Automatic bonding mechanism and method for thermal insulation rubber on inner cone surface of solid rocket nozzle

Abstract

The present invention discloses an automatic bonding mechanism and method for insulating rubber on the inner conical surface of a solid rocket nozzle, belonging to the technical field of engine nozzle assembly manufacturing. The bonding structure includes a base, a support plate, a silicone suction cup, a rotating mechanism, a flat plate, a guide mechanism, and a servo electric cylinder. One side of the flat plate is connected to the guide mechanism, and the guide mechanism drives the flat plate to move up and down. The rotating mechanism is placed perpendicular to the flat plate, with the upper surface connected to the lower surface of the flat plate and the end connected to the silicone suction cup. The rotation of the end drives the silicone suction cup to rotate, thereby achieving the up and down flipping of the silicone suction cup. The silicone suction cup is located directly above the nozzle, and the upper surface is a conical surface coated with silicone, and the insulating rubber is adsorbed on the silicone. The servo electric cylinder presses the rotating mechanism downward, so that the insulating rubber is bonded to the inner conical surface of the nozzle. Through the application of the present invention, the rubber can be adsorbed and picked up, desorbed and placed, automatically exhausted, and pressurized to form, thereby improving the bonding efficiency and reliability.

Description

Technical Field

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

[0002] The inner conical surface 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 conical surface of the nozzle can only be completed manually. The manual bonding process generally includes: manual picking up the insulating rubber, nozzle placement, rubber placement, bonding and exhaust, and sufficient rolling of the rubber's shaped surface. During the manual picking stage, the insulating rubber is easily torn, causing its edge deformation. During the nozzle placement and rubber placement processes, since it is a purely manual operation, the positioning accuracy is poor, resulting in poor consistency in rubber positioning. During the bonding and exhaust process, closed curved surfaces are easily generated, leading to 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, debonding and false bonding are likely to occur, especially at the shaped nozzle of the nozzle. If the pressing force is not enough or the pressing time is not long enough, debonding and false bonding are likely to occur.

[0003] In the field of pyrotechnics production, solid rocket insulation rubber must not be debonded or loosely bonded after bonding. Manual operation can maintain production, but the processing efficiency is low, and the quality reliability and consistency are poor. In addition, solid rocket nozzle assembly pyrotechnics have been produced in large quantities and with heavy tasks in recent years, and existing technologies cannot meet the production needs of solid rocket nozzle assembly pyrotechnics.

[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. The bonding surface of the insulation rubber of the solid rocket nozzle assembly is a conical surface. The products it adapts to are completely different from the usage scenarios, 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 existing technology, and to propose an automatic bonding mechanism and method for insulating rubber for the inner cone surface of a solid rocket nozzle. Through structural design and bonding method design, the rubber can be adsorbed and picked up, desorbed and placed, automatically exhausted and pressurized to form, thereby improving bonding efficiency and reliability.

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

[0007] An automatic bonding mechanism for thermal insulation rubber on the inner conical 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] The base has an upper surface connected to the support plate, one side of the support plate is open, and the area formed by the opening is used to place the nozzle to be bonded with the thermal insulation rubber;

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

[0010] The rotating mechanism is placed perpendicular to the flat plate, with the upper surface connected to the lower surface of the flat plate and the end connected to the silicone suction cup. The rotation of the end drives the silicone suction cup to rotate, thereby realizing the upside-down flipping of the silicone suction cup.

[0011] The silicone suction cup is located directly above the nozzle. Its upper surface is a cone and is covered with silicone. Its back is made of metal and has multiple air holes for air intake or exhaust. The insulating rubber used to bond the inner cone of the nozzle is adsorbed on the silicone.

[0012] The guide mechanism provides 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 conical 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, with its upper surface connected to the lower surface of the flat pressing plate, and the end of its lower surface 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 stepper motor's external convex bearing;

[0017] L-shaped connecting rod, with the long arm 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 conical surface of the nozzle, the servo electric cylinder extends the piston rod and reaches above the L-shaped connecting rod. 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 conical surface of the nozzle.

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

[0021] The guide post 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 post passes through the through hole for guidance and support; the cylinder piston rod is provided with an external thread, and a hole with an internal thread is provided on the lower surface of the flat plate, and the external thread of the piston rod is connected to the internal thread; the guide post moves synchronously with the cylinder piston rod, causing the flat plate connected to the guide post to move synchronously, and the flat plate drives the rotating mechanism and the silicone suction cup to move synchronously until the 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 position.

[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 cooperating 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 lug position of the support plate; 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] A method for automatically bonding thermal insulation rubber, using the aforementioned automatic bonding mechanism for thermal insulation rubber on the inner conical surface of a solid rocket nozzle, comprising:

[0027] Adsorb the thermal insulation rubber onto 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 insulating rubber adsorbed on the surface of the silicone suction cup contacts the top of the inner cone of the nozzle. The cylinder pulls the flat plate down into place, reaching the guided displacement state.

[0030] Turn on the servo electric cylinder, which applies downward pressure, contacts the L-shaped connecting rod and squeezes it downward. The silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve, and connecting plate move vertically downward as a whole again, and the thermal insulation rubber is bonded to the inner conical 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 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 applies downward pressure, 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 back 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 the silicone suction cup, it realizes the functions of accurate loading, adsorption picking, desorption and placement of the thermal insulation rubber.

[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, middle section and rear section of the bonding surface respectively. This control method ensures that the bonding process always maintains an annular 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 conical 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 conical surface of the nozzle. The silicone suction cup with a Shore hardness of 50HD can fill the special-shaped surface of the nozzle and can also rebound to its 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 skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

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

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

[0040] Figure 3 This is a schematic diagram of the mechanism in the embodiment of the present invention in a reverse pre-stressed state;

[0041] Figure 4 This is a schematic diagram of the mechanism in the guided displacement state according to an 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;

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

[0044] Figure 7 This is a schematic diagram of the bonding surface when pressurized to F1 according to an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the bonding surface when pressurized to F2 according to an embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of the bonding surface when the pressure is applied to F3 according to an embodiment of the present invention;

[0047] Figure 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] Figure 11 This is a schematic diagram of the base structure according to an embodiment of the present invention;

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

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

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

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

[0053] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although 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. Rather, 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 and the support plate 2 are connected 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. Figure 11 As shown, the internal space brought by the U-shaped stove can avoid the external features of the nozzle nozzle 19, thereby improving the versatility of the entire base 1. The base cover plate 14 is provided with a base pin 15 connected to the support plate 2 for mating connection with the support plate 2.

[0056] Support plate 2 Figure 12 、 13 As shown in Figures 14 and 15, the support plate inner surface features 20 and the support plate lugs 21 are included. The support plate 2 is provided with a through-hole that connects to the base pin 15. The support plate lugs 21 are designed to match the shape features of different nozzle lugs 17. The arc 18 on the nozzle outer surface matches the curvature of the support plate inner surface features 20, thereby matching the characteristic surface with the product. The characteristic surface of the nozzle 16 includes the nozzle lug 17 and the arc 18 on the nozzle outer surface. When the nozzle 16 is loaded into the support plate lug 21, the arc 18 on the nozzle outer surface matches the support plate inner surface features 20, ensuring stable loading and precise positioning of the nozzle.

[0057] The flat plate 8 is a whole plate, such as Figure 15 As shown, a through hole of φ20mm 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] Connecting plate 7 is placed perpendicular to the platen, with its upper surface bolted to the lower surface of platen 8, and its lower surface bolted to the top of connecting sleeve 6. Connecting sleeve 6 is connected to the outer ring of the outer convex bearing of stepper motor 5 through an interference fit, and the inner ring of the outer convex bearing of 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 stepping motor 5 by bolts, and the stepping 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 placed 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. This ensures that the silicone suction cup 3 fully deforms during the pressurization process of the servo cylinder 11, effectively filling the irregularities of the nozzle's inner wall. This ensures that the insulating rubber 22 attached to the surface makes full contact with the nozzle's inner wall, preventing false adhesion and debonding. After the downward pressure is released, the silicone at this hardness also reversibly rebounds, enhancing the durability of the silicone suction cup 3. Repeated testing has found that when the Shore hardness of soft silicone is greater than 50HD, the silicone deformation during the pressurization process is too small to support the rubber. Conical silicone suction cups with a Shore hardness less than 50HD are difficult to manufacture and cannot be machined by turning, requiring only infusion. However, infusion cannot guarantee surface flatness and smoothness. Furthermore, when the silicone hardness is too low, its overall rigidity is reduced, making it unable to 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, with a taper of 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 have been carried out on 112° suction cups, 116° suction cups, and 120° suction cups. During the demonstration, although the 112° suction cup can ensure that its top end is in priority contact with the top end of the nozzle inner cone surface, when the bonding pressure is applied, 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 adhere to the nozzle bonding surface, resulting in partial debonding of the rubber; while the 120° suction cup cannot completely ensure that the top end of the suction cup is in priority contact with the top end of the nozzle inner cone surface, resulting in premature closure of the bonding surface, thereby generating bubbles and also resulting in incomplete bonding. The 116° suction cup can ensure that the top part contacts first, and the deformation caused 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 and picking state to the flip pre-pressing state, as shown in FIG. Figure 3 shown.

[0065] When the signal of the stepper motor 5 completing 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, L-shaped connecting rod 4, dynamic stepper motor 5, connecting sleeve 6, and 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 As shown, the guided displacement state is reached. 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 cylinder 11. The servo cylinder 11 extends its piston rod to the top of the L-shaped connecting rod 4, as shown. 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: The servo electric cylinder piston rod is connected to a pressure sensor. When the pressure sensor senses pressure transmission, that is, when the pressure value changes from 0 to F, it sends a signal 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 the figure, 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 together; when the downward pressure of the servo 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 this state, the middle section of the bonding surface is bonded; when the downward pressure of the servo cylinder reaches F3, the electromagnetic valve controlling the third air hole is operated by force feedback, as shown in FIG. Figure 9 As shown, the third exhaust hole of the silicone suction cup 3 switches 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 has also reached the maximum. During the bonding process, the thermal insulation rubber always presents an annular line contact with the inner conical surface 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 to its position (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, L-shaped connecting rod 4, stepper motor 5, connecting sleeve 6 and connecting plate 7 to move upward together until the piston rod of the cylinder 10 is pushed into place (such as Figure 10 At this point, the automatic bonding of the thermal insulation rubber to the inner conical 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 thermal insulation 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, and servo electric cylinder; The base has an upper surface connected to the support plate, one side of the support plate is open, and the area formed by the opening is used to place the nozzle to be bonded with the thermal insulation rubber; The flat plate is a flat plate structure with one side connected to the guide mechanism; The rotating mechanism is placed perpendicular to the flat plate, with the upper surface connected to the lower surface of the flat plate and the end connected to the silicone suction cup. The rotation of the end drives the silicone suction cup to rotate, thereby realizing the upside-down flipping of the silicone suction cup. The silicone suction cup is located directly above the nozzle. Its upper surface is a cone and is covered with silicone. Its back is made of metal and has multiple air holes for air intake or exhaust. The insulating rubber used to bond the inner cone of the nozzle is adsorbed on the silicone. The guide mechanism provides 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 conical surface of the nozzle.

2. The automatic bonding mechanism for thermal insulation rubber on 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, with its upper surface connected to the lower surface of the flat pressing plate, and the end of its lower surface 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 stepper motor's external convex bearing; L-shaped connecting rod, with the long arm 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 thermal insulation rubber on 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 conical surface of the nozzle, the servo electric cylinder extends the piston rod and reaches above the L-shaped connecting rod. 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 conical surface of the nozzle.

4. The automatic bonding mechanism for thermal insulation rubber on 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 post 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 post passes through the through hole for guidance and support; the cylinder piston rod is provided with an external thread, and a hole with an internal thread is provided on the lower surface of the flat plate, and the external thread of the piston rod is connected to the internal thread; the guide post moves synchronously with the cylinder piston rod, causing the flat plate connected to the guide post to move synchronously, and the flat plate drives the rotating mechanism and the silicone suction cup to move synchronously until the 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 position.

5. The automatic bonding mechanism for thermal insulation 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 cover 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 cover plate is provided with a base pin connected to the support plate for cooperating with the support plate.

6. The automatic bonding mechanism for thermal insulation rubber on 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 lug position of the support plate; 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 thermal insulation rubber on 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. A method for automatically bonding thermal insulation rubber, using the automatic bonding mechanism for thermal insulation rubber used for the inner cone surface of a solid rocket nozzle according to claim 2, characterized in that: include: Adsorb the thermal insulation rubber onto 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 insulating rubber adsorbed on the surface of the silicone suction cup contacts the top of the inner cone of the nozzle. The cylinder pulls the flat plate down into place, reaching the guided displacement state. Turn on the servo electric cylinder, which applies downward pressure, contacts the L-shaped connecting rod and squeezes it downward. The silicone suction cup, L-shaped connecting rod, stepper motor, connecting sleeve, and connecting plate move vertically downward as a whole again, and the thermal insulation rubber is bonded to the inner conical 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. At the same time, it also drives 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 annular line contact with the inner conical 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 downward pressure, 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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