Automatic flexible polishing device and method for satellite belting

Abstract

The invention relates to a satellite belting automatic flexible polishing device and method, and belongs to the technical field of satellite belting automatic flexible polishing. According to the invention, the titanium alloy satellite belting is fixed by using a modular profiling adsorption tool, and then a gantry type three-axis numerical control device is adopted to clamp a polishing head to rotate and feed along a path set by a program, so that the polishing of the inner shape and the outer shape of the satellite belting is realized; in the polishing process, the force measuring sensor collects lateral pressure borne by the polishing head in real time and feeds back the lateral pressure to the control cabinet, and the control cabinet controls the corresponding motion shaft to conduct compensation motion according to the difference value between the actually-measured pressure and the set polishing force and tangent vector information of the current polishing position. Therefore, the stable pressure between the polishing head and the satellite wrapping tape is ensured. Automatic polishing of multiple types of satellite wrapping tape products can be achieved, the surface quality and the machining efficiency of the products are effectively guaranteed, and the manual polishing cost is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of satellite tape automatic flexible polishing, and relates to a satellite tape automatic flexible polishing device and method. Background Art

[0002] The satellite strap is an important product for controlling the connection and separation of satellites and rockets. Its main functions include: on the one hand, realizing the effective connection between the launch vehicle adapter and the lower skirt of the satellite, and bearing the load during the ground transfer, lifting, and launch stages; on the other hand, after the last stage of the launch vehicle transports the satellite into orbit and adjusts its attitude, it realizes the rapid unlocking and separation of the satellite and the rocket.

[0003] The material used for satellite wrapping is a certain grade of titanium alloy, which has the advantages of high strength, light weight, toughness and good welding performance. The production process is to first use machining to mill the titanium alloy sheet, then bend it into shape through a mold and heat treat it. The satellite wrapping needs to be in direct contact with the satellite during service, and the surface finish requirements are extremely high. However, the titanium alloy has relatively active chemical properties and is easily heated to produce an oxide layer during the heat treatment process. Small scratches are inevitable during the bending process. Therefore, the inner and outer surfaces of the satellite wrapping need to be polished after heat treatment. Since the satellite wrapping is a thin-walled curved structure, the following problems exist when using existing polishing equipment on the market for surface polishing:

[0004] 1) Most of the polishing equipment currently available on the market is designed for polishing flat products. It is not possible to achieve clamping, positioning, and form-fitting polishing of bent and weakly rigid metal workpieces.

[0005] 2) The titanium alloy oxide layer has a high hardness and the final surface quality requirements are very strict. Common methods on the market, such as magnetic polishing and abrasive flow polishing, can achieve conformal polishing by relying on the medium, but they cannot produce sufficient material removal.

[0006] Although polishing by an operator holding a pneumatic grinding head can meet the design requirements, it also has the following obvious defects:

[0007] 1) Manual polishing of satellite tape requires high skills of operators. The quality of polishing depends entirely on personal ability and experience, and the process parameters cannot be refined and quantified.

[0008] 2) Due to the large size of the satellite tape, manual polishing is very inefficient and the long polishing work consumes a lot of manpower;

[0009] 3) Operators rely on handheld grinding heads for polishing for a long time, and the metal dust generated is harmful to health.

[0010] With the rapid development of my country's aerospace industry, the frequency of rocket and satellite launches has increased year by year, and manual labor methods will gradually be unable to meet the needs of aerospace product development. Summary of the Invention

[0011] The technical problem solved by the present invention is to overcome the deficiencies of the prior art and provide an automated flexible polishing device and method for satellite wrapping, which is used to solve the problem of automated and efficient surface polishing of titanium alloy satellite wrapping.

[0012] The technical solution of the present invention is: an automated flexible polishing device for satellite tape wrapping, comprising a control cabinet, a work surface, an X-axis, a Y-axis, a Z-axis, a polishing head, a polishing motor, a force sensor, a tape outer shape polishing tool, and a tape inner shape polishing tool; the device has a gantry structure, the Y-axis includes two groups, symmetrically fixed on the work surface, the X-axis is slidably mounted on the Y-axis, the Z-axis is slidably mounted on the X-axis, the polishing motor is mounted on the Z-axis and connected to the polishing head via a force sensor; the control cabinet is used to control the polishing motion of each motion axis, receive contact pressure values ​​transmitted by the force sensor, and control the X and Y motion axes to perform compensatory motion; the tape outer shape polishing tool and the tape inner shape polishing tool are mounted on the work surface parallel to the X-axis and are used to fix the satellite tape wrapping.

[0013] Furthermore, the described wrapping tape shape polishing tooling includes contour-forming sections at both ends of the contour, a middle adsorption section of the contour, a first contour-forming oblique wedge-type clamping block, a contour tooling base plate and several second contour-forming oblique wedge-type clamping blocks. The first contour-forming oblique wedge-type clamping block is installed on the back of the contour-forming sections at both ends of the contour, the second contour-forming oblique wedge-type clamping block is installed on the contour tooling base plate, the contour-forming sections at both ends of the contour and the middle adsorption section of the contour are slidably installed on the contour tooling base plate, the contour-forming sections at both ends of the contour keep the head of the satellite wrapping tape open and fit well with it, the middle adsorption section of the contour keeps fit with the middle part of the satellite wrapping tape through vacuum adsorption, the distance between the contour-forming sections at both ends of the contour and the middle adsorption section of the contour is fine-tuned by the first contour-forming oblique wedge-type clamping block, so that the satellite wrapping tape is straightened and fixed, and then lateral pressure is applied by the second contour-forming oblique wedge-type clamping block to fix the tooling.

[0014] Furthermore, the middle adsorption section of the outer shape can be replaced to match satellite straps of different models and lengths.

[0015] Furthermore, there is a dovetail keyway running through the bottom plate of the shape tooling, and dovetail keys are provided on the bottom surfaces of the contour sections at both ends of the shape and the adsorption section in the middle of the shape. Through the keyway structure, the contour sections at both ends of the shape and the adsorption section in the middle of the shape can slide freely on the bottom plate of the shape tooling.

[0016] Furthermore, the inner-shaped polishing tooling of the described wrapping tape includes inner-shaped profiling sections at both ends, inner-shaped middle adsorption sections, a pressure plate, an inner-shaped first oblique wedge-type clamping block, an inner-shaped tooling base plate and several inner-shaped second oblique wedge-type clamping blocks. The inner-shaped first oblique wedge-type clamping block is installed on the back of the inner-shaped profiling sections at both ends, and the inner-shaped second oblique wedge-type clamping block is installed on the inner-shaped tooling base plate. The inner-shaped profiling sections at both ends and the inner-shaped middle adsorption section are slidably installed on the inner-shaped tooling base plate, and the pressure plate is located on the inner side of the bending part of the inner-shaped profiling sections at both ends. The head bending section of the satellite wrapping tape is kept open by the pressure plate and fits tightly with the inner-shaped profiling sections at both ends. The inner-shaped middle adsorption section is kept in fit with the middle of the satellite wrapping tape by vacuum adsorption. The distance between the inner-shaped profiling sections at both ends and the inner-shaped middle adsorption section is fine-tuned by the inner-shaped first oblique wedge-type clamping block so that the satellite wrapping tape is straightened and fixed, and then lateral pressure is applied by the inner-shaped second oblique wedge-type clamping block to fix the tooling.

[0017] Furthermore, the inner middle adsorption section can be replaced to match satellite straps of different models and lengths.

[0018] Furthermore, there is a dovetail keyway running through the inner shape tooling bottom plate, and dovetail keys are provided on the bottom surfaces of the inner shape imitation sections at both ends and the inner shape middle adsorption section. Through the keyway structure, the inner shape imitation sections at both ends and the inner shape middle adsorption section can slide freely on the inner shape tooling bottom plate.

[0019] A method for automated flexible polishing of satellite tapes, comprising the following steps:

[0020] (1) The satellite wrapping sheet metal process is to bend the machined titanium alloy sheet through a mold;

[0021] (2) Select the outer polishing tool and inner polishing tool of the tape that match the size, and install them together on the work surface;

[0022] (3) The satellite tape bent and formed in step (1) is mounted on the tape shape polishing tool described in step (2), and the distance between the contour-imitation sections at both ends and the center adsorption section of the contour is adjusted by the contour first wedge-shaped clamping block of the tape shape polishing tool, so that the satellite tape is straightened and fixed;

[0023] (4) Prepare the motion path program of the polishing device according to the outer contour of the satellite tape to be polished;

[0024] (5) Setting the polishing pressure and the grinding head speed, and starting the vacuum adsorption tooling after completing steps (3) and (4) to achieve the fixation and positioning of the wrapped product;

[0025] (6) After step (5) is completed, the machining coordinate system for the outer shape polishing is set, and the satellite wrap outer shape polishing program is executed to start polishing;

[0026] (7) During the polishing process, the control cabinet controls the X and Y motion axes to perform adaptive motion compensation, so that the contact force remains stable;

[0027] (8) After completing the outer shape polishing process of steps (6) and (7), the satellite wrapping tape is removed from the wrapping tape outer shape polishing tool and installed on the wrapping tape inner shape polishing tool described in step (2). The spacing between the inner shape imitation sections at both ends and the inner shape middle adsorption section is adjusted by the inner shape first inclined wedge clamping block of the wrapping tape inner shape polishing tool, so that the satellite wrapping tape is straightened and fixed, and the head bending area is kept open by the pressure plate;

[0028] (9) Prepare the motion path program of the polishing device according to the inner contour of the satellite package to be polished;

[0029] (10) Setting the polishing pressure and the grinding head speed, and starting the vacuum adsorption tooling after completing steps (8) and (9) to achieve the fixation and positioning of the wrapped product;

[0030] (11) After step (10) is completed, the machining coordinate system for the inner shape polishing is set, and the satellite package inner shape polishing program is executed to start polishing; during the polishing process, the control cabinet controls the X and Y motion axes to perform adaptive motion compensation, so that the contact force remains stable;

[0031] (12) Remove the satellite tape from the tape inner shape polishing tooling and clean it with anhydrous ethanol to complete the entire polishing process.

[0032] Furthermore, the process of adaptive motion compensation in steps (7) and (11) is as follows:

[0033] a. During the polishing process, the force sensor provides real-time feedback of the contact pressure between the polishing head and the satellite tape to the control cabinet;

[0034] b. The control cabinet calculates the difference between the actual contact force and the set pressure;

[0035] c. The control cabinet converts the pressure difference calculated in step b into the movement displacement of the X and Y axes, thereby controlling the X and Y axes of the polishing device to perform compensatory movement along the normal direction of the polishing position. When the actual contact force is less than the set pressure, it moves closer to the satellite package, otherwise it moves away, thereby keeping the contact force as stable as possible.

[0036] The beneficial effects of the present invention compared with the prior art are:

[0037] (1) In view of the weak rigidity and curved head structure of the satellite tape, the present invention adopts a profiling tool to support the head of the satellite tape, so that a certain pressure can be generated between the polishing head and the satellite tape. The thin-walled flat part in the middle is fixed by vacuum adsorption to prevent vibration without interfering with polishing. For the length error of the satellite tape generated during the bending process, the tool length is fine-tuned by the inclined wedge-type clamping block in the profiling tool to ensure the fit. For satellite tapes of different lengths and sizes, they can be matched by replacing the middle adsorption section, realizing modular rapid profiling clamping.

[0038] (2) The present invention adopts a gantry machine tool structure, which has both point control and force feedback functions. The grinding motor is connected to the polishing head through a force sensor. During the polishing process, the force sensor provides real-time feedback of the actual contact pressure between the polishing head and the satellite tape. The control cabinet compares the actual contact force with the set pressure, calculates the normal vector of the current satellite tape grinding position, and controls the motion axis to perform motion compensation along the normal direction of the current position, thereby maintaining the stability of the contact pressure.

[0039] (3) The present invention adopts an automated method to perform satellite tape polishing, controls the motion trajectory of the polishing and grinding head through a numerical control system, and adjusts the process parameters of the polishing process through a control cabinet. Except for clamping and setting the zero point, basically no human intervention is required, which solves the disadvantages of manual polishing such as low efficiency, unstable quality, labor-intensive and harmful to the health of operators, and quantifies the process parameters of the polishing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic structural diagram of the titanium alloy satellite wrapping tape, which is an application object of the present invention, in its natural state;

[0041] Figure 2 This is a schematic diagram of the modular profiling adsorption tooling structure for polishing the satellite tape shape included in the present invention;

[0042] Figure 3 This is a schematic diagram of the modular profiling adsorption tooling structure for internal polishing of satellite tapes included in the present invention;

[0043] Figure 4 This is a schematic diagram of the overall structure of the satellite tape automatic flexible polishing device of the present invention;

[0044] Figure 5 Schematic diagram of the polishing pressure adaptive compensation method of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further explained and illustrated below with reference to the accompanying drawings and specific embodiments.

[0046] like Figure 1The figure shows a schematic diagram of the titanium alloy satellite strapping structure in its natural state, which is the subject of the present invention. The forming process involves milling a titanium alloy sheet approximately 2 mm thick to create the outer shape. The sheet is then bent at both ends using a mold to form the head structure, followed by a heat treatment process. In its natural state, the curved head section of the satellite strapping is closed and requires external force to open before polishing the inside. Different models of satellite strapping vary in length, ranging from 1 to 2 meters, but the main difference lies in the length of the flat thin-walled section, while the curved head section remains essentially the same.

[0047] like Figure 4 The figure shows an automated flexible polishing device for satellite tape wrapping according to the present invention, comprising a control cabinet 1, a work surface 2, an apparatus X motion axis 5, an apparatus Y motion axis 4, an apparatus Z motion axis 8, a polishing and grinding head 6, a polishing motor 7, a force sensor 9, a tape outer shape polishing tool 3, and a tape inner shape polishing tool 11; the equipment has a gantry structure, the apparatus Y motion axis 4 comprises two groups, symmetrically fixed on the work surface 2, the apparatus X motion axis 5 is mounted on the apparatus Y motion axis, the apparatus Z motion axis 8 is mounted on the apparatus X motion axis 5, the polishing motor 7 is mounted on the apparatus Z motion axis 8 and connected to the polishing and grinding head 6 via the force sensor 9; the control cabinet 1 is used to control the polishing motion of each motion axis, receive the contact pressure value transmitted by the force sensor 9, and control the apparatus X and Y motion axes to perform compensatory motion; the tape outer shape polishing tool 3 and the tape inner shape polishing tool 11 are parallel to the apparatus X motion axis 5, mounted on the work surface 2, and used to fix the satellite tape wrapping 10. Among them, the wrapping tape outer shape polishing tool 3 and the wrapping tape inner shape polishing tool 11 of the present invention are collectively referred to as modular profiling adsorption tooling.

[0048] like Figure 2 The figure shows a schematic diagram of the structure of the satellite tape shape polishing tooling, which is used for satellite tape shape polishing. The satellite tape shape polishing tooling includes two end profiling sections, a middle adsorption section, oblique wedge-type clamping blocks on the back of the two end profiling sections, a tooling base and several oblique wedge-type clamping blocks on the tooling base. The two end profiling sections and the middle adsorption section are slidably mounted on the tooling base. The two end profiling sections keep the satellite tape head open and fit well with it. The middle adsorption section keeps fit with the middle part of the satellite tape through vacuum adsorption. The distance between the two end profiling sections and the middle adsorption section is fine-tuned by the oblique wedge-type clamping blocks on the tooling so that the satellite tape is straightened and fixed. The oblique wedge-type clamping blocks on the tooling base then apply lateral pressure to fix the tooling. Among them, threaded holes are provided on the back of the profiling sections at both ends, and screws are connected to the profiling sections through the oblique wedge clamping blocks. The distance between the profiling sections at both ends and the middle adsorption section can be fine-tuned by controlling the tightness of the screws. For example, when the screws are tightened, the oblique wedge clamping blocks expand, so that the distance between the profiling sections at both ends and the middle adsorption section becomes larger and the total length of the tooling becomes longer. Otherwise, the distance becomes smaller and the total length of the tooling becomes shorter.

[0049] like Figure 3The figure shows a schematic diagram of the internal polishing tool for satellite tape. This tool consists of two profiling sections, a middle suction section, a pressure plate, an angled wedge-shaped clamping block on the back of the tool, a tool base, and several angled wedge-shaped clamping blocks on the tool floor. The profiling sections and the middle suction section are slidably mounted on the tool base. The pressure plate is located inside the bends of the profiling sections. The curved sections at each end of the satellite tape are located inside the profiling sections and are held open by the pressure plate, tightly fitting the profiling sections. The middle suction section is maintained in contact with the center of the satellite tape through vacuum suction. The distance between the profiling section and the suction section is fine-tuned by the angled wedge-shaped clamping blocks on the back of the tool to straighten and secure the satellite tape. The angled wedge-shaped clamping blocks on the tool base then apply lateral pressure to secure the tool. Among them, the pressure plate is located on the inner side of the bending part of the profiling section at both ends. There is a threaded hole on the pressure plate and a through hole on the profiling section. The screw passes through the profiling section and pulls the pressure plate back, thereby keeping the head curved section of the satellite strap open.

[0050] The middle adsorption section of the modular contoured adsorption tooling is replaceable to match satellite straps of different lengths.

[0051] There is a dovetail keyway running through the bottom plate of the modular profiling adsorption tooling. The profiling sections at both ends and the bottom surface of the middle vacuum adsorption section are also made with dovetail keys. Through the keyway structure, the profiling sections and the vacuum adsorption sections can slide freely on the tooling bottom plate.

[0052] The specific process of an automated flexible polishing method for satellite tape is as follows:

[0053] (1) According to the size of the satellite tape to be polished, select the matching modular imitation adsorption tooling, including Figure 2 The polishing tooling of the strapping shape shown, Figure 3 The tooling shown is for inner-shaped polishing with a tape. The tooling base has a dovetail keyway running through it, and the bottom surfaces of the profiling sections at both ends and the vacuum section in the middle are also equipped with dovetail keys. Through the keyway structure, the profiling sections at both ends and the vacuum section in the middle can slide freely on the tooling base, ensuring lateral flatness when assembled.

[0054] (2) After completing the initial assembly of the tooling, first hoist the tooling and place it on Figure 4 Press and fix on the work surface shown. Then install the satellite tape on Figure 2 On the tape shape polishing tool shown in the figure, the head curved section of the satellite tape is tightly fitted with the contoured sections at both ends under the action of elastic force. The distance between the contoured sections and the adsorption sections at both ends is fine-tuned by the oblique wedge-type clamping blocks on the back of the contoured sections, so that the satellite tape is straightened and fixed. The oblique wedge-type clamping blocks on the bottom plate of the contour tooling then apply lateral pressure to limit the sliding of the tooling in the dovetail groove.

[0055] (3) After the bending section of the satellite tape head is fitted with the profiling tooling, the contour polishing motion program of the automated flexible polishing device is compiled according to the profiling contour of the tooling;

[0056] (4) Figure 4 The pressure and speed of the polishing head during the polishing process are set in the control cabinet of the automated flexible polishing device. The specific pressure and speed depend on the type of polishing head. Open the suction valve of the vacuum adsorption tooling. Figure 2 The vacuum adsorption section starts to work, and the flat thin-wall section of the satellite tape fits tightly with the tooling under the action of air pressure, completing the clamping and positioning of the satellite tape;

[0057] (5) According to the clamping position of the tooling and satellite tape on the work surface, the machining coordinate system for the shape polishing is set in the automated flexible polishing device;

[0058] (6) Execute the profile polishing motion program, Figure 4 The polishing motor in the device is controlled by the Z motion axis to move up and down, and by the X and Y motion axes of the device to move horizontally. The force sensor is installed between the polishing head and the polishing motor, and the contact pressure between the polishing head and the satellite bag is fed back to the control cabinet in real time. The control cabinet controls the X and Y motion axes of the polishing device along the direction of the polishing machine according to the difference between the actual contact force and the set pressure. Figure 5 The polishing position shown in the figure performs compensation movement in the normal direction. When the actual contact force is less than the set pressure, the position moves closer to the satellite package, and vice versa, the position moves away from the satellite package, so as to keep the contact force as stable as possible. The compensation algorithm includes but is not limited to proportional-integral-differential control, model predictive control, etc.

[0059] (7) After the shape polishing process is completed, the satellite wrapping tape is moved from the Figure 2 Remove from the polishing tooling of the strapping surface and install Figure 3 The satellite tape is shown on the inner-shaped polishing tool. The head curved section of the satellite tape is held open by a pressure plate, tightly fitting the inner-shaped contour sections at both ends. The distance between the inner-shaped contour sections and the inner-shaped adsorption sections is fine-tuned using the oblique wedge-shaped clamping blocks on the back of the inner-shaped contour sections to straighten and secure the satellite tape. Lateral pressure is then applied by the oblique wedge-shaped clamping blocks on the inner-shaped tooling base, limiting the tooling's slippage within the dovetail groove.

[0060] (8) After the bending section of the satellite strap head is fitted with the profiling tooling, the tooling is prepared according to the profiling contour of the tooling. Figure 4 Internal polishing motion program of automated flexible polishing device;

[0061] (9) Figure 4 The pressure of the polishing process and the speed of the polishing head are set in the control cabinet of the automated flexible polishing device. Open the suction valve of the vacuum adsorption tooling. Figure 3The vacuum adsorption section starts to work, and the flat thin-wall section of the satellite tape fits tightly with the tooling under the action of air pressure, completing the clamping and positioning of the satellite tape;

[0062] (10) According to the clamping position of the tooling and satellite tape on the work surface, the machining coordinate system of the internal polishing is set in the automated flexible polishing device;

[0063] (11) Execute the internal polishing motion program, Figure 4 The force sensor in the polishing head is directly connected to the polishing head, and the contact pressure between the polishing head and the satellite tape is fed back to the control cabinet in real time. The control cabinet controls the X and Y axis of the polishing device according to the difference between the actual contact force and the set pressure. Figure 5 The polishing position shown in the figure performs compensation movement in the normal direction. When the actual contact force is less than the set pressure, the position moves closer to the satellite package, and vice versa, the position moves away from the satellite package, so as to keep the contact force as stable as possible. The compensation algorithm includes but is not limited to proportional-integral-differential control, model predictive control, etc.

[0064] (12) Remove the satellite wrap from the inner polishing tooling and clean it with anhydrous ethanol to complete the entire polishing process.

[0065] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. An automated flexible polishing device for satellite tape wrapping, characterized in that: The device comprises a control cabinet (1), a work surface (2), an X-axis device (5), a Y-axis device (4), a Z-axis device (8), a polishing and grinding head (6), a polishing motor (7), a force sensor (9), a tape outer shape polishing tool (3), and a tape inner shape polishing tool (11); the device is a gantry structure, the Y-axis device (4) comprises two groups, which are symmetrically fixed on the work surface (2), the X-axis device (5) is slidably mounted on the Y-axis device, and the Z-axis device (8) is slidably mounted on the The polishing motor (7) is mounted on the device's X-axis (5) and is connected to the device's Z-axis (8) through a force sensor (9) and a polishing head (6). The control cabinet (1) is used to control the polishing motion of each motion axis and receive the contact pressure value transmitted by the force sensor (9) to control the device's X and Y-axis motions to perform compensatory motions. The outer shape polishing tool (3) and the inner shape polishing tool (11) are mounted on a work surface (2) parallel to the device's X-axis (5) and are used to fix the satellite tape (10).

2. The satellite tape automatic flexible polishing device according to claim 1 is characterized in that: The tape shape polishing tool (3) comprises contour-forming sections at both ends, a middle adsorption section of the contour, a first contour-forming oblique wedge-type clamping block, a contour tool base plate and a plurality of second contour-forming oblique wedge-type clamping blocks, wherein the first contour-forming oblique wedge-type clamping blocks are mounted on the back of the contour-forming sections at both ends, the second contour-forming oblique wedge-type clamping blocks are mounted on the contour tool base plate, the contour-forming sections at both ends and the middle adsorption section of the contour are slidably mounted on the contour tool base plate, the contour-forming sections at both ends keep the satellite tape head open and well fitted with it, the middle adsorption section of the contour keeps fit with the middle of the satellite tape by vacuum adsorption, the first contour-forming oblique wedge-type clamping blocks are used to fine-tune the distance between the contour-forming sections at both ends and the middle adsorption section of the contour so that the satellite tape is straightened and fixed, and then the second contour-forming oblique wedge-type clamping blocks are used to apply lateral pressure to fix the tool.

3. The satellite tape automatic flexible polishing device according to claim 2, characterized in that: The middle adsorption section of the outer shape can be replaced to match satellite straps of different models and lengths.

4. The satellite tape automatic flexible polishing device according to claim 2, characterized in that: The bottom plate of the shape tooling has a dovetail keyway running through it, and the bottom surfaces of the contour sections at both ends of the shape and the middle adsorption section of the shape are provided with dovetail keys. Through the keyway structure, the contour sections at both ends of the shape and the middle adsorption section of the shape can slide freely on the bottom plate of the shape tooling.

5. The satellite tape automatic flexible polishing device according to claim 1, characterized in that: The inner-shaped polishing tool (11) of the wrapping tape comprises inner-shaped profiling sections at both ends, inner-shaped middle adsorption sections, a pressure plate, an inner-shaped first oblique wedge-type clamping block, an inner-shaped tool base plate and a plurality of inner-shaped second oblique wedge-type clamping blocks, wherein the inner-shaped first oblique wedge-type clamping block is mounted on the back of the inner-shaped profiling sections at both ends, the inner-shaped second oblique wedge-type clamping block is mounted on the inner-shaped tool base plate, the inner-shaped profiling sections at both ends and the inner-shaped middle adsorption section are slidably mounted on the inner-shaped tool base plate, the pressure plate is located on the inner side of the bending part of the inner-shaped profiling sections at both ends, the head bending section of the satellite wrapping tape is kept open by the pressure plate and is tightly fitted with the inner-shaped profiling sections at both ends, the inner-shaped middle adsorption section is kept fitted with the middle part of the satellite wrapping tape by vacuum adsorption, the distance between the inner-shaped profiling sections at both ends and the inner-shaped middle adsorption section is fine-tuned by the inner-shaped first oblique wedge-type clamping block so that the satellite wrapping tape is straightened and fixed, and then lateral pressure is applied by the inner-shaped second oblique wedge-type clamping block to fix the tool.

6. The satellite tape automatic flexible polishing device according to claim 5, characterized in that: The inner middle adsorption section can be replaced to match satellite straps of different models and lengths.

7. The satellite tape automatic flexible polishing device according to claim 5, characterized in that: There is a dovetail keyway running through the inner shape tooling bottom plate, and dovetail keys are provided on the bottom surfaces of the inner shape imitation sections at both ends and the inner shape middle adsorption section. Through the keyway structure, the inner shape imitation sections at both ends and the inner shape middle adsorption section can slide freely on the inner shape tooling bottom plate.

8. A satellite tape automated flexible polishing method, characterized in that The following steps are involved: (1) The satellite wrapping sheet metal process is to bend the machined titanium alloy sheet through a mold; (2) Select the outer polishing tool and inner polishing tool of the tape that match the size, and install them together on the work surface; (3) The satellite tape bent and formed in step (1) is mounted on the tape shape polishing tool described in step (2), and the distance between the contour-imitation sections at both ends and the center adsorption section of the contour is adjusted by the contour first wedge-shaped clamping block of the tape shape polishing tool, so that the satellite tape is straightened and fixed; (4) Prepare the motion path program of the polishing device according to the outer contour of the satellite tape to be polished; (5) Setting the polishing pressure and the grinding head speed, and starting the vacuum adsorption tooling after completing steps (3) and (4) to achieve the fixation and positioning of the wrapped product; (6) After step (5) is completed, the machining coordinate system for the outer shape polishing is set, and the satellite wrap outer shape polishing program is executed to start polishing; (7) During the polishing process, the control cabinet controls the X and Y motion axes to perform adaptive motion compensation, so that the contact force remains stable; (8) After completing the outer shape polishing process of steps (6) and (7), the satellite wrapping tape is removed from the wrapping tape outer shape polishing tool and installed on the wrapping tape inner shape polishing tool described in step (2). The spacing between the inner shape imitation sections at both ends and the inner shape middle adsorption section is adjusted by the inner shape first inclined wedge clamping block of the wrapping tape inner shape polishing tool, so that the satellite wrapping tape is straightened and fixed, and the head bending area is kept open by the pressure plate; (9) Prepare the motion path program of the polishing device according to the inner contour of the satellite package to be polished; (10) Setting the polishing pressure and the grinding head speed, and starting the vacuum adsorption tooling after completing steps (8) and (9) to achieve the fixation and positioning of the wrapped product; (11) After step (10) is completed, the machining coordinate system for the inner shape polishing is set, and the satellite package inner shape polishing program is executed to start polishing; during the polishing process, the control cabinet controls the X and Y motion axes to perform adaptive motion compensation, so that the contact force remains stable; (12) Remove the satellite tape from the tape inner shape polishing tooling and clean it with anhydrous ethanol to complete the entire polishing process.

9. The method for automated flexible polishing of satellite tape according to claim 8, characterized in that: The process of adaptive motion compensation in steps (7) and (11) is as follows: a. During the polishing process, the force sensor provides real-time feedback of the contact pressure between the polishing head and the satellite tape to the control cabinet; b. The control cabinet calculates the difference between the actual contact force and the set pressure; c. The control cabinet converts the pressure difference calculated in step b into the movement displacement of the X and Y axes, thereby controlling the X and Y axes of the polishing device to perform compensatory movement along the normal direction of the polishing position. When the actual contact force is less than the set pressure, it moves closer to the satellite package, otherwise it moves away, thereby keeping the contact force as stable as possible.

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