CN114801215A - Flexible pressurization system for splicing and assembling of thermal protection of reusable aircraft - Google Patents

Abstract

The invention relates to a flexible pressurizing system for reusable aircraft thermal protection gluing assembly, which belongs to the field of reusable aerospace technology; it includes a six-degree-of-freedom robot, a collaborative control system, a motion platform, a flexible pressurizing actuator, a transition disk and an air compressor The transition plate is fixedly installed on the upper surface of the motion platform; the six-degree-of-freedom robot is fixedly installed on the top of the transition plate; the flexible pressurized actuator is installed on the top extension end of the six-degree-of-freedom robot; the cooperative control system and the air compressor are fixed It is installed on the side of the upper surface of the motion platform away from the flexible pressurization actuator; the six-degree-of-freedom robot and the flexible pressurization actuator are controlled by linkage through the cooperative control system; the invention solves the problem of poor stability of traditional support pressurization and paste, and the direction of pressurization. It can realize rapid thermal protection, automatic bonding assembly, improve assembly stability, and can adapt to various curvature thermal protection bonding pressure quantitative and visual control.

Description

A flexible pressurizing system for reusable aircraft thermal protection adhesive bonding assembly

technical field

The invention belongs to the field of reusable aerospace technology, and relates to a flexible pressurizing system for thermal protection, adhesive bonding and assembling of reusable aircraft.

Background technique

In the field of reusable aerospace technology, heat-resistant tiles, as a high-temperature resistant composite material, are often used for thermal protection on the outer surface of aircraft. Influence and determine the reusability of the entire aircraft. . At present, the heat-proof tile pasting process is done by workers purely by hand. When pasting, the surface of the aircraft and the heat-proof tile is manually glued, pasted to the outer surface of the aircraft, and cured by vacuum negative pressure, and the assembly gap, step difference and aerodynamic shape of the heat-proof parts must be strictly controlled. However, reusable aircraft are often complex in shape and structure, and there are a large number of gaps, holes, openings and other features between the outer surface skin and structural parts, and there is air leakage. Many parts of the aircraft outer surface thermal protection cannot be sealed and vacuum negative pressure is used. The bonding and curing are achieved by means of pressure, and the pressure is completed by means of a simple support method with the aid of a tool. However, because the structural shapes of all parts of the aircraft thermal protection are special and unique, this method cannot cover parts with different curvatures, and the pressurization pressure cannot be quantitatively controlled.

SUMMARY OF THE INVENTION

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, a flexible pressurizing system for reusing the aircraft thermal protection adhesive bonding and assembling is proposed, which solves the problems of the poor stability of traditional support pressurization, the limitation of pressurization direction and pressurization position, etc. To solve the problem, it can realize fast thermal protection, automatic bonding assembly, improve assembly stability, and can adapt to various curvature thermal protection bonding pressure quantitative and visual control.

The technical solution of the present invention is:

A flexible pressurization system for reusable aircraft thermal protection adhesive bonding, comprising a six-degree-of-freedom robot, a collaborative control system, a motion platform, a flexible pressurization actuator, a transition plate and an air compressor; wherein the motion platform is placed horizontally; the transition plate It is fixedly installed on the upper surface of the motion platform; the six-degree-of-freedom robot is fixedly installed on the top of the transition plate; the flexible pressurized actuator is installed on the top protruding end of the six-degree-of-freedom robot; the cooperative control system and the air compressor are fixedly installed on the motion platform The upper surface is away from the side of the flexible pressurized actuator; the six-degree-of-freedom robot and the flexible pressurized actuator are controlled in linkage through the collaborative control system, so as to realize the adjustment of the spatial pose of the flexible pressurized actuator to thermal protection with the external aircraft shell Layer profile surface contact fit.

In the above-mentioned flexible pressurizing system for reusing the aircraft thermal protection adhesive bonding, the air compressor is the air supply device of the flexible pressurizing actuator, and the size of the pressurizing force can be adjusted according to the pressure change.

In the above-mentioned flexible pressurizing system for reusing the aircraft thermal protection adhesive bonding, the transition plate is a connection and counterweight structure, while connecting the six-degree-of-freedom robot and the multi-degree-of-freedom motion platform, the weight and installation position of the transition plate It is located at the center of mass of the system, and the 6-DOF robot is prevented from overturning by means of counterweights.

In the above-mentioned flexible pressurizing system for reusing the aircraft thermal protection adhesive bonding, the flexible pressurizing actuator includes an adapter plate, a pressure air bag, a connecting plate, a symbol block and a pressure sensor; wherein the adapter plate is connected to a pressure sensor. The extension end of the six-degree-of-freedom robot is butted; the pressure sensor is arranged at the center of the outer side of the adapter plate; the pressure airbag is butted with the pressure sensor; the connection plate is butted with the pressure airbag; the symbol block is installed at the outer side wall of the connection plate ; the rune block points to the outer aircraft shell.

In the above-mentioned reusable aircraft thermal protection gluing assembly flexible pressurization system, the adapter plate is the connection interface between the flexible pressurization actuator and the six-degree-of-freedom robot; the pressurizing airbag is inflated by the air compressor to realize the application The pressure air bag presses the connecting plate and the glyph block, so that the glyph block can pressurize the thermal protection layer of the outer aircraft shell.

In the above-mentioned flexible pressurization system for reusing the aircraft thermal protection adhesive bonding, the pressure sensor can monitor the actual applied pressure and feed it back to the cooperative control system, and adjust the air compressor air pressure compensation or reduction according to the pressure change. Small.

In the above-mentioned kind of reusable aircraft thermal protection adhesive bonding assembly flexible pressurization system, the working process of the flexible pressurization system is:

After adjusting the shape block to fit on the outer surface of the thermal protection layer, the position and posture of the 6DOF robot remain fixed, and the pressure airbag is inflated through the air compressor, and the expansion of the pressure airbag drives the shape block to apply pressure to the thermal protection layer , complete the pressurization.

In the above-mentioned flexible pressurizing system for reusing the aircraft thermal protection adhesive bonding, the pressurizing air bag is a closed air bag made of elastic rubber material, and the pressurizing air bag is flexible and can be adjusted in different directions. cloth pneumatic pressure.

In the above-mentioned flexible pressurizing system for reusing the aircraft thermal protection adhesive bonding, the pressurizing airbag bears a pressure of not less than 0.10 MPa, and is supplied with air by an air compressor to maintain the pressure for not less than 10 hours.

In the above-mentioned flexible pressurizing system for reusing the aircraft thermal protection adhesive bonding, the shape block is a closed-cell polyurethane foam material, which can fit with the shape of the thermal protection layer; the rigidity and hardness of the shape block are lower than those of the thermal The protective layer can realize that the pressure is applied without causing damage to the surface of the thermal protective layer; the normal direction of the rune block is consistent with the pressure direction of the pressure airbag.

The beneficial effects of the present invention compared with the prior art are:

(1) The present invention adopts a flexible pressurizing actuator and an air compressor to cooperate to pressurize, which effectively solves the problem that the outer surface of the aircraft casing cannot be vacuum pressurized due to skin leakage;

(2) The present invention controls the air input of the air compressor through a coordinated control system, and solves the problems of poor sticking stability and difficulty in maintaining constant pressure caused by the traditional support and pressurization process;

(3) The present invention has a simple structure, and is suitable for flexible pressurization of various curvature thermal protection bonding pressurization quantitative and visual control.

Description of drawings

1 is a schematic diagram of a flexible pressurizing system for thermal protection adhesive bonding assembly according to the present invention;

Fig. 2 is the schematic diagram of the flexible pressurized actuator of the present invention;

FIG. 3 is a schematic diagram of the thermal protection adhesive bonding assembly of the present invention.

Detailed ways

The present invention will be further elaborated below in conjunction with the examples.

The invention provides a flexible pressurizing system for reusable aircraft thermal protection adhesive bonding assembly, which solves the problem that the thermal protection on the outer surface of the aircraft cannot be pressurized, and solves the problems of poor stability of traditional support pressurization, poor pressurization direction and limitations of pressurized parts. In this paper, a flexible pressing method that can adapt to the quantitative and visual control of multi-curvature thermal protection bonding pressure and can be adapted to various curvature thermal protection bonding pressure quantitative and visual control is proposed.

The flexible pressurization system is assembled by repeated use of aircraft thermal protection glue, as shown in Figure 1, including a six-degree-of-freedom robot 1, a cooperative control system 2, a motion platform 3, a flexible pressurization actuator 4, a transition disk 21 and an air compressor 22 Among them, the motion platform 3 is placed horizontally; the transition plate 21 is fixedly installed on the upper surface of the motion platform 3; the six-degree-of-freedom robot 1 is fixedly installed on the top of the transition plate 21; The top protruding end; the cooperative control system 2 and the air compressor 22 are fixedly installed on the side of the upper surface of the motion platform 3 away from the flexible pressurization actuator 4; 4. Perform linkage control to realize the adjustment of the spatial position and attitude of the flexible pressurized actuator 4 to be in contact with the outer surface of the thermal protection layer 6 of the outer aircraft housing 5 .

Among them, the air compressor 22 is the air supply device of the flexible pressurizing actuator 4, which realizes the adjustment of the pressurizing force according to the pressure change. The transition plate 21 is a connection and counterweight structure. While connecting the six-degree-of-freedom robot 1 and the multi-degree-of-freedom motion platform 3, the weight and installation position of the transition plate 21 are located at the center of mass of the system, and the six-degree-of-freedom robot 1 is prevented from happening by the counterweight. capsize.

As shown in FIG. 2 , the flexible pressure actuator 4 includes an adapter plate 9 , a pressure airbag 10 , a connecting plate 11 , a symbol block 12 and a pressure sensor 13 ; wherein the adapter plate 9 and the extension of the six-degree-of-freedom robot 1 The outlet end is butted; the pressure sensor 13 is arranged at the center of the outer side of the adapter plate 9; the pressure airbag 10 is butted with the pressure sensor 13; at the wall; the glyph blocks 12 point towards the outer aircraft housing 5 .

The adapter plate 9 is the connection interface between the flexible pressurizing actuator 4 and the six-degree-of-freedom robot 1; the air compressor 22 is used to inflate the pressurizing air bag 10, so that the pressurizing air bag 10 presses the connecting plate 11 and the symbol block 12 to realize The figure block 12 pressurizes the thermal protection layer 6 of the outer aircraft shell 5 .

The pressure sensor 13 monitors the magnitude of the actual applied pressure, and feeds it back to the cooperative control system 2, and adjusts the air pressure compensation or reduction of the air compressor 22 according to the change of the pressure magnitude.

The working process of the flexible pressurization system is as follows:

After adjusting the shape block 12 to fit on the outer surface of the thermal protection layer 6, the position and posture of the six-degree-of-freedom robot 1 are locked and remain fixed, and the pressure airbag 10 is inflated through the air compressor 22, and the pressure airbag 10 expands to drive the shape block. 12 Apply pressure to the heat shield layer 6 to complete the pressurization.

The pressure airbag 10 is a closed airbag made of elastic rubber material. The pressure airbag 10 is flexible, can be adjusted in different directions, and applies the same uniform pneumatic pressure. The pressure airbag 10 bears a pressure of not less than 0.10 MPa, and is supplied with air through the air compressor 22 to maintain the pressure for not less than 10 hours.

The shape block 12 is a closed-cell polyurethane foam material, which can fit with the shape of the thermal protection layer 6; the rigidity and hardness of the shape block 12 are lower than those of the thermal protection layer 6, so that the surface of the thermal protection layer 6 will not be damaged by applying pressure; The normal direction of the shaped block 12 is consistent with the pressure direction of the pressure airbag 10 .

As shown in FIG. 3 , the thermal protection layer 6 is bonded to the flexible layer 7 by the high-temperature adhesive 8, and then bonded to the aircraft shell 5 by the high-temperature adhesive 8, and the high-temperature adhesive 8 is cured by maintaining a certain range of pressure for a certain period of time. bonding.

The thermal protection layer 6 is a high-temperature and heat-resistant part on the outer surface of the aircraft shell 5. It is bonded to one side of a layer of flexible layer 7 with a high-temperature adhesive to form a thermal protection component, and then the other side of the flexible layer is coated with high-temperature adhesive and then adhered. It is connected to the outer surface of the aircraft shell to prevent heat, ablation and heat insulation, and is usually a ceramic matrix composite material. The thermal protection is distributed in an array on the outer surface of the shell. The shape of each thermal protection is a complex curved surface with different shapes, and there is a 1mm gap between adjacent thermal protections.

When the thermal protection layer 6 is bonded, it is necessary to apply a pressure of 0.05MPa to 0.10MPa on the outer surface of the part, and the pressure needs to be maintained for not less than 6 hours to eliminate the air layer between the flexible layer 7 and the outer surface of the aircraft shell 5 to ensure high temperature adhesive. Cure is complete, thereby controlling bond strength and bond quality.

A pressurization method for assembling a flexible pressurization system, including the following steps:

(1) The assembly position of the thermal protection parts is calibrated according to the thermal protection position to be assembled, and the shape blocks of the same shape are installed;

(2) Calculate the pressurized pressure according to the surface size of the pressurized heat protection part, and determine the pressurization direction according to the normal direction of the surface;

(3) Control the movement of the mobile multi-degree-of-freedom motion platform to the desired assembly thermal protection target position;

(4) The thermal protection component is glued to the assembly position,

(5) Adjust the pose of the six-degree-of-freedom robot to ensure that the shape of the rune block can fit with the thermal protection shape;

(6) Control the air supply of the air compressor, inflate the pressurized air bag to apply mechanical pressure, and eliminate the thermal protection and the air on the outer surface of the aircraft shell;

(7) Control the air compressor to adjust the air supply and compensation according to the pressure to maintain the pressure;

(8) Thermal protection bonding and curing;

(9) Repeat steps (1) to (8) to complete a thermal protection assembly.

The present invention calibrates the assembly position of the thermal protection part according to the thermal protection position to be assembled, and installs the shape blocks of the same shape → calculates the pressing pressure according to the size of the surface of the pressurized thermal protection part, and determines the pressing direction according to the normal direction of the surface → control Move the multi-DOF motion platform to the desired assembly thermal protection target position → glue the thermal protection component to the assembly position → adjust the pose of the six-DOF robot to ensure that the shape of the shape block and the thermal protection shape can fit →Control the air supply of the air compressor, inflate the pressurized airbag to apply mechanical pressure, eliminate the air on the outer surface of the thermal protection and the aircraft shell →Control the air compressor to adjust the air supply and compensation according to the pressure, maintain the pressure →The thermal protection is glued and cured.

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can use the methods and technical contents disclosed above to improve the present invention without departing from the spirit and scope of the present invention. The technical solutions are subject to possible changes and modifications. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention belong to the technical solutions of the present invention. protected range.

Claims (10)

1. A flexible pressurization system of glued assembly of hot protection of used repeatedly aircraft which characterized in that: the system comprises a six-degree-of-freedom robot (1), a cooperative control system (2), a motion platform (3), a flexible pressurization executing mechanism (4), a transition disc (21) and an air compressor (22); wherein the motion platform (3) is horizontally arranged; the transition disc (21) is fixedly arranged on the upper surface of the moving platform (3); the six-degree-of-freedom robot (1) is fixedly arranged at the top end of the transition disc (21); the flexible pressurizing execution mechanism (4) is arranged at the top extending end of the six-degree-of-freedom robot (1); the cooperative control system (2) and the air compressor (22) are fixedly arranged on one side of the upper surface of the moving platform (3) far away from the flexible pressurization executing mechanism (4); the six-degree-of-freedom robot (1) and the flexible pressurizing execution mechanism (4) are subjected to linkage control through the cooperative control system (2), and the flexible pressurizing execution mechanism (4) is adjusted to be in contact fit with the outer surface of a heat protection layer (6) of an external aircraft shell (5) in a space pose manner.

2. The system of claim 1, wherein the flexible press system comprises: the air compressor (22) is an air supply device of the flexible pressurization executing mechanism (4), and the size of the pressurization force can be adjusted according to the pressure change.

3. The system of claim 1, wherein the flexible press system comprises: the transition disc (21) is of a connecting and counterweight structure, the six-degree-of-freedom robot (1) and the multi-degree-of-freedom motion platform (3) are connected, meanwhile, the weight and the installation position of the transition disc (21) are located at the mass center position of the system, and the six-degree-of-freedom robot (1) is prevented from overturning through counterweight.

4. The system of claim 2, wherein the flexible press system comprises: the flexible pressurizing executing mechanism (4) comprises an adapter plate (9), a pressurizing air bag (10), a connecting plate (11), a hook-shaped block (12) and a pressure sensor (13); wherein, the adapter plate (9) is butted with the extending end of the six-freedom-degree robot (1); the pressure sensor (13) is arranged at the center of the outer side surface of the adapter plate (9); the pressurizing air bag (10) is butted with the pressure sensor (13); the connecting plate (11) is butted with the pressurizing air bag (10); the rectangular block (12) is arranged on the outer side wall of the connecting plate (11); the rectangular block (12) is directed towards the outer aircraft shell (5).

5. The glue assembly flexible pressurization system for the hot protection of reusable aircraft according to claim 4, characterized in that: the adapter plate (9) is a connection interface of the flexible pressurization executing mechanism (4) and the six-degree-of-freedom robot (1); the air compressor (22) is used for inflating the pressure applying air bag (10), so that the pressure applying air bag (10) extrudes the connecting plate (11) and the rectangular blocks (12), and the rectangular blocks (12) are pressurized to the thermal protection layer (6) of the outer aircraft shell (5).

6. The glue assembly flexible pressurization system for the hot protection of reusable aircraft according to claim 5, characterized in that: the pressure sensor (13) monitors the actual applied pressure, feeds the actual applied pressure back to the cooperative control system (2), and adjusts the air pressure compensation or reduction of the air compressor (22) according to the pressure change.

7. The glue assembly flexible pressurization system for the hot protection of reusable aircraft according to claim 6, characterized in that: the working process of the flexible pressurization system is as follows:

after the hook block (12) is adjusted to be attached to the outer surface of the thermal protection layer (6), the six-degree-of-freedom robot (1) is locked and kept still in position and posture, the pressurizing air bag (10) is inflated through the air compressor (22), and the pressurizing air bag (10) expands to drive the hook block (12) to apply pressure to the thermal protection layer (6), so that pressurization is completed.

8. The system of claim 7, wherein the flexible press fit assembly comprises: the pressure applying air bag (10) is a closed air bag made of elastic rubber materials, the pressure applying air bag (10) is flexible, adjustment in different directions is achieved, and the same uniformly distributed pneumatic pressure is applied.

9. The system of claim 8, wherein the flexible press fit assembly comprises: the pressure applying air bag (10) bears pressure not lower than 0.10MPa, and air is supplied by the air compressor (22) to maintain the pressure for not less than 10 h.

10. The system of claim 7, wherein the flexible press fit assembly comprises: the rectangular block (12) is a closed-cell polyurethane foam material, and is attached to the thermal protection layer (6) in shape; the rigidity and hardness of the rectangular block (12) are lower than those of the thermal protection layer (6), so that the surface of the thermal protection layer (6) is not damaged when pressure is applied; the normal direction of the hook block (12) is in accordance with the pressure direction of the pressurizing air bag (10).

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