System and method for sealing joint cavities between structural components

Abstract

To provide systems and methods for sealing a bond cavity between structural components.SOLUTION: A method comprises placing an adhesive around a perimeter of a first structure to be joined to a second structure. The method also comprises positioning the first structure relative to the second structure such that the adhesive is disposed between the first structure and the second structure. The method also comprises merging the first structure and the second structure until the first structure and the second structure are separated by a desired gap for bonding. The method also comprises heating the perimeter to at least partially cure the adhesive to form a leak-proof bond cavity perimeter between the first structure and the second structure.SELECTED DRAWING: None

Description

Technical Field

[0001] The present disclosure relates generally to the joining of structural components, and more particularly to sealing the joining cavities between structural components.

Background Art

[0002] In aircraft and other environments, in order to join multiple structural components (e.g., composite structures), it is common to place an adhesive between those structures. As a preparation for joining, edge masking is performed to contain possible bleed-out (bleeding) of the adhesive. In existing edge masking techniques, it is typical to manually attach an adhesive tape, such as a synthetic polymer adhesive tape, to the outer periphery of the structure being prepared for joining. However, such existing techniques are time-consuming and labor-intensive. Multiple personnel manually place the adhesive tape at the desired position, inject the adhesive between the structures, then remove the tape, and afterwards need to clean or otherwise address any remaining deficiencies or adhesive bleed-out. Also, with an edge mask made of an adhesive tape, it is difficult to say that the resulting joint line is optimal and it may be undesirable. This is because leakage is likely to occur from the seams between the strips of the adhesive tape. Furthermore, with an edge mask made of an adhesive tape, the thickness of the resulting joint line may not be constant, and the joint strength between the structures may become non-uniform.

[0003] Therefore, when joining structures, there is a need for a reliable edge masking technique that is not time-consuming or labor-intensive and promotes a higher-quality joint line.

Summary of the Invention

[0004] In one example, a method for sealing a joint cavity is disclosed. The method includes placing an adhesive on the outer periphery of a first structure to be joined to a second structure. The method also includes positioning the first structure relative to the second structure so that the adhesive is placed between the first and second structures. The method also includes integrating the first and second structures until they are separated by a desired joint gap. The method also includes heating the outer periphery to at least partially cure the adhesive and form a leak-proof joint cavity outer periphery between the first and second structures.

[0005] Another example describes a sealed joint cavity between a first structure and a second structure, which is fabricated by a process. The process includes placing an adhesive around the periphery of the first structure to be joined to the second structure. The process also includes positioning the first structure relative to the second structure so that the adhesive is placed between the first and second structures. The process also includes integrating the first and second structures until they are separated by a desired joint gap. The process also includes heating the periphery to at least partially cure the adhesive and form a leak-proof joint cavity periphery between the first and second structures.

[0006] In another example, sealing the joint cavity between the first structure and the second structure ru shi The stem is described. . The stem includes the injection nozzle. . The stem also includes one or more robotic devices. . The stem also includes an injection nozzle and a controller that electronically communicates with one or more robotic devices. , the On the outer circumference of the first structure to be joined to the second structure 、 The adhesive is placed using an injection nozzle. It is configured to control one or more robotic devices, As a result, when the first structure is bonded to the second structure and its outer periphery is heated, the adhesive hardens at least partially, forming a leak-proof bonding cavity outer periphery between the first structure and the second structure.

[0007] The features, functions, and advantages discussed so far can be realized independently in various embodiments or combined in yet another embodiment. Further details of the examples can be understood by referring to the description and drawings below.

[0008] Novel features that are considered to be characteristics of the embodiments are set forth in the appended claims. However, the embodiments, as well as preferred uses, further purposes and descriptions thereof, will be best understood by referring to the following detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0009] [Figure 1A] This shows a system for forming a jointed wing of an aircraft according to one embodiment. [Figure 1B] An example of an aircraft with a jointed wing, according to one embodiment, is shown. [Figure 2] This shows a system in which a portion of the wing skin is connected to or joined to the spar, wing ribs, and longirons (longitudinal members) according to one embodiment. [Figure 3A] This shows an exemplary step in the process of sealing the joint cavity between a first structure and a second structure according to one embodiment. [Figure 3B] This shows an exemplary step in the process of sealing the joint cavity between a first structure and a second structure according to one embodiment. [Figure 3C] This shows an exemplary step in the process of sealing the joint cavity between a first structure and a second structure according to one embodiment. [Figure 3D] This shows an exemplary step in the process of sealing the joint cavity between a first structure and a second structure according to one embodiment. [Figure 3E] This shows an exemplary step in the process of sealing the joint cavity between a first structure and a second structure according to one embodiment. [Figure 3F]This shows an exemplary step in the process of sealing the joint cavity between a first structure and a second structure according to one embodiment. [Figure 3G] This shows an exemplary step in the process of sealing the joint cavity between a first structure and a second structure according to one embodiment. [Figure 4A] This shows an exemplary step in the process of injecting adhesive into the joint cavity between multiple structural components according to one embodiment. [Figure 4B] This shows an exemplary step in the process of injecting adhesive into the joint cavity between multiple structural components according to one embodiment. [Figure 4C] This shows an exemplary step in the process of injecting adhesive into the joint cavity between multiple structural components according to one embodiment. [Figure 4D] This shows an exemplary step in the process of injecting adhesive into the joint cavity between multiple structural components according to one embodiment. [Figure 4E] This shows an exemplary step in the process of injecting adhesive into the joint cavity between multiple structural components according to one embodiment. [Figure 5] This image shows an exemplary step in the process of injecting adhesive into a joint cavity between multiple structural components according to one embodiment, where a sealant bead defines the outer periphery of the joint cavity. [Figure 6] This document describes a method and system for performing at least one of the steps described in this document, relating to a particular embodiment. [Figure 7] This shows a flowchart illustrating an exemplary method for sealing a bonding cavity according to one embodiment. [Figure 8] A flowchart shows an exemplary method for performing the deployment function of the method shown in Figure 7, according to one embodiment. [Figure 9] A flowchart shows an exemplary method for performing the deployment function of the method shown in Figure 8, according to one embodiment. [Figure 10] A flowchart shows an exemplary method for performing the deployment function of the method shown in Figure 7, according to one embodiment. [Figure 11]A flowchart of an exemplary method for performing the placement function of the method of FIG. 7 according to an embodiment is shown. [Figure 12] A flowchart of an exemplary method for performing the integration function of the method of FIG. 7 according to an embodiment is shown. [Figure 13] A flowchart of an exemplary method for performing the positioning and integration functions of the method of FIG. 7 according to an embodiment is shown. [Figure 14] A flowchart of an exemplary method for performing the positioning and integration functions of the method of FIG. 7 according to an embodiment is shown. [Figure 15] A flowchart of an exemplary method for performing the heating function of the method of FIG. 7 according to an embodiment is shown. [Figure 16] A flowchart of an exemplary method for performing the heating function of the method of FIG. 7 according to an embodiment is shown. [Figure 17] A flowchart of an exemplary method for performing the heating function of the method of FIG. 7 according to an embodiment is shown. [Figure 18] A flowchart of an exemplary method for use in combination with the method of FIG. 7 according to an embodiment is shown. [Figure 19] A flowchart of an exemplary method for performing the intake and pushing functions of the method of FIG. 18 according to an embodiment is shown. [Figure 20] A flowchart of an exemplary method for performing the intake and pushing functions of the method of FIG. 18 according to an embodiment is shown. [Figure 21] A flowchart of an exemplary method for use in combination with the method of FIG. 18 according to an embodiment is shown.

Mode for Carrying Out the Invention

[0010] The embodiments disclosed hereafter will be described more comprehensively with reference to the accompanying drawings, but the accompanying drawings show only some, not all, of the examples disclosed. In practice, several different examples may be described, but these examples should not be interpreted as being limited to those specified herein. Rather, such examples are described in order to make this disclosure comprehensive and all-encompassing, and to ensure that the scope of this disclosure is fully conveyed to those skilled in the art.

[0011] As used herein, the terms “substantially,” “about,” “approximately,” and “proximate” mean that the described characteristics, parameters, or values ​​do not need to be obtained exactly, but deviations or variations, including, for example, tolerances, measurement errors, measurement accuracy limits, and other factors known to those skilled in the art, may occur in an amount that does not preclude the effects that the characteristics should produce.

[0012] Unless otherwise specified, the elements depicted in the drawings are not necessarily drawn to scale.

[0013] While the methods and systems described herein will be discussed primarily in the context of aircraft joining structures (e.g., stringers and skins), the methods and systems described herein can also be implemented in non-aircraft environments for other types of joining structures.

[0014] The embodiments describe a method and system for sealing a joint cavity between two structures using adhesive sealing. Structural adhesive sealing can replace strips of adhesive tape used in existing technologies and provide a reliable and high-quality leak-proof seal between the outer periphery of two structures (e.g., the edges where the two structures meet).

[0015] Specifically, in order to seal the joint cavity using such an adhesive, the adhesive is placed on the outer perimeter of the first structure to be joined to the second structure. The adhesive is placed on the outer perimeter of the first structure to be joined to the second structure, for example, in the form of a triangular or other shaped bead. Next, the first structure is positioned (e.g., positionally aligned) with the second structure so that the adhesive is placed between the first and second structures. Then the first structure is integrated with the second structure. That is, the first and second structures are moved (e.g., moved / pushed) relative to each other until the first and second structures are separated by a desired joint gap. In one example, the adhesive includes microbeads. Since the microbeads have a thickness that defines the desired boundary gap, when the first and second structures are joined, these structures are separated by a gap approximately equal to the thickness of the microbeads, resulting in a consistent joint line thickness between the two structures.

[0016] When the first and second structures are joined, a leak-proof joint cavity perimeter is formed between the first and second structures by heating the perimeter to at least partially cure the adhesive. Furthermore, once the leak-proof joint cavity perimeter is formed, a leak test may be performed, and if no leaks occur, the joint cavity can be vented and the adhesive injected into the joint cavity, thereby injection joining the two structures.

[0017] In the embodiments, one or more of the above steps may be automated at least partially. For example, a robotic device may be controlled to place adhesive around the periphery of a first structure using an injection nozzle or other applicator, and the same robotic device or another robotic device (e.g., on an assembly line) may be controlled to align and / or integrate the structure. Whether performed manually, partially, or fully autonomously, the methods of the present disclosure provide at least the advantages described herein.

[0018] The outer perimeter of the leak-proof joint cavity obtained using the method described above can be manufactured in a more efficient manner with reduced labor and time, and the possibility of leakage occurring around the perimeter is also reduced. Furthermore, by using microbeads or similar components placed in the adhesive, the thickness of the joint line on the outer perimeter of the resulting leak-proof joint cavity can be advantageously controlled to be consistent, thus enabling the creation of a high-quality joint line that can support large structural loads.

[0019] These improvements and other improvements are described in more detail below. The implementation described below is for illustrative purposes only. The implementation described below, as well as other implementations, may also provide other improvements.

[0020] Figure 1A shows a system 100 for forming a jointed wing 102 of an aircraft 104 according to one embodiment. Figure 1B shows an example of an aircraft 104 including the jointed wing 102.

[0021] System 100 includes a plurality of spars 106 whose position is held by a plurality of fastening arms 108. The plurality of fastening arms 108 are provided for assembly, not included in the wing to be assembled. Positioning of the various embodiments of System 100 during assembly may be performed using other fasteners or tools. System 100 further includes a plurality of wing ribs 110 mounted between the spars 106. System 100 further includes a plurality of longirons 112 (also called "stringers" in other examples). The longirons 112 run parallel to the spars 106 and provide boundaries between the wing ribs 110 and other embodiments of System 100. The longirons 112 can provide flexibility and strength to System 100.

[0022] The spar 106 as a whole constitutes part of the wing box 114, providing lateral structural integrity to the system 100 and resulting in the overall shape and size of the system 100. Further components of the system 100 may also be connected to the wing box 114. Thus, the size of the spar 106 can strictly conform to the design plan of the wing 102. For similar reasons, the holes in the spar 106 can be precision-tolerant holes so that corresponding fasteners can be fitted according to a given accuracy (e.g., within 1% of the fastener diameter).

[0023] Figure 2 shows a system 100 according to one embodiment. A portion of the wing skin 116 is connected to or joined to the spar 106, wing rib 110, and longiron 112. By connecting the wing skin 116 to the wing components (e.g., spar 106, wing rib 110, and longiron 112), a joined wing 102 is formed.

[0024] Figures 3A-3G illustrate exemplary steps of a process for injecting adhesive into joint gaps between multiple structures 120 and a second structure 122 according to one embodiment. An example of the first structure may include components of the wing 102 of an aircraft 104, and an example of the second structure may include the wing skin 116 of the wing 102 of an aircraft 104. The first and second structures may also include other components of the wing 102 or other components of the aircraft 104.

[0025] Specifically, Figure 3A shows a perspective view and a cross-sectional view of the first structure 120 in the initial stage of joining the first structure 120 to the second structure 122 (the second structure 122 is not shown in Figure 3A). The first structure 120 may be a wing component, such as a spar 106, a wing rib 110, or a longiron 112. In this embodiment, the first structure 120 may be a stringer of the aircraft 104. The second structure 122 may be a wing skin 116 or another structure of the aircraft 104. The first structure 120 and the second structure 122 may be structures of another type of transport or other types of structures used in a context other than a transport. At least one hole, for example, a first hole 124 and a second hole 126, may be formed by pre-drilling or otherwise penetrating the first structure 120.

[0026] In the initial stage shown in Figure 3A, adhesive 128 is placed on the outer perimeter 129 of the first structure 120. As shown, a roughly triangular bead of adhesive 128 is placed on the outer perimeter 129. In other examples, the bead of adhesive 128 may have other shapes, such as semicircular, trapezoidal, rectangular, or other amorphous shapes. The adhesive 128 is placed using an injection nozzle (not shown in Figure 3A), manually (e.g., by a human worker), or an end-following injection nozzle that is at least partially autonomously controlled (e.g., by a robotic device). In the embodiment, as shown in Figure 3A, the adhesive 128 includes a plurality of microbeads 130 having a thickness that defines the desired joint gap. The diameter of the microbeads may be, for example, 0.025 inches, or other diameters selected from the range of 0.01 to 0.03 inches. Other thicknesses / diameters are also possible, such as 0.05 inches. Once the adhesive 128 is in place, the first structure 120 can be positioned relative to the second structure 122 such that the adhesive 128 is located between the first structure 120 and the second structure 122. In other examples, the adhesive 128 may be placed on the second structure 122 (for example, on the second structure 122 in the shape of the outer perimeter 129 of the first structure 120) in addition to or instead of being placed on the first structure 120.

[0027] Figure 3B shows a perspective view and a cross-sectional view of the next stage. In the next stage, the first structure 120 is positioned relative to the second structure 122 so that adhesive 128 is placed between the first structure 120 and the second structure 122. As described above, the first structure 120 and the second structure 122 are separated by the thickness of the multiple microbeads 130, and this thickness defines the desired joint gap. Once the first structure 120 and the second structure 122 are joined, adhesive 128 can be pressed until the first structure 120 and the second structure 122 are separated by the multiple microbeads 130. As shown in Figure 3B, the first structure 120 is aligned with the second structure 122 by one or more fasteners, such as fasteners 132 and fasteners 134. Any fastener may be a bolt or other type of fastener. For injecting adhesive into a joint cavity between structures and / or for other purposes described herein, one or more fasteners may each include a through-hole that allows access to the joint cavity. To align the two structures, one or more fasteners may be inserted into holes formed in the first structure 120 (e.g., the first hole 124 and the second hole 126) and into corresponding holes formed in the second structure 122 (not shown in Figure 3A-3G but shown in Figure 4A-4E).

[0028] Figure 3C shows perspective and cross-sectional views of the next stage. In the next stage, the first structure 120 and the second structure 122 are integrated (for example, moved toward each other) until they are separated by a desired joint gap. For this purpose, the first structure 120 may be moved toward the second structure 122, while the second structure 122 remains stationary. Alternatively, the second structure 122 may be moved toward the first structure 120, while the first structure 120 remains stationary. Or, both the first structure 120 and the second structure 122 may be moved toward each other. In the example shown in Figure 3C, fasteners 132 and 134 are secured by tightening one or more gasketed nuts, for example, gasketed nut 136 and gasketed nut 138. Alternatively, the first structure 120 and the second structure 122 may be clamped together using a clamping tool until the desired joint gap is obtained.

[0029] Figure 3D shows a perspective view of the next stage. In the next stage, the outer perimeter 129 is heated to at least partially cure the adhesive 128, thereby forming a leak-proof joint cavity outer perimeter between the first structure 120 and the second structure 122 and the leak-proof joint cavity outer perimeter. In one example, the outer perimeter 129 is heated at a temperature lower than the curing temperature of the adhesive 128 (e.g., below 350 degrees Fahrenheit) to partially cure the adhesive 128 and form a leak-proof joint cavity outer perimeter between the first structure 120 and the second structure 122. In another example, the outer perimeter 129 is heated at a temperature higher than the curing temperature of the adhesive 128 (e.g., above 350 degrees Fahrenheit) to fully cure the adhesive 128 and form a leak-proof joint cavity outer perimeter between the first structure 120 and the second structure 122. Various forms of heating may be used to cure the adhesive 128, including, but not limited to, conductive heating of the adhesive 128 using a resistance heating blanket (not shown), radiant heating of the adhesive 128 using a heat lamp (not shown), convective heating of the adhesive 128 using forced convection (not shown), and / or induction heating of the adhesive 128 using a metal element (not shown) embedded in at least the first structure 120.

[0030] Figure 3E shows a perspective view of the next stage. In the next stage, gas 140 (e.g., helium) is injected into the joint cavity (e.g., through fasteners 132 and 134 as shown) to detect leaks along the outer circumference of the leak-proof joint cavity (i.e., leaks in the adhesive 128 forming the outer circumference of the leak-proof joint cavity). In addition to or instead of this, other techniques for checking for leaks along the outer circumference of the leak-proof joint cavity are also possible. If a leak is found, it is repaired by applying a sealant. In some examples, checking for leaks is optional.

[0031] Figure 3F shows a perspective view of the next stage. In the next stage, air 142 is drawn in from the bonding cavity, and the adhesive 144 is pushed into the bonding cavity. In Figure 3F, a portion of the first structure 120 is permeable so that the adhesive 144 in the bonding cavity is visible. The adhesive 144 is indicated by an arrow pointing into the fastener 134 and is also shown to be filling the bonding cavity. The adhesive 144 may be the same type of adhesive as the adhesive 128 that forms the outer circumference of the leak-proof bonding cavity, or it may be a different type of adhesive. In one example, the adhesive 144 is a degassed adhesive (e.g., an adhesive paste from which air bubbles or air has been drawn in).

[0032] As shown in the figure, the bonding cavity is drawn in through a first hole 124 formed in the first structure 120 (not shown in Figure 3F because it is located below the gasketed nut 136) and through a through hole formed in the fastener 132. The adhesive 144 is pushed into the bonding cavity through a second hole 126 formed in the first structure 120 (not shown in Figure 3F because it is located below the gasketed nut 138) and through a through hole formed in the fastener 134. In some cases, the adhesive 144 is pushed into the bonding cavity while the bonding cavity is being drawn in. Alternatively, the adhesive 144 is pushed into the bonding cavity after the bonding cavity has been drawn in.

[0033] In an alternative suction / injection process, the bonding cavity may be suctioned through the same hole and the adhesive 144 may be pushed into the bonding cavity. To facilitate this, a single hole (e.g., a first hole 124 or a second hole 126) is pre-drilled or otherwise formed in the first structure 120 to access the bonding cavity. The bonding cavity is then suctioned through the single hole. After suction, the adhesive 144 is pushed into the bonding cavity through the single hole. This single-hole process is illustrated and described in more detail by Figures 4A-4E. By suctioning the bonding cavity using the two-hole or single-hole method described above, the presence of air in the bonding cavity can be reduced to minimal or zero, thereby reducing or eliminating the possibility of bonding line gap formation after the injection of adhesive 144. Furthermore, the adhesive 128 forming the outer periphery of the leak-proof bonding cavity can contain all of the injected adhesive 144, thus preventing the adhesive 144 from leaking out of the bonding cavity. In some cases, the above-described intake / injection process (and subsequent curing of the adhesive 144) is optional. Furthermore, it should be understood that, in addition to or instead of injecting the adhesive 144 through the hole in the first structure 120, the adhesive 144 may be injected through the adhesive 128 forming the outer perimeter of the leak-proof joint cavity. For example, a small hole may be made in the adhesive 128 forming the outer perimeter of the leak-proof joint cavity using a subcutaneous injection needle or other type of needle, and then the adhesive 144 may be pushed into the joint cavity using the subcutaneous injection needle. The hole left by the needle can then be repaired and filled with additional adhesive or sealant.

[0034] Figure 3G shows a perspective view of the next stage. In the next stage, the adhesive 144 that has been pressed into the joint cavity is cured, and after the adhesive 144 has cured, the first structure 120 is fastened to the second structure 122. Specifically, the adhesive 144 may be cured using one or more of the heating techniques described above. Alternatively, the adhesive 144 may be one that cures at room temperature, in which case no further heating / curing technique would be necessary. Once the adhesive 144 has cured, additional holes can be drilled through the first structure 120 and the second structure 122, and through the cured adhesive 144, and the first structure 120 and the second structure 122 can be fastened using additional fasteners 146 to increase the joint strength between the two structures. In some examples, this curing and / or additional fastening may be optional.

[0035] Figures 4A-4E illustrate exemplary steps in the process of injecting adhesive 144 into a joint cavity. The joint cavity is formed between the first structure 120 and the second structure 122 and the outer periphery of the leak-proof joint cavity formed by the adhesive 128. Specifically, Figure 4A-4E shows an example of an adhesive injection device 200 that can be used for this purpose.

[0036] The adhesive injection device 200 includes a transfer channel 202 configured to fluidly connect to an adhesive reservoir 204. In one example, the adhesive injection device 200 includes an adhesive reservoir 204. In another example, the adhesive injection device 200 is attached to an adhesive reservoir. The adhesive injection device 200 also includes an injection channel 118 configured to fluidly connect to a bonding cavity. The adhesive injection device 200 also includes an intake channel 208 configured to fluidly connect to a vacuum source 209. The adhesive injection device 200 further includes a three-way valve 210 provided between the transfer channel 202, the injection channel 206, and the intake channel 208. The three-way valve 210 is selectively operable to establish fluid connections between the intake channel 208 and the injection channel 206, between the intake channel 208 and the transfer channel 202, and between the transfer channel 202 and the injection channel 206. The adhesive injection device 200 further includes a flange seal 212. The flange seal 212 is located proximal to the adhesive reservoir 204 and separates the adhesive reservoir 204 from the transfer channel 202. The flange seal 212 prevents air from entering the adhesive reservoir 204.

[0037] To facilitate fluid connection of the injection channel 206 to the joining cavity, the injection channel 206 is connected to the fastener 134 (e.g., positioned to cover, mounted, etc.). A through-hole is formed inside the fastener 134, passing through one of the holes formed in the first structure 120 (e.g., the second hole 126 shown in Figures 4A-4E).

[0038] Figure 4A shows a cross-sectional view of the initial stage. In the initial stage, the bonding cavity is drawn in using the adhesive injection device 200. To facilitate this, the three-way valve 210 can be positioned as shown in Figure 4A to establish a fluid connection between the intake channel 208, the injection channel 206, and the transfer channel 202, thereby activating the vacuum source 209 and allowing the injection channel 206, the transfer channel 202, and the bonding cavity to be drawn in almost simultaneously. The arrows indicate the air being drawn out of the injection channel 206, the transfer channel 202, and the bonding cavity.

[0039] Alternatively, the three-way valve 210 can be positioned to establish a fluid connection between the intake channel 208 and the injection channel 206. Then, the vacuum source 209 is activated to draw air into the injection channel 206 and the joining cavity. After drawing air into the joining cavity and the injection channel 206, the three-way valve 210 can be positioned to establish a fluid connection between the intake channel 208 and the transfer channel 202, and the vacuum source 209 can be activated to draw air into the transfer channel 202.

[0040] Figure 4B shows a cross-sectional view of the next stage. In the next stage, the adhesive 144 is pushed out of the adhesive reservoir 204, rupturing the flange seal 212 and entering the suctioned transfer channel 202. To facilitate the injection of the adhesive 144 into the bonding cavity, the three-way valve 210 is positioned as shown to establish a fluid connection between the suctioned transfer channel 202 and the suctioned injection channel 206. The arrows shown in Figure 4B-4E indicate the pressure applied to the adhesive reservoir 204. This pressure pushes the adhesive 144 out of the adhesive reservoir 204.

[0041] Figure 4C shows a cross-sectional view of the next stage. In the next stage, the adhesive 144 is pushed through the intake injection channel 206 and through the fastener 134.

[0042] Figure 4D shows a cross-sectional view of the next stage. In the next stage, the adhesive 144 is pushed through the intake injection channel 206 and through the fastener 134.

[0043] Figure 4E shows a cross-sectional view of the next stage. In the next stage, adhesive 144 fills the air-filled bonding cavity. Since adhesive 144 does not contain air, when injected into the air-filled bonding cavity, there will be no voids or trapped air bubbles. The resulting bond line is, for example, a void-free bond line.

[0044] In an example as shown in Figures 4A-4E, the joint cavity between the first structure 120 and the second structure 122 has an outer perimeter defined by an adhesive (e.g., the same type of adhesive as adhesive 128 or a different type of adhesive). In another example as shown in Figure 5, the outer perimeter of the joint cavity is defined by a sealant bead. The sealant bead is placed on the outer perimeter of the first structure 120 and / or the second structure 122 to seal the joint cavity and function as an edge masking material. In a more specific example, after the first structure 120 is fastened to the second structure 122, the sealant bead is placed on the outer perimeter of the first structure 120 using an injection nozzle or other applicator to seal the joint cavity. Other embodiments are similarly possible.

[0045] Figure 5 shows a typical exemplary step in a process similar to the process described above, particularly in a scenario where the sealant bead 400 defines the outer periphery of the bonding cavity, where the bonding cavity is suctioned and the adhesive 144 is pushed into the bonding cavity. More specifically, Figure 5 shows the step in which the bonding cavity is suctioned almost simultaneously with the injection channel 206 and the transfer channel 202, as indicated by the arrows and the positioning of the three-way valve 210. To facilitate this, as further illustrated, the adhesive injection device 200 is attached to a hole formed in the first structure 120 (e.g., the second hole 126) via a fastener 134. Alternatively, in some scenarios, the fastener may not be present, and the adhesive injection device 200 may be attached to the hole by other means. After drawing air through the injection channel 206, the transfer channel 202, and the bonding cavity, the adhesive 144 is pushed out of the adhesive reservoir 204 and enters the bonding cavity through the air-drawn transfer channel 202 and the air-drawn injection channel 206, filling the bonding cavity defined by the outer circumference of the sealant bead 400 (for example, in a manner similar to that shown in Figures 4B-4E). In some embodiments, it should be understood that there is a single hole used for injecting the adhesive 144, and there are no other holes in the first structure 120. For example, in embodiments where a second hole 126 is used for injecting the adhesive 144, the first hole 124 may not exist.

[0046] Figure 6 shows an example of a method and system 500 that carries out at least one of the steps described above, according to one embodiment. In the embodiment, the method and system 100 shown in Figure 1a for forming a jointed wing 102 of an aircraft 104 includes the method and system 500. The method and system 500 includes a controller 502 that communicates electrically (e.g., wired or wirelessly) with one or more robotic devices 504 (e.g., robotic arms) and an injection nozzle 506. Thus, the controller 502 can transmit commands to control the robotic devices 504 and / or the injection nozzle 506.

[0047] In embodiments where one or more robotic devices 504 include a single robotic device, the single robotic device can be used, for example, to apply adhesive 128 and integrate the first structure 120 and the second structure 122. In embodiments where one or more robotic devices 504 include two or more robotic devices, for example, one robotic device may be used to perform one or more tasks (e.g., applying adhesive 128), and another robotic device may be used to perform one or more other tasks (e.g., integrating the structures). Other embodiments are similarly possible.

[0048] The controller 502 may take the form of a client device (e.g., a computing device actively operated by a user, such as a desktop computer or smartphone), a server, a cloud computing device, or some other type of computer platform. As shown in the figure, the controller 502 includes a processor 508 and memory 510. The processor 508 may be a general-purpose processor or a special-purpose processor (e.g., a digital signal processor, an application-specific integrated circuit, etc.). The processor 508 is configured to execute instructions 512 (e.g., computer-readable program instructions, including computer-executable code). The instructions 512 are stored in memory 510 and are executable to provide the various operations described herein. For example, the processor 508 can execute an instruction 512 that controls a robotic device 504 to place adhesive 128 around the outer perimeter 129 of the first structure 120 using an injection nozzle 506. Other examples are possible for providing a bead of adhesive 128 around the outer perimeter 129 of the first structure 120. For example, the adhesive 128 may be placed manually. For example, it can be placed manually with or without some assistance from a tool (e.g., a manually operated edge-following tool) (e.g., a craftsman placing adhesive 128 using a glue gun).

[0049] In the embodiment, the controller 502 is configured to (i) control one or more robotic devices 504 to position the first structure 120 relative to the second structure 122 such that adhesive 128 is placed between the first structure 120 and the second structure 122; (ii) control one or more robotic devices 504 to integrate the first structure 120 and the second structure 122 until they are separated by a desired joint gap; and (iii) control one or more robotic devices 504 to heat the outer periphery 129 to at least partially cure the adhesive 128 and form a leak-proof joint cavity outer periphery between the first structure 120 and the second structure 122.

[0050] In the embodiment, the controller 502 is configured to control one or more robotic devices 504 to integrate the first structure 120 and the second structure 122 until they are separated by a desired joint gap. The one or more robotic devices 504 are controlled to integrate the first structure 120 and the second structure 122 until they are separated by the thickness of a plurality of microbeads 130, the thickness of which defines the desired joint gap.

[0051] In this embodiment, the controller 502 is configured to control one or more robotic devices 504 to place adhesive 128 on the outer periphery 129 of the first structure 120 to be joined to the second structure 122. The one or more robotic devices 504 are controlled to place adhesive 128 on the outer periphery 129 of the first structure 120 to be joined to the second structure 122, and the adhesive bead has a shape selected from the group consisting of triangular, semicircular, trapezoidal, rectangular, and amorphous shapes.

[0052] The memory 510 may take the form of one or more computer-readable storage media that are readable or accessible by one or more processors 508. The computer-readable storage media may include volatile and / or non-volatile storage components (such as optical memory, magnetic memory, organic memory, or other memory, or disk storage) that can be integrated whole or partially with the processors 508. The memory 510 is considered a non-transient computer-readable medium. In some embodiments, the memory 510 can be implemented using a single physical device (e.g., one optical memory, magnetic memory, organic memory, or other memory, or disk storage unit), while in other embodiments, the memory 510 may be implemented using two or more physical devices.

[0053] Figure 7 shows a flowchart of an example of a method 600 for sealing a bonding cavity. The method 600 shown in Figure 7 is an example of a method that may be used in conjunction with the method and system 100 and method and system 500 shown in Figures 1, 2, and 5, combinations thereof, or their components. Furthermore, the functions described in relation to Figure 7 may be complemented, replaced, or combined with the functions and steps described above, for example, in relation to Figures 3A-3G and 4A-4E. Moreover, a device or system may be used to perform the logical functions presented in Figure 7, or may be configured to perform such logical functions.

[0054] In some cases, a device and / or system component may be configured to perform the above function, and in fact, the component (together with the hardware and / or software) may be designed and configured to enable such performance. In other examples, a device and / or system component may be arranged to conform to the performance of the above function when operated in a particular manner, for example, or to enable the performance of the above function, or to be arranged to be suitable for the performance of the above function. Method 600 includes one or more operations, functions, or actions, as shown in one or more of blocks 602 to 608. Furthermore, each block in Figures 8 to 21 may be implemented according to one or more of blocks 602 to 608. Although the blocks are shown in order, these blocks may be implemented in parallel and / or in an order different from the order described herein. Also, various blocks can be combined to reduce the number of blocks, divided to add blocks, and / or removed based on a desired implementation.

[0055] In the embodiments, one or more blocks of Method 600 may be represented by a program or circuit. Such a program or circuit is used to control a robotic mechanism for joining a first structure to a second structure (for example, when assembling a wing including a joint structure and / or multiple joint structures). Method 600 and its variations may be performed automatically, for example, using one or more robotic mechanisms controlled by program code operating according to Method 600, although some of the tasks may be performed manually. Thus, in the embodiments, some of the functions described in relation to Method 600 may be performed automatically and others manually. Alternatively, all blocks of Method 600 may be performed automatically, or all blocks of Method 600 may be performed manually.

[0056] In block 602, method 600 includes placing adhesive 128 on the outer circumference 129 of the first structure 120 to be joined to the second structure 122.

[0057] In block 604, method 600 includes positioning the first structure 120 relative to the second structure 122 such that an adhesive 128 is placed between the first structure 120 and the second structure 122.

[0058] In block 606, method 600 includes integrating the first structure 120 and the second structure 122 until the first structure 120 and the second structure 122 are separated by a desired joint gap.

[0059] In block 608, method 600 includes heating the outer periphery 129 to at least partially cure the adhesive 128 to form a leak-proof bonding cavity outer periphery between the first structure 120 and the second structure 122.

[0060] Figure 8 shows a flowchart illustrating an exemplary method for implementing the arrangement shown in block 602. In block 610, the function includes placing adhesive 128 on the outer perimeter 129 of the first structure 120 of the aircraft 104 to be joined to the second structure 122 of the aircraft 104.

[0061] Figure 9 shows a flowchart of an exemplary method for implementing the arrangement shown in block 610. In block 612, the function includes placing adhesive 128 on the outer circumference 129 of the stringer of the wing 102 of the aircraft 104, which is to be joined to the wing skin 116 of the wing 102 of the aircraft 104. In one example, the stringer is one of the longirons 112 shown in Figure 1A.

[0062] Figure 10 shows a flowchart of an exemplary method for implementing the arrangement shown in block 602. In block 614, the function includes placing a bead of adhesive 128 on the outer perimeter 129 of the first structure 120 to be joined to the second structure 122. The bead has a shape selected from the group consisting of triangular, semicircular, trapezoidal, rectangular, and amorphous shapes.

[0063] Figure 11 shows a flowchart illustrating an exemplary method for implementing the arrangement shown in block 602. In block 616, the function includes applying adhesive 128 to the outer perimeter 129 of the first structure 120 to be joined to the second structure 122, using an injection nozzle 506 that is at least partially autonomously controlled.

[0064] Figure 12 shows a flowchart of an exemplary method for performing the integration shown in block 606. In block 618, the function includes integrating the first structure 120 and the second structure 122 until the first structure 120 and the second structure 122 are separated by a thickness of a plurality of microbeads 130 that define a desired joint gap.

[0065] Figure 13 shows a flowchart illustrating an exemplary method for performing the positioning shown in block 604 and the integration shown in block 606. In block 620, the function includes positioning the first structure 120 relative to the second structure 122 by one or more fasteners 132, 134. In block 622, the function includes integrating the first structure 120 and the second structure 122 by tightening a clamping tool that secures the first structure 120 and the second structure 122 together.

[0066] Figure 14 shows a flowchart illustrating an exemplary method for performing the positioning shown in block 604 and the integration shown in block 606. In block 624, the function includes positioning the first structure 120 relative to the second structure 122 by fasteners 132, 134. In block 626, the function includes integrating the first structure 120 and the second structure 122 by securing one or more fasteners 132, 134 by tightening one or more gasketed nuts 136, 138.

[0067] Figure 15 shows a flowchart of an exemplary method for carrying out the heating shown in block 608. In block 628, the function includes heating the outer periphery 129 using a heating process selected from the group consisting of conductive heating of the adhesive 128 using a resistance heating blanket, radiant heating of the adhesive 128 using a heat lamp, convective heating of the adhesive 128 using forced convection, and / or induction heating of the adhesive 128 using a metal element embedded in at least the first structure 120.

[0068] Figure 16 shows a flowchart of an exemplary method for carrying out the heating shown in block 608. In block 630, the function includes heating the outer periphery 129 to a temperature lower than the curing temperature of the adhesive 128 to partially cure the adhesive 128 and form a leak-proof bonding cavity outer periphery between the first structure 120 and the second structure 122.

[0069] Figure 17 shows a flowchart of an exemplary method for carrying out the heating shown in block 608. In block 632, the function includes heating the outer periphery 129 to the curing temperature of the adhesive 128 to fully cure the adhesive 128 and form a leak-proof joint cavity outer periphery between the first structure 120 and the second structure 122.

[0070] Figure 18 shows a flowchart of an exemplary method used in conjunction with method 600. In block 634, the function includes drawing air into the cavity formed between the first structure 120 and the second structure 122 and the outer circumference of the leak-proof joint cavity. In block 636, the function includes pushing adhesive 144 into the cavity. In block 638, the function includes curing the adhesive 144 that has been pushed into the cavity.

[0071] Figure 19 shows a flow chart of an exemplary method for performing the intake shown in block 634 and the intrusion shown in block 636. In block 640, the function includes drawing air into the cavity formed between the first structure 120, the second structure 122, and the outer circumference of the leak-proof joint cavity through a first hole 124 formed in the first structure 120. In block 642, the function includes drawing air into the cavity through the first hole 124 while intruding the adhesive 144 into the cavity through a second hole 126 formed in the first structure 120.

[0072] Figure 20 shows a flow diagram of an exemplary method for performing the intake shown in block 634 and the intrusion shown in block 636. In block 644, the function includes drawing air into the cavity formed between the first structure 120 and the second structure 122 and the outer circumference of the leak-proof joint cavity through a single hole formed in the first structure 120. In block 646, the function includes intruding the adhesive 144 into the cavity through the single hole. The single hole may be, for example, the second hole 126 described above.

[0073] Figure 21 shows a flowchart of an exemplary method used in conjunction with method 600, particularly the function shown in blocks 634-638. In block 648, the function includes fastening the first structure 120 to the second structure 122 after the adhesive 144 has cured.

[0074] Various examples of systems, devices, and methods disclosed herein include a variety of components, features, and functions. These various examples of systems, devices, and methods disclosed herein may include any components, features, and functions of any other example of systems, devices, and methods disclosed herein, in any combination or subcombination, and all such possibilities are intended to be within the scope of this disclosure.

[0075] This disclosure further includes embodiments as provided below.

[0076] Article 1 A method for sealing a joint cavity (600), An adhesive (128) is placed on the outer periphery of the first structure (120) to be joined to the second structure (122) (602), Position the first structure (120) relative to the second structure (122) such that adhesive (128) is placed between the first structure (120) and the second structure (122) (604). Integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by a desired joint gap (606), Heating the outer periphery (608) to at least partially cure the adhesive (128) and form a leak-proof joint cavity outer periphery between the first structure (120) and the second structure (122). Method (600), including the following.

[0077] Article 2 The method according to Clause 1 (600), wherein placing adhesive (128) on the outer periphery of the first structure (120) to be joined to the second structure (122) (602) includes placing adhesive (128) on the outer periphery of the first structure (120) of the aircraft (104) to be joined to the second structure (122) of the aircraft (104) (610).

[0078] Article 3 The method according to Clause 2 (600), wherein placing adhesive (128) around the outer periphery of a first structure (120) of an aircraft (104) (610) includes placing adhesive (128) around the outer periphery of a stringer (112) of an aircraft (104) wing (102) to be joined to a wing skin (116) of the wing (102) of the aircraft (104) (612).

[0079] Article 4 The method according to any one of the claims 1 to 3 (600), wherein placing adhesive (128) on the outer periphery of a first structure (120) to be joined to a second structure (122) (602) includes placing a bead of adhesive (128) having a shape selected from the group consisting of triangles, semicircles, trapezoids, rectangles, and amorphous shapes on the outer periphery of the first structure (120) to be joined to the second structure (122) (614).

[0080] Article 5 The method according to any one of the clauses 1 to 4 (600), wherein the placement of adhesive (128) on the outer periphery of the first structure (120) to be joined to the second structure (122) (602) includes placing adhesive (128) on the outer periphery of the first structure (120) to be joined to the second structure (122) (616) by an injection nozzle (506) which is at least partially autonomously controlled.

[0081] Article 6 The adhesive (128) comprises a plurality of microbeads (130) having a thickness that defines a desired joint gap. The method according to any one of the clauses 1 to 5 (600), wherein integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by a desired joint gap (606) comprises integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by the thickness of a plurality of microbeads (130) (618), the thickness defining the desired joint gap.

[0082] Article 7 Positioning the first structure (120) relative to the second structure (122) such that an adhesive (128) is placed between the first structure (120) and the second structure (122) (604) includes aligning the first structure (120) relative to the second structure (122) (620) by one or more fasteners (132, 134), The method according to any one of the clauses 1 to 6 (600), wherein integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by a desired joint gap (606) includes integrating the first structure (120) and the second structure (122) by tightening a clamping tool that secures the first structure (120) and the second structure (122) (622).

[0083] Article 8 Positioning the first structure (120) relative to the second structure (122) such that an adhesive (128) is placed between the first structure (120) and the second structure (122) (604) includes aligning the first structure (120) relative to the second structure (122) (620) by one or more fasteners (132, 134), The method according to any one of the clauses 1 to 6 (600), wherein integrating the first structure (120) and the second structure (122) (606) until the first structure (120) and the second structure (122) are separated by a desired joint gap includes integrating the first structure (120) and the second structure (122) (626) by fastening one or more gasketed nuts (136, 138) to secure one or more fasteners (132, 134).

[0084] Article 9 The method (600) of any one of the claims 1 to 8, wherein heating (608) the outer periphery to at least partially cure the adhesive (128) to form an outer periphery of a leak-proof bonding cavity between the first structure (120) and the second structure (122) includes heating (628) the outer periphery using a heating process selected from the group consisting of conductive heating of the adhesive (128) using a resistance heating blanket, radiant heating of the adhesive (128) using a heat lamp, convective heating of the adhesive (128) using forced convection, and / or induction heating of the adhesive (128) using a metal element embedded in at least the first structure (120).

[0085] Clause 10 The method according to any one of the claims 1 to 9 (600), wherein heating the outer periphery (608) to at least partially cure the adhesive (128) to form an outer periphery of a leak-proof joint cavity between the first structure (120) and the second structure (122) is further comprising heating the outer periphery at a temperature lower than the curing temperature of the adhesive (128) (630) to partially cure the adhesive (128) to form an outer periphery of a leak-proof joint cavity between the first structure (120) and the second structure (122).

[0086] Article 11 The method according to any one of the claims 1 to 9 (600), comprising heating the outer periphery (608) to at least partially cure the adhesive (128) to form an outer periphery of a leak-proof joint cavity between the first structure (120) and the second structure (122), and heating the outer periphery at the curing temperature of the adhesive (128) (632) to fully cure the adhesive (128) to form an outer periphery of a leak-proof joint cavity between the first structure (120) and the second structure (122).

[0087] Article 12 To draw air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity (634), Pressing the adhesive (144) into the cavity (636), and The adhesive (144) pressed into the cavity is cured (638). The method described in any one of the clauses 1 to 11, further including (600).

[0088] Article 13 Inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity (634) includes inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity through the first hole (124) formed in the first structure (120) (640), The method according to Clause 12 (600), wherein the act of pushing the adhesive (144) into the cavity (636) includes pushing the adhesive (144) into the cavity (642) through a second hole (126) formed in the first structure (120) while drawing air into the cavity through a first hole (124).

[0089] Article 14 Inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity (634) includes inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity through a single hole (126) formed in the first structure (120) (644), The method according to Clause 12 (600), wherein pressing the adhesive (144) into the cavity (636) includes pressing the adhesive (144) into the cavity through a single hole (126) (646).

[0090] Article 15 The method (600) described in any one of clauses 12 to 14, further comprising fastening (648) the first structure (120) to the second structure (122) after the adhesive (128) has cured.

[0091] Article 16 A sealed joint cavity between a first structure (120) and a second structure (122) produced by a process, wherein the process is An adhesive (128) is placed around the outer periphery of the first structure (120) to be joined to the second structure (122). Position the first structure (120) relative to the second structure (122) such that adhesive (128) is placed between the first structure (120) and the second structure (122). Integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by a desired joint gap, and Heating the outer periphery to at least partially cure the adhesive (128) and form a leak-proof bonding cavity outer periphery between the first structure (120) and the second structure (122). A bonding cavity, including the one mentioned above.

[0092] Article 17 A system (500) for sealing the joint cavity between a first structure (120) and a second structure (122), wherein the system Injection nozzle (506), One or more robotic devices (504), and A system comprising a controller (502), the controller (502) electronically communicates with an injection nozzle (506) and one or more robotic devices (504), the controller (502) is configured to control one or more robotic devices (504), and the one or more robotic devices (504) are controlled to heat the outer periphery to at least partially cure the adhesive (128) when a first structure (120) is joined to a second structure (122), and to position the adhesive (128) by the injection nozzle (506) on the outer periphery of the first structure (120) to be joined to the second structure (122) such that a leak-proof joining cavity outer periphery is formed between the first structure (120) and the second structure (122).

[0093] Article 18 Controller (502) further, The system (500) according to Clause 17, configured to control one or more robotic devices (504) to position the first structure (120) relative to the second structure (122) such that an adhesive (128) is placed between the first structure (120) and the second structure (122); to control one or more robotic devices (504) to integrate the first structure (120) and the second structure (122) until they are separated by a desired joint gap; and to heat the outer periphery to at least partially cure the adhesive (128) and form a leak-proof joint cavity outer periphery between the first structure (120) and the second structure (122).

[0094] Article 19 The adhesive (128) comprises a plurality of microbeads (130) having a thickness that defines a desired joint gap. The system (500) according to Clause 18, comprising controlling one or more robotic devices (504) to integrate the first structure (120) and the second structure (122) until they are separated by a desired joint gap, and controlling one or more robotic devices (504) to integrate the first structure (120) and the second structure (122) until they are separated by a thickness of a plurality of microbeads (130), wherein the thickness defines the desired joint gap.

[0095] Article 20 A system (500) according to any one of Clauses 17 to 19, comprising controlling one or more robotic devices (504) to place adhesive (128) on the outer periphery of a first structure (120) to be joined to a second structure (122), wherein the adhesive (128) bead has a shape selected from the group consisting of triangular, semicircular, trapezoidal, rectangular, and amorphous shapes.

[0096] The descriptions of various advantageous configurations are presented for illustrative and explanatory purposes only and are not intended to be exhaustive or to limit oneself to the examples of the disclosed forms. Numerous modifications and variations will be obvious to those skilled in the art. Furthermore, various advantageous embodiments may illustrate different advantages compared to other advantageous embodiments. Selected embodiments, one or more, are chosen and described to best illustrate the principles and practical applications of those embodiments, and to enable those skilled in the art to understand that the disclosure of various embodiments, including various modifications, is suitable for specific intended uses.

Claims

1. A method for sealing a joint cavity (600), The method involves placing an adhesive (128) on the outer circumference of a first structure (120) to be joined to a second structure (122), wherein the first structure (120) is a stringer for an aircraft wing, and the second structure (122) is a wing skin, and the method involves placing an adhesive (128) on the outer circumference of a first structure (120) to be joined to a second structure (122), where the first structure (120) is a stringer for an aircraft wing, and the second structure (122) is a wing skin, Positioning the first structure (120) relative to the second structure (122) such that the adhesive (128) is placed between the first structure (120) and the second structure (122) (604), Integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by a desired joint gap (606), Heating the outer circumference (608) to at least partially cure the adhesive (128) and to form a leak-proof bonding cavity outer circumference between the first structure (120) and the second structure (122), Injecting gas into the leak-proof joint cavity to detect whether there is any leakage along the outer circumference of the leak-proof joint cavity, To draw air into the cavity (634), Pressing the adhesive (144) into the cavity (636), and The adhesive (144) that was pressed into the cavity is cured (638). Method (600), including.

2. The method according to claim 1 (600), wherein placing the adhesive (128) on the outer circumference of the first structure (120) to be joined to the second structure (122) (602) includes placing a bead of the adhesive (128) having a shape selected from the group consisting of triangles, semicircles, trapezoids, rectangles, and amorphous shapes on the outer circumference of the first structure (120) to be joined to the second structure (122) (614).

3. The method according to claim 1 or 2 (600), wherein the placement of the adhesive (128) on the outer circumference of the first structure (120) to be joined to the second structure (122) (602) includes the placement of the adhesive (128) on the outer circumference of the first structure (120) to be joined to the second structure (122) (616) by an injection nozzle (506) that is at least partially autonomously controlled (600).

4. The adhesive (128) comprises a plurality of microbeads (130) having a thickness that defines the desired joint gap, The method according to any one of claims 1 to 3 (600), wherein integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by the desired joint gap (606) comprises integrating the first structure (120) and the second structure (122) until the first structure (120) and the second structure (122) are separated by the thickness of the plurality of microbeads (130) (618), the thickness defining the desired joint gap.

5. Inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity (634) includes inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity through the first hole (124) formed in the first structure (120) (640), The method according to any one of claims 1 to 4 (600), wherein the act of pushing the adhesive (144) into the cavity (636) includes pushing the adhesive (144) into the cavity (642) through a second hole (126) formed in the first structure (120) while drawing air into the cavity through the first hole (124).

6. Inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity (634) includes inhaling air into the cavity formed between the first structure (120), the second structure (122), and the outer circumference of the leak-proof joint cavity through a single hole (126) formed in the first structure (120) (644), The method according to any one of claims 1 to 4 (600), wherein pushing the adhesive (144) into the cavity (636) includes pushing the adhesive (144) into the cavity through the single hole (126) (646).

7. The method according to any one of claims 1 to 6 (600), wherein the adhesive (144) pressed into the cavity is degassed.

8. The method is carried out using a system (500) for sealing the joint cavity between the first structure (120) and the second structure (122), wherein the system Injection nozzle (506), One or more robotic devices (504), and The injection nozzle (506) and the controller (502) that communicates electronically with the one or more robotic devices (504) Includes, The controller (502) is configured to control one or more robotic devices (504) so ​​that the injection nozzle (506) places the adhesive (128) on the outer circumference of the first structure (120) to be joined to the second structure (122), so that when the first structure (120) is joined to the second structure (122) and its outer circumference is heated, the adhesive (128) hardens at least partially, forming the outer circumference of the leak-proof bonding cavity between the first structure (120) and the second structure (122). The controller (502) is The cavity formed between the first structure (120) and the second structure (122) and the outer circumference of the leak-preventing joint cavity is drawn in. The adhesive (144) is pushed into the cavity. The adhesive (144) that was pushed into the cavity is cured. The method according to claim 1 (600), further configured to perform control in such a manner.

9. The controller (502) Control one or more robotic devices (504) to position the first structure (120) relative to the second structure (122) such that the adhesive (128) is placed between the first structure (120) and the second structure (122). Control the one or more robotic devices (504) to integrate the first structure (120) and the second structure (122) until they are separated by the desired joint gap. The robotic device (504) is controlled to heat the outer periphery to at least partially cure the adhesive (128) and to form the outer periphery of the leak-proof bonding cavity between the first structure (120) and the second structure (122). The method according to claim 8 (600), further configured as follows.

Images