the starting position of the working area, and displays the working parameter information on the inner wall of the cylinder section.

[0088] S5 and vision device 7 scan the cylindrical section structure. The six-axis robot 4 calculates the motion path of the six-axis robot 4 for the next operation based on the origin of the cylindrical section coordinate system. The lifting drive component 41 of the robot support assembly lifts the swing arm 45 to the top, rotates it outside the cylindrical section, and then lowers it. The corresponding tooling is replaced on the robot's quick-change connector 65. Then, the robot rises and rotates to the top of the cylindrical section and enters the cylindrical section. The six-axis robot 4 moves the core working point of the tooling to the starting point of the area to be worked. The core working point of the grinding tooling 62 is the grinding head 621 of the grinding tooling 62. The core working point of the glue application tooling 61 is the glue dispensing needle. The core working point of the suction and pressing tooling 63 is the center point of the suction nozzle 636.

[0089] S6. The vision device 7 determines whether the starting position of the work area shown by the core work point of the tooling is consistent with the laser spot. If they are consistent, the tooling operation is started and the vision device 7 takes a picture for archiving. If they are inconsistent, repeat steps S4-S5 until the starting position of the work area shown by the core work point of the tooling is consistent with the laser spot. The tooling operation is started. During the operation, the vision device 7 verifies in real time whether the working position of the six-axis robot 4 is within the working area shown by the current projection device. If it exceeds the range, it is reported to the human for processing in time.

[0090] When the grinding fixture 62 is started, the exhaust system and dust treatment device are turned on, and the air inlets and outlets on the wall are activated to maintain air circulation in the grinding protective room. The dust generated during grinding will be discharged from the grinding protective room and collected in a centralized manner along with the air flow in the grinding protective room.

[0091] S7. After the current tooling operation is completed, the vision device 7 takes a picture for record and checks the operation quality according to the operation parameters projected on the inner wall of the cylinder section. It determines whether the operation area exceeds the boundary of the area displayed by the projection device and whether there are any missed operations. After confirming that the operation quality meets the requirements, the swing arm 45 rises and rotates out of the cylinder section, descends to the position where the current tooling is placed, unloads the current tooling, moves to the tooling of the next process, installs it through the quick-change connector 65, and then rises and rotates to the top of the cylinder section. If the operation quality does not meet the requirements, it is reported to the human operator for handling.

[0092] S8. Repeat steps S4-S7 to confirm the working position for the next operation and complete the next tooling operation: Specifically, after the cylinder section is polished, the six-axis robot 4 connects to the adhesive application fixture 61 and moves to the inner wall of the cylinder section. Following the process of steps S4-S7, the adhesive application position is confirmed. After confirming the adhesive application position, the adhesive application operation is completed. After the adhesive application operation is completed, the six-axis robot 4 connects to the suction and pressing fixture 63, moves to the instrument docking platform 5, and the suction nozzle 636 adsorbs the instrument 638 before moving it to the inner wall of the cylinder section. Following steps S4-S7, the adsorption pressing position is confirmed. After confirming the adsorption pressing position, the left and right suction cups 633 are adsorbed onto the inner wall of the cylinder section. The spring 637 applies pressure to fix the instrument 638, so that the instrument 638 can be kept on the inner wall after the glue is applied, which facilitates the curing of the glue. The quick-change connector 65 releases the entire fixture adsorbed onto the inner wall of the cylinder section. The fixture can be held for at least 10 hours. After the glue has cured, the fixture can be removed manually or by a six-axis robot 4 and put back in its original position.

[0093] S9. After all instruments 638 are installed and fixed, the three roller shutters are raised, the grinding slide 2 moves the cylinder section to the connecting slide 1, and the AGV is called to complete the cylinder section transfer.

[0094] This invention automates the entire process of grinding, gluing, and instrument 638 installation using a six-axis robot 4. A vision device 7 and a projection device work together to ensure precise determination of the work position. The invention also allows for the visual recognition of work parameters projected onto the inner wall of the cylinder section to check work quality. It is compatible with cylinder sections of various diameters, ensuring high consistency in batch assembly and significantly reducing process time. Centralized dust collection avoids any impact on operator health. This invention is compatible with cylinder sections of various diameters and has broad application value.

Claims

1. A rocket tube section automatic polishing and gluing work station, comprising a polishing tooling (62) and a six-axis robot (4), characterized in that: The polishing slide table (2), the jacking and rotating mechanism (3) for realizing the lifting and rotation of the rocket barrel section arranged between the two tracks of the polishing slide table (2), the vision device (7) and the quick-change connector (65) located at the working end of the six-axis robot (4), the tool setting table (6) located at one side of the polishing slide table (2) and the instrument connection table (5) for connecting the instrument (638), wherein the polishing tool (62), the glue coating tool (61) and the adsorption pressing tool (63) are arranged on the tool setting table (6), the polishing tool (62), the glue coating tool (61) and the adsorption pressing tool (63) are respectively arranged on the tool mounting plate (66) of the tool setting table (6) and are installed on the tool support (64); The adsorption pressing tool (63) comprises the tool mounting plate (66) installed on the tool support (64), the quick-change connector (65) fixed on the tool mounting plate (66), the several-shaped support plate (631) fixed below the tool mounting plate (66), the suction cup mounting plate (632) fixed below the several-shaped support plate (631), two strip-shaped holes arranged on the suction cup mounting plate (632), the suction cups (633) installed on the strip-shaped holes through hollow screw pipes, the negative pressure mechanism connected with the hollow screw pipes, the upper pressing plate (634) located below the suction cup mounting plate (632), the lower pressing plate (635) located below the upper pressing plate (634), two screw posts passing through the upper pressing plate (634) and the lower pressing plate (635) from the suction cup mounting plate (632) in sequence, the smooth bushing and the spring (637) sleeved on the screw post from inside to outside between the upper pressing plate (634) and the lower pressing plate (635); the distance between the suction cup mounting plate (632) and the upper pressing plate (634) is fixed, and the distance between the upper pressing plate (634) and the lower pressing plate (635) changes with the deformation amount of the spring (637); the suction nozzle (636) is located between the two suction cups (633) and is installed on the upper pressing plate (634), the suction nozzle (636) passes through the upper pressing plate (634) and the lower pressing plate (635) from the suction cup mounting plate (632) in sequence, and the upper end of the suction nozzle (636) is connected with the suction mechanism; when the spring (637) is in a natural state, the lowest point of the suction nozzle (636) is lower than the lowest point of the suction cup (633), and when the spring (637) is compressed, the lowest point of the suction nozzle (636) is higher than the lowest point of the suction cup (633).

2. The rocket tube section automated sanding and coating station of claim 1, wherein: The glue coating tool (61) comprises two glue cylinders (611) for respectively storing A glue and B glue, a mixing valve body (615) connected with the two glue cylinders (611), a mixing cylinder (617) for respectively controlling the pressure and flow of the two glue cylinders (611) and connected with the mixing valve body (615), a Y-shaped channel is arranged in the mixing valve body (615), one channel is connected with the glue cylinder (611) as an A glue input channel, one channel is connected with the other glue cylinder (611) as a B glue input channel, and one is an output channel of the A glue and the B glue and is connected with a glue mixing pipe (613), the glue mixing pipe (613) is provided with a spiral glue mixing rod, and the spiral glue mixing rod is driven to rotate by a mixing motor (612); the outlet of the glue mixing pipe (613) is connected with a glue dispensing valve (614), the glue dispensing valve (614) is controlled by a glue dispensing cylinder, and the outlet of the glue dispensing valve (614) is provided with a glue dispensing needle.

3. The rocket tube section automated sanding and coating station of claim 1, wherein: The polishing tool (62) comprises a tool mounting plate (66) mounted on a tool support (64), a Z-shaped connecting piece (622) fixed on the tool mounting plate (66), a polishing head (621) fixed on the Z-shaped connecting piece (622), and a quick-change connector (65) fixed on the tool mounting plate (66).

4. The rocket tube section automated sanding and glue application station of any of claims 1-3, wherein: The tool support (64) comprises a bottom column (641) mounted on a tool installation table (6), a top plate (642) mounted at the top end of the bottom column (641), and side plates (643) mounted at both ends of the top plate (642), wherein one of the side plates (643) is further provided with an infrared sensor (644) for detecting whether the tool is in place.

5. The rocket tube section automated sanding and glue application station of any of claims 1-3, wherein: The jacking and rotating mechanism (3) comprises a rack, four linkage synchronous screw jacks (31) fixed on the rack, a jacking plate (33) driven by the four linkage synchronous screw jacks (31), a rotating drive motor (32) mounted on the jacking plate (33), a gear (34) located at the driving end of the rotating drive motor (32), a gear ring (35) engaged with the gear (34) and mounted on the jacking plate (33), a tray placement platform (36) fixed on the gear ring (35), and a tray positioning pin (37) fixed on the tray placement platform (36).

6. The rocket tube section automated sanding and glue application station of claim 5, wherein: The rack of the jacking and rotating mechanism (3) is further fixed with an XYZ axis moving mechanism (8); a laser ranging cylinder (81) is mounted on the XYZ axis moving mechanism (8), a rotating table (82) is mounted at the top of the laser ranging cylinder (81), the rotating table (82) can rotate relative to the laser ranging cylinder (81), a projection device for displaying the boundary and starting point of the to-be-operated area and the operation parameters is mounted on the upper surface of the rotating table (82), three laser range finders (83) are fixed on the lower surface of the rotating table (82), the projection device and the laser range finders (83) rotate with the rotating table (82); three measurement holes (84) for the laser range finders (83) to measure are formed in the laser ranging cylinder (81); the included angle between two adjacent laser range finders (83) is 60 degrees, and the rotating table (82) is driven to rotate by a precision motor.

7. The rocket tube section automated sanding and glue application station of claim 6, wherein: A connection skid (1) for receiving the cylinder segment tray (9) is arranged at the entrance end of the polishing skid (2); the connection skid (1), the polishing skid (2), the jacking and rotating mechanism (3), the six-axis robot (4), the instrument connection table (5), and the tool setting table (6) are all arranged in the polishing protection room, which comprises a room body, a roller shutter door one arranged at the entrance of the connection skid (1), a roller shutter door two between the polishing skid (2) and the connection skid (1), and a roller shutter door three arranged at the entrance of the instrument connection table (5); a gap is left between the polishing skid (2) and the connection skid (1) for the lifting of the roller shutter door two; an air inlet connected with an air inlet pipeline is arranged on the top of the polishing protection room; and an air outlet connected with an air outlet pipeline is arranged on the side wall of the polishing protection room.

8. The method for controlling the operation of the automatic polishing and gluing work station for rocket tube segments according to any one of claims 1-7, characterized in that: The method comprises the following steps, S1, determining whether the materials and tooling are in place: the materials required by the rocket cylinder segment automatic polishing and gluing workstation include rocket cylinder segments, instruments (638), and glue; the tooling includes gluing tooling (61), polishing tooling (62), and adsorption and pressing tooling (63); S2, the polishing skid (2) moves the cylinder segment tray (9) and the cylinder segment to the working area of the polishing skid (2); S3, the jacking and rotating mechanism (3) performs jacking work to realize the jacking and rotating control of the cylinder segment tray (9); S4, adjusting the projection device to be located on the central axis of the cylinder segment and performing projection: The XYZ-axis moving mechanism (8) drives the laser ranging cylinder (81) to rise to the inside of the cylinder segment, the three laser range finders (83) emit laser beams in three directions to measure distances, the adjustment direction of the XYZ-axis moving mechanism (8) is calculated according to the measured values, until the distances measured by the three laser range finders (83) in three directions are equal, so that the projection device is located on the central axis of the cylinder segment and coincides with the center point of the bottom surface of the cylinder segment; Taking the center point of the bottom surface of the cylinder segment as the origin of the projection coordinate system, the host computer calculates the coordinate sequence of the boundary of each working area, the starting point coordinates, collects the working parameter information, and sends it to the projection device according to the design drawing; the projection device moves up and down on the central axis of the cylinder segment and rotates, displays the boundary of the working area to be worked on the inner wall of the cylinder segment, indicates the starting point position of the working area to be worked on with a laser bright spot of different colors, and displays the working parameter information on the inner wall of the cylinder segment; S5, the visual device (7) scans the structure of the cylinder segment, the six-axis robot (4) calculates the next working path of the six-axis robot (4) according to the origin of the robot coordinate system, the six-axis robot (4) changes the required tooling into the cylinder segment, and moves the core working point of the tooling to the starting point of the working area to be worked on; S6, the visual device (7) judges whether the starting point position of the working area to be worked on indicated by the core working point of the tooling is consistent with the laser bright spot, if consistent, the visual device (7) takes a photo and archives it, and starts the tooling work; If not consistent, repeat steps S4-S5 until the starting point position of the working area to be worked on indicated by the core working point of the tooling is consistent with the laser bright spot, the tooling starts work, and the visual device (7) verifies in real time whether the working position of the six-axis robot (4) is within the working area range indicated by the current projection device, if out of range, timely report to the human for processing. S7, after the current tooling operation is completed, the vision device (7) takes a photo for record and checks the operation quality according to the operation parameters projected on the inner wall of the cylinder segment, judges whether the already operated area exceeds the area boundary displayed by the projection device, and whether there is a missed operation part; after confirming that the operation quality meets the requirements, the six-axis robot (4) unloads the current tooling, moves to the tooling of the next process, and if the operation quality does not meet the requirements, reports to the manual processing; S8, repeat steps S4-S7 to confirm the working position of the next operation and complete the next tooling operation: specifically, after the cylinder segment is finished polishing, the six-axis robot (4) connects the gluing tooling (61) and moves to the inner wall of the cylinder segment to confirm the gluing position, and after confirming the gluing position, the gluing operation is completed; after the gluing operation is completed, the six-axis robot (4) connects the adsorption and pressing tooling (63), moves to the instrument docking platform (5), and after the suction nozzle (636) adsorbs the instrument (638), moves to the inner wall of the cylinder segment to confirm the adsorption and pressing position, and after confirming the adsorption and pressing position, the left and right suction cups (633) are adsorbed on the inner wall of the cylinder segment to fix the instrument (638) by pressure, so that the instrument (638) after gluing can be kept on the inner wall, and the quick-change connector (65) loosens the entire tooling and adsorbs it on the inner wall of the cylinder segment; the tooling can be continuously maintained for at least 10 hours, and after the curing time of the glue is reached, the tooling is manually or by the six-axis robot (4) disassembled and put back to the original place; S9, after all the instruments (638) are installed and fixed, the three roller shutter doors are raised, the polishing sliding table (2) moves the cylinder segment to the docking sliding table (1), and calls the AGV to complete the cylinder segment transfer.

9. The method of claim 8, wherein the method further comprises: The core operation point of the polishing tooling (62) is the polishing head (621) of the polishing tooling (62); the core operation point of the gluing tooling (61) is the dispensing needle; and the core operation point of the adsorption and pressing tooling (63) is the center point of the suction nozzle (636).

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