Automatic bonding mechanism and method for heat insulation rubber sheet on inner conical surface of solid rocket nozzle

Abstract

The invention discloses an automatic bonding mechanism and method for a heat insulation rubber sheet of an inner conical surface of a solid rocket nozzle, and belongs to the technical field of engine nozzle assembly manufacturing. The bonding structure comprises a base, a supporting plate, a silica gel suction cup, a rotating mechanism, a flat pressing plate, a guide mechanism and a servo electric cylinder. One side of the flat pressing plate is connected with a guide mechanism which drives the flat pressing plate to move up and down. The rotating mechanism is perpendicular to the flat pressing plate, the upper surface of the rotating mechanism is connected with the lower surface of the flat pressing plate, the end of the rotating mechanism is connected with the silica gel suction cup, and the silica gel suction cup is driven to rotate through rotation of the end to achieve vertical overturning of the silica gel suction cup. The silica gel suction cup is located over the spraying pipe, the upper surface of the silica gel suction cup is a conical surface coated with silica gel, and the heat insulation rubber is adsorbed to the silica gel. And the servo electric cylinder downwards pressurizes the rotating mechanism, so that the heat insulation rubber is adhered to the inner conical surface of the spray pipe. Through the application of the device, adsorption pickup, desorption placement, automatic exhaust and pressure forming of the rubber are realized, and the bonding efficiency and reliability are improved.

Description

Technical Field

[0001] The invention relates to an automatic bonding mechanism and method of heat-insulating rubber for the inner cone surface of a solid rocket nozzle, belonging to the technical field of engine nozzle assembly manufacturing. Background Art

[0002] The inner cone of the nozzle assembly of a small solid rocket needs to be bonded with an insulating rubber to achieve the purpose of thermal protection. Currently, the bonding of the insulating rubber to the inner cone of the nozzle can only be completed manually. The manual bonding process is generally as follows: manual picking of the insulating rubber, nozzle placement, rubber placement, bonding exhaust, and full rolling of the rubber profile. In the manual picking stage, the insulating rubber is easy to tear, causing its edge deformation. In the process of nozzle placement and rubber placement, since it is a purely manual operation, the positioning accuracy is poor, resulting in poor consistency in rubber positioning; in the bonding exhaust process, closed surfaces are easy to be generated, resulting in the generation of bubbles. After the bonding is completed, it is necessary to press and transfer the pressing force through the 2mm insulating rubber to the bonding surface, otherwise it is easy to cause debonding and false bonding, especially at the nozzle of the nozzle. If the pressing force is not enough or the pressing time is not long enough, it is easy to cause debonding and false bonding.

[0003] In the field of pyrotechnics production, solid rocket insulation rubber is required to be free of debonding and false bonding after bonding is completed. Manual operation can maintain production, but the processing efficiency is low, and the quality reliability and consistency are poor. In addition, the pyrotechnics of solid rocket nozzle assemblies have been produced in large quantities and with heavy tasks in recent years, and the existing technology cannot meet the production needs of pyrotechnics of solid rocket nozzle assemblies.

[0004] Chinese patent CN115648637A discloses a flexible bonding mechanism and bonding method for solid rocket insulation rubber, which uses a core frame, an adsorption assembly, a rotating mechanism and a lifting mechanism to complete bubble-free bonding of the insulation rubber to the inner wall of the solid rocket shell assembly. However, the bonding mechanism is cylindrical and is only suitable for bonding the insulation rubber of the shell assembly of a cylindrical solid rocket, while the insulation rubber bonding surface of the solid rocket nozzle assembly is a conical surface. The applicable products and usage scenarios are completely different, and it cannot be used for bonding the insulation rubber of the solid rocket nozzle assembly. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, and to propose an automatic bonding mechanism and method for insulating rubber on the inner cone surface of a solid rocket nozzle. Through structural design and bonding method design, rubber adsorption and picking, desorption and placement, automatic exhaust and pressurized molding are realized, thereby improving bonding efficiency and reliability.

[0006] The technical solution of the present invention is:

[0007] An automatic bonding mechanism for insulating rubber for the inner cone surface of a solid rocket nozzle, comprising a base, a support plate, a silicone suction cup, a rotating mechanism, a flat plate, a guide mechanism, and a servo electric cylinder;

[0008] A base, the upper surface of which is connected to a support plate, one side of the support plate is open, and an area formed by the opening is used to place a nozzle to be bonded with the thermal insulation rubber;

[0009] The flat plate is a flat plate structure, one side of which is connected to the guide mechanism;

[0010] The rotating mechanism is placed perpendicular to the flat pressing plate, the upper surface is connected to the lower surface of the flat pressing plate, and the end is connected to the silicone suction cup. The silicone suction cup is driven to rotate by the rotation of the end, so that the silicone suction cup is turned up and down;

[0011] The silicone suction cup is located directly above the nozzle, with a conical upper surface covered with silicone, and a metal back surface with multiple air holes for air intake or exhaust; the heat-insulating rubber used to bond the inner conical surface of the nozzle is adsorbed on the silicone;

[0012] The guide mechanism provides a vertical guiding force to drive the flat plate to move up and down;

[0013] The servo electric cylinder provides vertical pressure to pressurize the rotating mechanism downward, so that the thermal insulation rubber adheres to the inner cone surface of the nozzle.

[0014] Furthermore, the rotating mechanism includes an L-shaped connecting rod, a stepping motor, a connecting sleeve, and a connecting plate;

[0015] The connecting plate is placed perpendicular to the flat pressing plate, the upper surface of which is connected to the lower surface of the flat pressing plate, and the end of the lower surface is connected to the top of the vertically placed connecting sleeve;

[0016] The connecting sleeve is an annular structure, and the annular surface is connected to the outer ring of the outer convex bearing of the stepping motor;

[0017] L-shaped connecting rod, the long arm is placed parallel to the connecting plate; the end of the long arm is connected to the back of the silicone suction cup, and the short arm is connected to the inner ring of the outer convex bearing of the stepper motor;

[0018] The stepper motor is connected to the lower surface of the connecting plate and controls the L-shaped connecting rod to rotate in the axial direction.

[0019] Furthermore, the servo electric cylinder is fixed on the flat plate structure and is located on the other side away from the guide mechanism; after the insulating rubber adsorbed on the surface of the silicone suction cup comes into contact with the top of the inner cone of the nozzle, the servo electric cylinder extends the piston rod to reach above the L-shaped connecting rod, and the servo electric cylinder applies downward pressure to cause the L-shaped connecting rod to drive the silicone suction cup to move downward, so that the insulating rubber adheres to the inner cone of the nozzle.

[0020] Furthermore, the guide mechanism includes a guide column, a cylinder, and a photoelectric sensor switch;

[0021] The guide column and the cylinder are both placed vertically and located on the same side of the flat plate; a through hole is provided on the flat plate, and the guide column passes through the through hole for guiding and supporting; the cylinder piston rod is provided with an external thread, and a hole with an internal thread is opened on the lower surface of the flat plate, and the external thread of the piston rod is connected to the internal thread; the guide column moves synchronously with the cylinder piston rod, so that the flat plate connected to the guide column moves synchronously, and the flat plate drives the rotating mechanism and the silicone suction cup to move synchronously until the heat-insulating rubber adsorbed on the surface of the silicone suction cup contacts the top of the inner cone surface of the nozzle, and the cylinder moves into place;

[0022] The photoelectric sensor switch senses the displacement of the cylinder and sends a signal to the servo cylinder when the cylinder moves into place.

[0023] Furthermore, the base includes three base support plates, a base bottom plate and a base upper covering plate, which together constitute a U-shaped stove structure. The internal space formed by the U-shaped stove structure is used to place the nozzle; the base upper covering plate is provided with a base pin connected to the support plate for mating connection with the support plate.

[0024] Furthermore, the support plate is provided with a lug position, which is matched according to the shape characteristics of the nozzle lug, and the nozzle is loaded into the support plate lug position; the inner surface shape of the opening area of ​​the support plate matches the curvature of the arc of the outer surface of the nozzle.

[0025] Furthermore, the Shore hardness of the silica gel is 50HD.

[0026] An automatic bonding method for thermal insulation rubber, using the automatic bonding mechanism for thermal insulation rubber used for the inner cone surface of a solid rocket nozzle, comprising:

[0027] Attach the thermal insulation rubber to the conical surface of the silicone suction cup;

[0028] Turn on the stepper motor, the inner ring of the outer convex bearing of the stepper motor rotates, and the L-shaped connecting rod connected to it also rotates. When the L-shaped connecting rod rotates 180 degrees, the silicone suction cup flips from the adsorption pickup state to the pre-pressing state;

[0029] The guide mechanism is turned on, and the guide mechanism drives the flat plate to move vertically downward. The downward movement of the flat plate drives the silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve, and connecting plate to move vertically downward as a whole, until the heat-insulating rubber adsorbed on the surface of the silicone suction cup contacts the top of the inner cone of the nozzle, and the cylinder pulls the flat plate down into place, reaching the guided displacement state;

[0030] Turn on the servo electric cylinder, which pressurizes downward, contacts the L-shaped connecting rod and squeezes downward. The L-shaped connecting rod, silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve, and connecting plate move vertically downward as a whole again, and the insulating rubber is bonded to the inner cone surface of the nozzle.

[0031] Furthermore, after the insulation rubber is bonded, the servo electric cylinder retracts to its initial position, and the cylinder piston rod extends, moving the flat pressure plate vertically upward along the direction of the guide column, while also driving the silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve and connecting plate to move upward together until the guide mechanism retracts to its initial position; the stepper motor works again, the L-shaped connecting rod flips to its initial position, and the conical surface of the silicone suction cup faces upward.

[0032] Furthermore, during the bonding process, the insulating rubber always presents an annular line contact with the inner conical surface of the nozzle, and the pressure applied by the servo electric cylinder ranges from 0 to F, and the F value is determined according to the bonding area of ​​the nozzle and the structure of the silicone suction cup; the silicone suction cup is provided with three circles of air holes from the inside to the outside, and after the servo electric cylinder is pressurized downward, when the pressure reaches (0.1-0.2)F, the innermost circle of exhaust holes is switched from the vacuum adsorption state to the exhaust state, and the top of the bonding surface and the front section of the bonding surface are bonded; when the pressure reaches (0.3-0.5)F, the middle circle of exhaust holes of the silicone suction cup is switched from the vacuum adsorption state to the exhaust state, and the middle section of the bonding surface is bonded; when the pressure reaches (0.6-0.8)F, the outermost circle of exhaust holes of the silicone suction cup is switched from the vacuum adsorption state to the exhaust state, and the rear section of the bonding surface is bonded.

[0033] The advantages of the present invention compared with the prior art are:

[0034] (1) The present invention uses a silicone suction cup as the main bonding component, and under the action of a rotating mechanism, a guiding mechanism and a silicone suction cup, functions such as accurate loading, adsorption picking, and desorption placement of the thermal insulation rubber are achieved.

[0035] (2) After the desorption and placement is completed, the servo electric cylinder performs a pressurized molding operation and utilizes force feedback control to control the adsorption and exhaust of the front section, the middle section and the rear section of the bonding surface respectively. This control method ensures that the bonding process always maintains a circular line contact, avoids the appearance of a closed curved surface, and thus achieves effective exhaust.

[0036] (3) The present invention is mainly used for the automatic bonding of the insulating rubber on the inner cone surface of the nozzle with an inner taper of 120°. The silicone suction cup with a taper of 116° can ensure that the top of the insulating rubber first contacts the top of the inner cone surface of the nozzle. The silicone suction cup with a Shore hardness of 50HD can fill the special-shaped surface of the nozzle and rebound to the original shape after the pressurized pressure disappears, thereby increasing the durability of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0038] Figure 1 This is a schematic diagram of the working state of the adsorption and picking state of the mechanism of an embodiment of the present invention;

[0039] Figure 2 It is a partial schematic diagram of the mechanism of an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the working state of the mechanism in the flip pre-pressing state according to an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the working state of the guided displacement state of the mechanism of the embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the working state of the electric cylinder of the mechanism of the embodiment of the present invention under pressurization;

[0043] Figure 6 This is a schematic diagram of the bonding surface in the initial pressurized state of an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the bonding surface when the pressure is applied to F1 in the embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the bonding surface when the pressure is applied to F2 in the embodiment of the present invention;

[0046] Fig. 9 This is a schematic diagram of the bonding surface when the pressure is applied to F3 in the embodiment of the present invention;

[0047] Fig.10 This is a schematic diagram of the mechanism when the cylinder is pushed into place according to an embodiment of the present invention;

[0048] Fig.11 This is a schematic diagram of the base structure of an embodiment of the present invention;

[0049] Fig.12 This is a schematic diagram of the support plate structure according to an embodiment of the present invention;

[0050] Fig.13 This is a schematic diagram of placing a nozzle on a support plate according to an embodiment of the present invention;

[0051] Fig.14 This is a schematic diagram of the structural features of a support plate according to an embodiment of the present invention;

[0052] Fig.15 It is a schematic diagram of the structure of a flat pressing plate according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0054] The present invention proposes an automatic bonding mechanism for thermal insulation rubber on the inner cone surface of a solid rocket nozzle. Figure 1 As shown, it includes a base 1, a support plate 2, a silicone suction cup 3, an L-shaped connecting rod 4, a stepper motor 5, a connecting sleeve 6, a connecting plate 7, a flat pressing plate 8, a guide column 9, a cylinder 10, and a servo electric cylinder 11.

[0055] The base 1 is connected to the support plate 2 by screws and bolts. The base includes three base support plates 12, a base bottom plate 13 and a base upper cover plate 14, which together form a U-shaped stove structure. Fig.11 As shown, the internal space provided by the U-shaped stovetop can avoid the appearance characteristics of the nozzle nozzle 19, thereby improving the versatility of the entire base 1. The base upper cover plate 14 is provided with a base pin 15 connected to the support plate 2 for matching and connecting with the support plate 2.

[0056] Support plate 2 Fig.12 , 13 , 14, including the inner surface feature 20 of the support plate and the support plate ear position 21. The support plate 2 is provided with a through hole connected to the base pin 15, and the support plate ear position 21 is matched according to the appearance features of different nozzle ears 17, and at the same time, the arc 18 of the outer surface of the nozzle matches the curvature of the inner surface feature 20 of the support plate, so as to match the characteristic surface with the product. The characteristic surface of the nozzle 16 includes the nozzle ear 17 and the arc 18 of the outer surface of the nozzle. The nozzle 16 is loaded into the support plate ear position 21, and the arc 18 of the outer surface of the nozzle matches the inner surface feature 20 of the support plate, so that the nozzle loading is stable and the positioning is accurate.

[0057] The flat plate 8 is a whole plate. Fig.15 As shown, a through hole of φ20 mm is provided at one end for a guide column 9 to pass through, and the guide column 9 plays a guiding and supporting role. The external thread of the piston rod of the cylinder 10 as a power source is connected to the internal thread of the flat plate 8.

[0058] The connecting plate 7 is placed perpendicular to the flat plate, and the upper surface is connected to the lower surface of the flat plate 8 by bolts, and the lower surface is connected to the top of the connecting sleeve 6 by bolts. The connecting sleeve 6 is connected to the outer ring of the outer convex bearing of the stepper motor 5 by interference fit, and the inner ring of the outer convex bearing of the stepper motor 5 is directly connected to the motor driver.

[0059] The short arm of the L-shaped connecting rod 4 is connected to the inner ring part of the outer convex bearing of the stepper motor 5 through bolts, and the stepper motor controls the L-shaped connecting rod to rotate in the axial direction.

[0060] like Figure 2 As shown, the surface of the silicone suction cup 3 is a cone, covered with soft silicone, the metal part on the back is connected to the long arm of the L-shaped connecting rod 4 by bolts, and the metal part on the back is arranged with multiple rows of holes. When adsorption is performed, these holes are suction holes, and when exhaust is performed, these holes are exhaust holes. The silicone suction cup 3 is located directly above the nozzle that has been put in place. In this embodiment, the diameter of the suction cup is R, the diameter R1 of the circle formed by the center of the hole of the first exhaust hole is 0.2R, the diameter R2 of the circle formed by the center of the hole of the second exhaust hole is 0.5R, and the diameter R3 of the circle formed by the center of the hole of the third exhaust hole is 0.8R.

[0061] The soft silicone has a Shore hardness of 50HD. The silicone with this hardness can ensure that the silicone suction cup 3 is fully deformed during the pressurization process of the servo electric cylinder 11, and effectively fill the irregular shaped surface of the inner wall of the nozzle bonding surface, so that the insulating rubber 22 adsorbed on the surface is in more sufficient contact with the inner wall of the nozzle, avoiding the phenomenon of false adhesion and debonding of the inner wall of the nozzle. After the downward pressure is released, the silicone with this hardness can also rebound reversibly, which improves the durability of the silicone suction cup 3. After repeated tests, it was found that when the Shore hardness of the soft silicone is greater than 50HD, the deformation of the silicone during the bonding pressurization process is too small to support the rubber to complete the bonding. The conical silicone suction cup with a processing difficulty of less than 50HD is very high and cannot be processed by turning. It can only be processed by the infusion process, but the infusion process cannot guarantee the surface flatness and smoothness. When the hardness of the silicone is too low, its overall rigidity will be reduced, and it cannot withstand the pressure of the pressurization process.

[0062] The working principle of the automatic bonding mechanism of the thermal insulation rubber is:

[0063] like Figure 1As shown, the initial state of the mechanism is the adsorption and picking state, the conical surface of the silicone suction cup 3 is vertically upward, the taper is 116°, and the insulating rubber 22 is placed and adsorbed on the conical surface; the embodiment of the present invention uses a nozzle with an inner taper of 120°, and the 116° silicone suction cup angle is obtained through process test demonstration. Process test demonstrations of 112° suction cups, 116° suction cups and 120° suction cups have been carried out. During the demonstration, although the 112° suction cup can ensure that its top is in priority contact with the top of the inner cone surface of the nozzle, when the bonding is pressurized, even if the 50HD silicone suction cup reaches the maximum extrusion deformation, it is not enough to support the rubber of the 112° suction cup to completely fit the nozzle bonding surface, resulting in partial rubber debonding; while the 120° suction cup cannot completely ensure that the top of the suction cup is in priority contact with the top of the inner cone surface of the nozzle, resulting in premature closure of the bonding surface to generate bubbles, and also resulting in failure to fully bond. The 116° suction cup can ensure that the top end contacts first, and that the deformation produced by the bonding and extrusion of the 50HD silicone suction cup is sufficient to support the rubber to fit the nozzle bonding surface, thereby ensuring complete bonding.

[0064] The stepper motor 5 rotates to provide power, the inner ring of the outer convex bearing of the stepper motor 5 rotates, and the L-shaped connecting rod 4 connected thereto also rotates. When the L-shaped connecting rod 4 rotates 180 degrees, the silicone suction cup 3 switches from the adsorption picking state to the flip pre-pressing state, such as Figure 3 shown.

[0065] When the signal of the stepper motor 5 completing the 180° rotation is transmitted to the cylinder 10, the piston rod of the cylinder 10 retracts, driving the flat plate 8 to move vertically downward along the direction of the guide column 9. The downward movement of the flat plate 8 causes the silicone suction cup 3, the L-shaped connecting rod 4, the dynamic stepper motor 5, the connecting sleeve 6, and the connecting plate 7 to move vertically downward as a whole until the insulating rubber adsorbed on the surface of the silicone suction cup 3 contacts the top of the inner cone of the nozzle, and the cylinder pulls the flat plate down into place, as shown in FIG. Figure 4 After the cylinder 10 is in place, the photoelectric sensor switch of the cylinder 10 senses that the cylinder 10 has moved into place, and transmits the sensing signal to the servo electric cylinder 11. The servo electric cylinder 11 extends its piston rod to the top of the L-shaped connecting rod 4, as shown in FIG. Figure 5 As shown, the local enlarged view of the bonding surface is as follows Figure 6 shown.

[0066] When the bonding mechanism reaches the guide displacement state, it enters the electric cylinder pressurization state: A pressure sensor is connected to the piston rod of the servo electric cylinder. When the pressure sensor senses pressure transmission, that is, when the pressure value changes from 0 to F, a signal is transmitted to the servo electric cylinder 11. The servo electric cylinder 11 presses downward for force feedback pressurization, contacts the L-shaped connecting rod 4 and squeezes downward, and moves vertically downward again along the direction of the guide column 9. When the downward pressure of the servo electric cylinder 11 reaches F1, as shown in FIG. Figure 7As shown, the electromagnetic valve controlling the first air hole is operated by force feedback, and the first exhaust hole of the silicone suction cup 3 is switched from the vacuum adsorption state to the exhaust state. In this state, the top of the bonding surface and the front section of the bonding surface are bonded; when the downward pressure of the servo electric cylinder 11 reaches F2, as shown in FIG. Figure 8 As shown, the electromagnetic valve controlling the second air hole is operated by force feedback, and the second exhaust hole of the silicone suction cup 3 is switched from the vacuum adsorption state to the exhaust state, in which the middle section of the bonding surface is bonded; when the downward pressure of the servo electric cylinder reaches F3, the electromagnetic valve controlling the third air hole is operated by force feedback, as shown in FIG. Fig. 9 As shown, the third exhaust hole of the silicone suction cup 3 is switched from the vacuum adsorption state to the exhaust state. In this state, the bonding of the rear section of the bonding surface is completed, and the deformation of the silicone suction cup 3 is also the maximum. During the bonding process, the thermal insulation rubber always presents an annular line contact with the inner cone of the nozzle, avoiding the appearance of a closed curved surface during the bonding process, thereby achieving effective exhaust. Among them, F3>F2>F1, the values ​​of F1~F3 are determined according to different nozzle bonding areas and different silicone suction cups. The F values ​​set for different nozzles are different. As for the specific F value to be set, it is necessary to conduct process tests to determine, that is, the minimum pressure setting value to achieve the target bonding effect. Among them, F1=(0.1~0.2)F, F2=(0.3~0.5)F, F3=(0.6~0.8)F.

[0067] After bonding is completed, the piston rod of the servo electric cylinder 11 retracts into place (the state is the same as Figure 4 ), the piston rod of the cylinder 10 extends, and the flat plate 8 moves vertically upward along the direction of the guide column 9, and at the same time drives the silicone suction cup 3, the L-shaped connecting rod 4, the stepper motor 5, the connecting sleeve 6 and the connecting plate 7 to move upward together until the piston rod of the cylinder 10 is pushed into place (such as Fig.10 At this point, the automatic bonding of the heat insulating rubber to the inner cone surface of the nozzle is completed.

[0068] The above-described embodiments are only preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic bonding mechanism for insulating rubber on the inner cone surface of a solid rocket nozzle, characterized in that: Including base, support plate, silicone suction cup, rotating mechanism, flat plate, guide mechanism, servo electric cylinder; A base, the upper surface of which is connected to a support plate, one side of the support plate is open, and an area formed by the opening is used to place a nozzle to be bonded with the thermal insulation rubber; The flat plate is a flat plate structure, one side of which is connected to the guide mechanism; The rotating mechanism is placed perpendicular to the flat pressing plate, the upper surface is connected to the lower surface of the flat pressing plate, and the end is connected to the silicone suction cup. The silicone suction cup is driven to rotate by the rotation of the end, so that the silicone suction cup is turned up and down; The silicone suction cup is located directly above the nozzle, with a conical upper surface covered with silicone, and a metal back surface with multiple air holes for air intake or exhaust; the heat-insulating rubber used to bond the inner conical surface of the nozzle is adsorbed on the silicone; The guide mechanism provides a vertical guiding force to drive the flat plate to move up and down; The servo electric cylinder provides vertical pressure to pressurize the rotating mechanism downward, so that the thermal insulation rubber adheres to the inner cone surface of the nozzle.

2. The automatic bonding mechanism for insulating rubber for the inner cone surface of a solid rocket nozzle according to claim 1, characterized in that: The rotating mechanism includes an L-shaped connecting rod, a stepping motor, a connecting sleeve, and a connecting plate; The connecting plate is placed perpendicular to the flat pressing plate, the upper surface of which is connected to the lower surface of the flat pressing plate, and the end of the lower surface is connected to the top of the vertically placed connecting sleeve; The connecting sleeve is an annular structure, and the annular surface is connected to the outer ring of the outer convex bearing of the stepping motor; L-shaped connecting rod, the long arm is placed parallel to the connecting plate; the end of the long arm is connected to the back of the silicone suction cup, and the short arm is connected to the inner ring of the outer convex bearing of the stepper motor; The stepper motor is connected to the lower surface of the connecting plate and controls the L-shaped connecting rod to rotate in the axial direction.

3. The automatic bonding mechanism for insulating rubber for the inner cone surface of a solid rocket nozzle according to claim 2, characterized in that: The servo electric cylinder is fixed on the flat structure and is located on the other side away from the guide mechanism; after the insulating rubber adsorbed on the surface of the silicone suction cup comes into contact with the top of the inner cone of the nozzle, the servo electric cylinder extends the piston rod to reach above the L-shaped connecting rod, and the servo electric cylinder applies downward pressure to cause the L-shaped connecting rod to drive the silicone suction cup to move downward, so that the insulating rubber adheres to the inner cone of the nozzle.

4. The automatic bonding mechanism for insulating rubber for the inner cone surface of a solid rocket nozzle according to claim 1, characterized in that: The guide mechanism includes a guide column, a cylinder, and a photoelectric sensor switch; The guide column and the cylinder are both placed vertically and located on the same side of the flat plate; a through hole is provided on the flat plate, and the guide column passes through the through hole for guiding and supporting; the cylinder piston rod is provided with an external thread, and a hole with an internal thread is opened on the lower surface of the flat plate, and the external thread of the piston rod is connected to the internal thread; the guide column moves synchronously with the cylinder piston rod, so that the flat plate connected to the guide column moves synchronously, and the flat plate drives the rotating mechanism and the silicone suction cup to move synchronously until the heat-insulating rubber adsorbed on the surface of the silicone suction cup contacts the top of the inner cone surface of the nozzle, and the cylinder moves into place; The photoelectric sensor switch senses the displacement of the cylinder and sends a signal to the servo cylinder when the cylinder moves into place.

5. The automatic bonding mechanism for insulating rubber for the inner cone surface of a solid rocket nozzle according to claim 1, characterized in that: The base includes three base support plates, a base bottom plate and a base upper sealing plate, which together constitute a U-shaped stove structure. The internal space formed by the U-shaped stove structure is used to place the nozzle; the base upper sealing plate is provided with a base pin connected to the support plate for matching and connecting with the support plate.

6. The automatic bonding mechanism for insulating rubber for the inner cone surface of a solid rocket nozzle according to claim 1, characterized in that: The support plate is provided with a lug position, which is matched according to the shape characteristics of the nozzle lug, and the nozzle is loaded into the support plate lug position; the inner surface shape of the opening area of ​​the support plate matches the curvature of the arc of the outer surface of the nozzle.

7. The automatic bonding mechanism for insulating rubber for the inner cone surface of a solid rocket nozzle according to claim 1, characterized in that: The Shore hardness of the silica gel is 50 HD.

8. An automatic bonding method for thermal insulation rubber, using the automatic bonding mechanism for thermal insulation rubber for the inner cone surface of a solid rocket nozzle as claimed in claim 2, characterized in that: include: Attach the thermal insulation rubber to the conical surface of the silicone suction cup; Turn on the stepper motor, the inner ring of the outer convex bearing of the stepper motor rotates, and the L-shaped connecting rod connected to it also rotates. When the L-shaped connecting rod rotates 180 degrees, the silicone suction cup flips from the adsorption pickup state to the pre-pressing state; The guide mechanism is turned on, and the guide mechanism drives the flat plate to move vertically downward. The downward movement of the flat plate drives the silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve, and connecting plate to move vertically downward as a whole, until the heat-insulating rubber adsorbed on the surface of the silicone suction cup contacts the top of the inner cone of the nozzle, and the cylinder pulls the flat plate down into place, reaching the guided displacement state; Turn on the servo electric cylinder, which pressurizes downward, contacts the L-shaped connecting rod and squeezes downward. The L-shaped connecting rod, silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve, and connecting plate move vertically downward as a whole again, and the insulating rubber is bonded to the inner cone surface of the nozzle.

9. The automatic bonding method of thermal insulation rubber according to claim 8, characterized in that: After the insulation rubber is bonded, the servo electric cylinder retracts to its initial position, and the cylinder piston rod extends, moving the flat plate vertically upward along the direction of the guide column, while also driving the silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve and connecting plate to move upward together until the guide mechanism retracts to its initial position; the stepper motor works again, the L-shaped connecting rod flips to its initial position, and the conical surface of the silicone suction cup faces upward.

10. The automatic bonding method of thermal insulation rubber according to claim 8, characterized in that: During the bonding process, the insulating rubber always presents an annular line contact with the inner cone surface of the nozzle. The pressure applied by the servo electric cylinder ranges from 0 to F, and the F value is determined according to the bonding area of ​​the nozzle and the structure of the silicone suction cup. The silicone suction cup is provided with three circles of air holes from the inside to the outside. After the servo electric cylinder applies pressure downward, when the pressure reaches (0.1-0.2)F, the innermost circle of exhaust holes is switched from the vacuum adsorption state to the exhaust state, and the top of the bonding surface and the front section of the bonding surface are bonded together. When the pressure reaches (0.3-0.5)F, the middle circle of exhaust holes of the silicone suction cup is switched from the vacuum adsorption state to the exhaust state, and the middle section of the bonding surface is bonded together. When the pressure reaches (0.6-0.8)F, the outermost circle of exhaust holes of the silicone suction cup is switched from the vacuum adsorption state to the exhaust state, and the back section of the bonding surface is bonded together.

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