An automated flexible polishing device and method for satellite packaging tape

Abstract

This invention relates to an automated flexible polishing device and method for satellite straps, belonging to the technical field of automated flexible polishing of satellite straps. The invention uses a modular contour-following adsorption fixture to fix the titanium alloy satellite strap, and then employs a gantry-type three-axis CNC machine to clamp the polishing head and rotate it along a programmed path, thereby polishing the inner and outer shapes of the satellite strap. During the polishing process, a force sensor collects the lateral pressure on the polishing head in real time and feeds it back to the control cabinet. The control cabinet, based on the difference between the measured pressure and the set polishing force, as well as the tangential information of the current polishing position, controls the corresponding motion axis to perform compensating movements, thereby ensuring stable pressure between the polishing head and the satellite strap. This invention can achieve automated polishing of various types of satellite strap products, effectively ensuring product surface quality and processing efficiency, and significantly reducing the cost of manual polishing.

Description

Technical Field

[0001] This invention belongs to the field of automated flexible polishing technology for satellite wrapping tape, and relates to an automated flexible polishing device and method for satellite wrapping tape. Background Technology

[0002] Satellite wrapping is a crucial component for controlling the connection and separation of satellites from rockets. Its main functions include: firstly, ensuring effective connection between the launch vehicle adapter and the satellite's lower skirt, and bearing the loads during ground transportation, lifting, and launch; secondly, enabling rapid unlocking and separation of the satellite from the rocket after the final stage of the launch vehicle has transported the satellite into orbit and adjusted its attitude.

[0003] The satellite strap is made of a certain grade of titanium alloy, which has the advantages of high strength, light weight, good toughness and weldability. The production process involves first milling the titanium alloy sheet by machining, then bending it into shape using a die and performing heat treatment. Since the satellite strap needs to be in direct contact with the satellite during service, extremely high surface finish is required. However, this titanium alloy is chemically reactive and easily forms an oxide layer during heat treatment. Furthermore, minor scratches are unavoidable during bending. Therefore, polishing of the inner and outer surfaces of the satellite strap is necessary after heat treatment. Because the satellite strap has a thin-walled bent structure, the following problems arise 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 cannot achieve clamping, positioning, and conformal polishing of the entire surface for bent and weakly rigid metal workpieces.

[0005] 2) Titanium alloy oxide layers have high hardness, and the final surface quality requirements are stringent. Commonly used methods 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] While polishing with a handheld pneumatic polishing head can achieve the design requirements, it also has the following obvious drawbacks:

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

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

[0009] 3) Operators rely on hand-held polishing heads for extended periods, and the resulting metal dust poses a health hazard.

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

[0011] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide an automated flexible polishing device and method for satellite strapping, which is used to solve the problem of automated and high-efficiency surface polishing of titanium alloy satellite strapping.

[0012] The solution of this invention is: an automated flexible polishing device for satellite strapping, comprising a control cabinet, a worktable, an X-axis, a Y-axis, a Z-axis, a polishing head, a polishing motor, a force sensor, a strapping outer polishing fixture, and a strapping inner polishing fixture; the device has a gantry structure, the Y-axis comprises two sets, symmetrically fixed on the worktable, 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 controls the polishing movement of each axis and receives the contact pressure value transmitted by the force sensor, and controls the X and Y axes to perform compensating movements; the strapping outer polishing fixture and the strapping inner polishing fixture are mounted parallel to the X-axis on the worktable for fixing the satellite strapping.

[0013] Furthermore, the aforementioned packaging strap polishing fixture includes contouring sections at both ends, a middle adsorption section, a first wedge-shaped clamping block, a base plate, and several second wedge-shaped clamping blocks. The first wedge-shaped clamping blocks are mounted on the back of the contouring sections at both ends, and the second wedge-shaped clamping blocks are mounted on the base plate. The contouring sections at both ends and the middle adsorption section are slidably mounted on the base plate. The contouring sections at both ends keep the head of the satellite packaging strap open and fit it well. The middle adsorption section keeps it in contact with the middle of the satellite packaging strap through vacuum adsorption. The distance between the contouring sections at both ends and the middle adsorption section is finely adjusted by the first wedge-shaped clamping block to straighten and fix the satellite packaging strap. Lateral pressure is applied by the second wedge-shaped clamping blocks to fix the fixture.

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

[0015] Furthermore, the base plate of the outer tooling has a through dovetail keyway, and the bottom surfaces of the contouring sections at both ends and the adsorption section in the middle of the outer shape are provided with dovetail keys. Through the keyway structure, the contouring sections at both ends and the adsorption section in the middle of the outer shape can slide freely on the base plate of the outer tooling.

[0016] Furthermore, the inner shape polishing fixture includes two end contouring sections, a middle adsorption section, a pressure plate, a first wedge clamping block, a base plate, and several second wedge clamping blocks. The first wedge clamping block is installed on the back of the two end contouring sections, and the second wedge clamping blocks are installed on the base plate. The two end contouring sections and the middle adsorption section are slidably installed on the base plate. The pressure plate is located inside the bend of the two end contouring sections. The bend at the head of the satellite strap is kept open and tightly fitted to the two end contouring sections by the pressure plate. The middle adsorption section is kept fitted to the middle of the satellite strap by vacuum adsorption. The distance between the two end contouring sections and the middle adsorption section is finely adjusted by the first wedge clamping block to straighten and fix the satellite strap. Lateral pressure is applied by the second wedge clamping blocks to fix the fixture.

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

[0018] Furthermore, the inner tooling base plate has a through dovetail keyway, and the bottom surfaces of the two end contour sections and the middle adsorption section of the inner shape are provided with dovetail keys. Through the keyway structure, the two end contour sections and the middle adsorption section of the inner shape can slide freely on the inner tooling base plate.

[0019] An automated flexible polishing method for satellite baggage includes the following steps:

[0020] (1) The satellite wrapping sheet metal process involves bending the machined titanium alloy sheet into shape using a mold;

[0021] (2) Select the outer and inner polishing fixtures of the strapping that match the size, and assemble them on the workbench.

[0022] (3) Install the satellite strap bent and shaped in step (1) onto the strap shape polishing fixture described in step (2). Adjust the distance between the two ends of the contouring section and the middle adsorption section of the contour by the first wedge clamping block of the strap shape polishing fixture, so that the satellite strap is straightened and fixed.

[0023] (4) Based on the outline of the satellite baggage to be polished, program the motion path of the polishing device;

[0024] (5) Set the polishing pressure and the grinding head speed. After completing steps (3) and (4), turn on the vacuum adsorption fixture to fix and position the packaging product.

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

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

[0027] (8) After completing the outer polishing process of steps (6) and (7), remove the satellite strap from the outer polishing fixture and install it on the inner polishing fixture described in step (2). Adjust the distance between the two ends of the inner shape and the middle adsorption section of the inner shape by the first wedge clamping block of the inner shape polishing fixture, so that the satellite strap is straightened and fixed. The pressure plate keeps the head bending area open.

[0028] (9) Based on the inner contour of the satellite baggage to be polished, program the motion path of the polishing device;

[0029] (10) Set the polishing pressure and the grinding head speed. After completing steps (8) and (9), turn on the vacuum adsorption fixture to fix and position the packaging product.

[0030] (11) After step (10) is completed, the machining coordinate system for inner shape polishing is set, and the satellite bag 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 strap from the inner polishing fixture, clean it with anhydrous ethanol, and complete the polishing process.

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

[0033] a. During the polishing process, a force sensor provides real-time feedback of the contact pressure between the polishing head and the satellite strap 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 motion displacement of the X and Y axes, thereby controlling the X and Y axes of the polishing device to perform compensating motion along the normal of the polishing position. When the actual contact force is less than the set pressure, it moves closer to the satellite envelope; otherwise, it moves away, thus keeping the contact force as stable as possible.

[0036] The beneficial effects of this invention compared to the prior art are:

[0037] (1) This invention addresses the structural characteristics of satellite straps, which are characterized by weak rigidity and a curved head. It employs a contouring fixture to support the head, allowing the polishing head to generate pressure with the satellite strap. The thin-walled section in the middle is fixed using vacuum adsorption, preventing vibration without interfering with polishing. For length errors in the satellite strap during the bending process, the length of the contouring fixture is finely adjusted using wedge-shaped clamping blocks to ensure a proper fit. For satellite straps of different lengths, the middle adsorption section can be replaced for matching, achieving modular and rapid contouring clamping.

[0038] (2) The present invention adopts a gantry machine tool structure, which has both point-to-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 on the actual contact pressure between the polishing head and the satellite bag tape. The control cabinet compares the actual contact force with the set pressure and calculates the normal vector of the current satellite bag tape grinding position. It controls the motion axis to perform motion compensation along the normal of the current position, thereby maintaining the stability of the contact pressure.

[0039] (3) The present invention uses an automated method to polish satellite packaging tape. The movement trajectory of the polishing head is controlled by a CNC system, and the process parameters of the polishing process are adjusted by a control cabinet. Except for clamping and setting the zero point, no manual intervention is required. This solves the drawbacks of low efficiency, unstable quality, high manpower consumption and harm to the health of operators in manual polishing, and quantifies the process parameters of the polishing process. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the titanium alloy satellite wrapping tape, the object of this invention, in its natural state.

[0041] Figure 2 This is a schematic diagram of the modular contouring adsorption tooling structure for satellite baggage polishing included in the present invention.

[0042] Figure 3 This is a schematic diagram of the modular contouring adsorption tooling structure for polishing the inner shape of satellite baggage, as included in this invention.

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

[0044] Figure 5 This is a schematic diagram of the polishing pressure adaptive compensation method of the present invention. Detailed Implementation

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

[0046] like Figure 1The diagram shows the structure of the titanium alloy satellite strap, the object of this invention, in its natural state. The forming process involves first milling a titanium alloy sheet approximately 2mm thick to create the desired shape, then bending both ends of the sheet using a die to form the head structure, followed by heat treatment. In its natural state, the curved section of the satellite strap's head is closed and requires external force to open it for polishing the inner side. Different models of satellite straps vary in length from 1m to 2m, but the main difference lies in the length of the planar thin-walled section, while the curved section of the head remains essentially the same.

[0047] like Figure 4 The diagram shows an automated flexible polishing device for satellite strapping according to the present invention, comprising a control cabinet 1, a worktable 2, an X-axis 5, a Y-axis 4, a Z-axis 8, a polishing head 6, a polishing motor 7, a force sensor 9, a strapping outer polishing fixture 3, and a strapping inner polishing fixture 11. The device has a gantry structure. The Y-axis 4 comprises two sets, symmetrically fixed on the worktable 2. The X-axis 5 is mounted on the Y-axis, and the Z-axis 8 is mounted on the X-axis 5. The polishing motor 7 is mounted on the Z-axis 8 and connected to the polishing head 6 via the force sensor 9. The control cabinet 1 controls the polishing motion of each axis and receives the contact pressure value transmitted by the force sensor 9, controlling the X and Y axes to perform compensating motion. The strapping outer polishing fixture 3 and the strapping inner polishing fixture 11 are parallel to the X-axis 5 and mounted on the worktable 2 for fixing the satellite strapping 10. Among them, the outer polishing fixture 3 and the inner polishing fixture 11 of the present invention are collectively referred to as modular imitation adsorption fixtures.

[0048] like Figure 2 The diagram shows a schematic of a satellite strap polishing fixture, used for polishing the shape of the satellite strap. The fixture includes two end contouring sections, a middle adsorption section, wedge-shaped clamping blocks on the back of the two end contouring sections, a fixture base plate, and several wedge-shaped clamping blocks on the fixture base plate. The two end contouring sections and the middle adsorption section are slidably mounted on the fixture base plate. The two end contouring sections keep the head of the satellite strap open and fit it well. The middle adsorption section keeps it in contact with the middle of the satellite strap through vacuum adsorption. The wedge-shaped clamping blocks on the fixture are used to finely adjust the distance between the two end contouring sections and the middle adsorption section, so that the satellite strap is straightened and fixed. Lateral pressure is applied by the wedge-shaped clamping blocks on the fixture base plate to fix the fixture. The two end profile sections have threaded holes on their backs. Screws pass through the wedge clamping blocks and connect to the profile sections. The distance between the two end profile sections and the middle adsorption section can be finely adjusted by controlling the tightness of the screws. For example, when the screws are tightened, the wedge clamping blocks expand, making the distance between the two end profile sections and the middle adsorption section larger and the total length of the tooling longer. Conversely, the distance becomes smaller and the total length of the tooling becomes shorter.

[0049] like Figure 3The diagram shows a schematic of a polishing fixture for the inner shape of satellite straps, used for polishing the inner shape of satellite straps. The fixture includes: end contouring sections, a middle adsorption section, a pressure plate, wedge-shaped clamping blocks on the back of the fixture, a base plate, and several wedge-shaped clamping blocks on the base plate. The end contouring sections and the middle adsorption section are slidably mounted on the base plate. The pressure plate is located inside the bends of the end contouring sections. The bends at the ends of the satellite strap are located inside the end contouring sections, kept open by the pressure plate, and tightly fitted to the end contouring sections. The middle adsorption section is kept in contact with the middle of the satellite strap through vacuum adsorption. The wedge-shaped clamping blocks on the back of the fixture finely adjust the distance between the contouring section and the adsorption section to straighten and fix the satellite strap. Lateral pressure is applied by the wedge-shaped clamping blocks on the base plate to fix the fixture. The pressure plate is located inside the bend of the two end profile sections. The pressure plate has threaded holes, and the profile sections have through holes. Screws pass through the profile sections and pull the pressure plate back, thereby keeping the bend at the head of the satellite strap open.

[0050] The intermediate adsorption section of the modular contour adsorption fixture is replaceable to match satellite straps of different models and lengths.

[0051] The modular contour adsorption fixture has a through-type dovetail keyway on its base plate. The bottom surfaces of the contour sections at both ends and the vacuum adsorption section in the middle are also made of dovetail keys. Through the keyway structure, the contour sections and the vacuum adsorption section can slide freely on the fixture base plate.

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

[0053] (1) Select a modular contouring adsorption fixture that matches the model and size of the satellite strapping to be polished, including, for example... Figure 2 The tooling for polishing the outer surface of the bag strap shown is as follows: Figure 3 The tooling for polishing the inner shape of the bag strap shown is as follows. The tooling base plate has a through dovetail keyway, and the bottom surfaces of the contour sections at both ends and the vacuum adsorption section in the middle are also made of dovetail keys. Through the keyway structure, the contour sections at both ends and the vacuum adsorption section can slide freely on the tooling base plate, and the lateral flatness is ensured when assembled.

[0054] (2) After the initial assembly of the tooling is completed, the tooling is first hoisted and placed in... Figure 4 Press and secure the satellite strap onto the worktable surface as shown. Then install the satellite strap. Figure 2 On the packaging tape polishing fixture shown, the curved section at the head of the satellite packaging tape is tightly fitted with the two end contour sections under the action of elasticity. The distance between the two end contour sections and the adsorption section is finely adjusted by the wedge-shaped clamping blocks on the back of the two end contour sections, so that the satellite packaging tape is straightened and fixed. Lateral pressure is applied by the wedge-shaped clamping blocks on the bottom plate of the packaging fixture, thereby restricting the sliding of the fixture in the dovetail groove.

[0055] (3) After the curved section of the satellite bag head is fitted with the contour tooling, the external polishing motion program of the automated flexible polishing device is compiled according to the contour of the tooling.

[0056] (4) In Figure 4 The control cabinet of the automated flexible polishing device sets the pressure and polishing head speed for the polishing process. The specific pressure and speed depend on the type of polishing head. Open the suction valve of the vacuum adsorption fixture. Figure 2 The vacuum adsorption section begins to work, and the thin-walled section of the satellite baggage fits tightly with the tooling under air pressure, completing the clamping and positioning of the satellite baggage.

[0057] (5) Based on the clamping position of the tooling and satellite straps on the worktable, set the machining coordinate system for the outer surface polishing in the automated flexible polishing device;

[0058] (6) Execute the surface polishing motion program. Figure 4 The polishing motor is controlled by the Z-axis for vertical movement and by the X and Y axes for horizontal movement. A force sensor is installed between the polishing head and the motor to provide real-time feedback on the contact pressure between the polishing head and the satellite strapping to the control cabinet. The control cabinet controls the X and Y axes of the polishing device according to the difference between the actual contact force and the set pressure. Figure 5 The polishing position shown undergoes a compensating motion in the normal direction. When the actual contact force is less than the set pressure, it moves closer to the satellite envelope; otherwise, it moves away, thus keeping the contact force as stable as possible. The compensation algorithm includes, but is not limited to, proportional-integral-derivative control, model predictive control, etc.

[0059] (7) After completing the surface polishing process, adjust the wedge-shaped clamping block on the back of the tooling to move the satellite strap from... Figure 2 Remove the bag strap from the polishing fixture and install it. Figure 3 The satellite strap is polished on the inner shape of the tooling shown. The curved section at the head of the satellite strap is kept open by a pressure plate and fits tightly against the contour sections at both ends of the inner shape. The distance between the contour sections at both ends of the inner shape and the adsorption section is finely adjusted by the wedge-shaped clamping blocks on the back of the contour sections, so that the satellite strap is straightened and fixed. Lateral pressure is applied by the wedge-shaped clamping blocks on the base plate of the inner shape tooling, thereby limiting the sliding of the tooling in the dovetail groove.

[0060] (8) After the curved section of the satellite strap head is fitted with the contouring tooling, the contouring profile of the tooling is used to create the following: Figure 4 Internal polishing motion program of an automated flexible polishing device;

[0061] (9) In Figure 4 The control cabinet of the automated flexible polishing device sets the polishing process pressure and polishing head speed. The suction valve of the vacuum adsorption fixture is then opened. Figure 3The vacuum adsorption section begins to work, and the thin-walled section of the satellite baggage fits tightly with the tooling under air pressure, completing the clamping and positioning of the satellite baggage.

[0062] (10) Based on the clamping position of the tooling and satellite straps on the worktable, set the machining coordinate system for internal polishing in the automated flexible polishing device;

[0063] (11) Execute the internal polishing motion program. Figure 4 The force sensor in the device is directly connected to the polishing head, providing real-time feedback on the contact pressure between the polishing head and the satellite strapping to the control cabinet. The control cabinet then controls the X and Y axes of the polishing device based on the difference between the actual contact force and the set pressure. Figure 5 The polishing position shown undergoes a compensating motion in the normal direction. When the actual contact force is less than the set pressure, it moves closer to the satellite envelope; otherwise, it moves away, thus keeping the contact force as stable as possible. The compensation algorithm includes, but is not limited to, proportional-integral-derivative control, model predictive control, etc.

[0064] (12) Remove the satellite strapping from the inner polishing fixture, clean it with anhydrous ethanol, and complete the entire polishing process.

[0065] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations 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 protection scope of the technical solutions of the present invention.

Claims

1. An automated flexible polishing device for satellite packaging tape, characterized in that: The equipment includes a control cabinet (1), a worktable (2), a device X motion axis (5), a device Y motion axis (4), a device Z motion axis (8), a polishing head (6), a polishing motor (7), a force sensor (9), a packaging tape outer polishing fixture (3), and a packaging tape inner polishing fixture (11). The equipment has a gantry structure. The device Y motion axis (4) consists of two sets, symmetrically fixed on the worktable (2). The device X motion axis (5) is slidably mounted on the device Y motion axis, and the device Z motion axis (8) is slidably mounted on the device Z motion axis. On the X-axis (5) of the device, the polishing motor (7) is mounted on the Z-axis (8) of the device and connected to the polishing head (6) through the force sensor (9). 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 X and Y motion axes of the device to perform compensating motion. The outer shape polishing fixture (3) and the inner shape polishing fixture (11) of the strap are mounted on the worktable (2) parallel to the X-axis (5) of the device and are used to fix the satellite strap (10). The packaging strap polishing fixture (3) includes two contouring sections at both ends, a middle adsorption section, a first wedge clamping block, a base plate, and several second wedge clamping blocks. The first wedge clamping block is installed on the back of the contouring section at both ends, and the second wedge clamping block is installed on the base plate. The contouring section at both ends and the middle adsorption section are slidably installed on the base plate. The contouring section at both ends keeps the head of the satellite packaging strap open and close to it. The middle adsorption section is close to the middle of the satellite packaging strap through vacuum adsorption. The distance between the contouring section at both ends and the middle adsorption section is finely adjusted by the first wedge clamping block to straighten and fix the satellite packaging strap. Lateral pressure is applied by the second wedge clamping block to fix the fixture. The inner shape polishing fixture (11) includes two end contouring sections, a middle adsorption section, a pressure plate, a first wedge clamping block, a base plate, and several second wedge clamping blocks. The first wedge clamping block is installed on the back of the two end contouring sections, and the second wedge clamping blocks are installed on the base plate. The two end contouring sections and the middle adsorption section are slidably installed on the base plate. The pressure plate is located inside the bend of the two end contouring sections. The bend at the head of the satellite strap is kept open by the pressure plate and is tightly fitted with the two end contouring sections. The middle adsorption section is kept in contact with the middle of the satellite strap by vacuum adsorption. The distance between the two end contouring sections and the middle adsorption section is finely adjusted by the first wedge clamping block to straighten and fix the satellite strap. Lateral pressure is applied by the second wedge clamping block to fix the fixture.

2. The automated flexible polishing device for satellite packaging tape according to claim 1, characterized in that: The aforementioned central adsorption section is replaceable to match satellite baggage of different models and lengths.

3. The automated flexible polishing device for satellite packaging tape according to claim 1, characterized in that: The base plate of the outer tooling has a through dovetail keyway, and the bottom surfaces of the contouring sections at both ends and the adsorption section in the middle of the outer shape are provided with dovetail keys. Through the keyway structure, the contouring sections at both ends and the adsorption section in the middle of the outer shape can slide freely on the base plate of the outer tooling.

4. The automated flexible polishing device for satellite packaging tape according to claim 1, characterized in that: The inner middle adsorption section can be replaced to match satellite baggage of different models and lengths.

5. The automated flexible polishing device for satellite packaging tape according to claim 1, characterized in that: The inner tooling base plate has a through dovetail keyway, and the bottom surfaces of the two end contour sections and the middle adsorption section of the inner shape are provided with dovetail keys. Through the keyway structure, the two end contour sections and the middle adsorption section of the inner shape can slide freely on the inner tooling base plate.

6. A method for an automated flexible polishing device for satellite packaging as described in any one of claims 1 to 5, characterized in that, Includes the following steps: (1) The satellite packaging sheet metal process involves bending the machined titanium alloy sheet into shape using a mold; (2) Select the outer and inner polishing fixtures of the strap that match the size and assemble them on the worktable. (3) Install the satellite strap bent and shaped in step (1) onto the strap shape polishing fixture described in step (2), and adjust the distance between the two ends of the contouring section and the middle adsorption section of the contour by the first wedge clamping block of the strap shape polishing fixture, so that the satellite strap is straightened and fixed. (4) Based on the outline of the satellite package to be polished, program the motion path of the polishing device; (5) Set the polishing pressure and grinding head speed. After completing steps (3) and (4), turn on the vacuum adsorption fixture to fix and position the packaging product. (6) After step (5) is completed, set the machining coordinate system for the outer surface polishing and execute the satellite baggage outer surface polishing program to start polishing; (7) During the polishing process, the control cabinet controls the X and Y motion axes to perform adaptive motion compensation, thereby keeping the contact force stable; (8) After completing the outer polishing process of steps (6) and (7), remove the satellite strap from the outer polishing fixture and install it on the inner polishing fixture described in step (2). Adjust the distance between the two ends of the inner shape and the middle adsorption section of the inner shape by the first wedge clamping block of the inner shape polishing fixture, so that the satellite strap is straightened and fixed. Keep the head bending area open by the pressure plate. (9) Based on the inner contour of the satellite baggage to be polished, program the motion path of the polishing device; (10) Set the polishing pressure and grinding head speed. After completing steps (8) and (9), turn on the vacuum adsorption fixture to fix and position the packaging product. (11) After step (10) is completed, the machining coordinate system for inner shape polishing is set, and the satellite bag 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 strap from the inner polishing fixture, clean it with anhydrous ethanol, and complete the polishing process.

7. The automated flexible polishing method for satellite envelopes according to claim 6, characterized in that: The adaptive motion compensation process in steps (7) and (11) is as follows: a. During the polishing process, a force sensor provides real-time feedback of the contact pressure between the polishing head and the satellite strap 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 motion displacement of the X and Y axes, thereby controlling the X and Y axes of the polishing device to perform compensating motion along the normal of the polishing position. When the actual contact force is less than the set pressure, it moves closer to the satellite envelope; otherwise, it moves away, thus keeping the contact force as stable as possible.

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