| With the rapid development of space technology, more and more requirements for the degree of automation of space equipment are required. Because of the existence of deformation problems in the aircraft honeycomb adhesive spread process, the heat-shield perfusion, which has not realized the automation, still use manual perfusion. What's more, the way of manual perfusion which is less efficiency, is difficult to satisfy quality. In particular, for the large launch aircraft, because of the large size of the honeycomb and the large number of the grid, manual perfusion is difficult to meet the needs of work. This paper, according to the perfusion requirement of large sphercial crown honeycomb heat-shield, focuses on the research of automatic perfusion system of sphercial crown honeycomb heat-shield and put forward the overall design scheme of the automatic perfusion system. Then, this paper focuses on the detailed analysis, calculation and structure design of automatic perfusion robot and perfusion device, which provides technical support for the automatic perfusion of heat-shield. The research is provided with important theoretical significance and practical application value.The main research contents are as follows:(1)Research on the overall design scheme of the automatic perfusion system of sphercial crown honeycomb heat-shield. The function and the process flow of automatic perfusion system are determined through the analysis of structure parameters and the perfusion requirement of sphercial crown honeycomb heat-shield. According to the function and the process flow, the overall design scheme of the automatic perfusion system is determined. And then, the composition of automatic perfusion system is determined, which is constituted of automatic perfusion robot, perfusion device, installation platform of workpiece, detection device of honeycomb and control device and system.(2)The design of the scheme for automatic perfusion robot. According to structure parameters of the sphercial crown honeycomb heat-shield and the overall design scheme of the automatic perfusion system, the function and degrees of automatic perfusion robot are determined, on this basis of which, the schemes of automatic perfusion robot are designed and analyzed. Through the comparison and analysis of the three different kinds of schemes, a new scheme of frame type series-parallel hybrid robot is determined, in which, the frame type translational mechanism and position and attitude adjusting mechanism need to be designed.(3)The structural configuration and kinematic analysis for position and attitude adjusting mechanism. The kinematic analysis should be done when the structure of translational parallel mechanism and attitude adjustment mechanism have been done. The range of the workspace of position and the attitude to adjust mechanism and to do dimension synthesis are determined by dividing the working area of sphercial crown honeycomb heat-shield. Then, it's time to do the kinetic analysis of translational parallel mechanism. According to the perfusion requirement, the structure of translational parallel mechanism and attitude adjustment mechanism is designed, including the selection of related standard parts. At last, in order to establish 3D solid models, the overall structure of position and attitude adjusting mechanism should be determined.(4)The design of structure for frame type translational mechanism. According to the structure parameters of position and attitude adjusting mechanism and the perfusion requirement, the structure of the frame type translational mechanism is designed, including dimension synthesis and design of transmission scheme of the mechanism, on the basis of which, according to the technical parameters, the structure and type of two moving axes is designed. At last, establish 3D solid models by determining the overall structure of frame type translational mechanism.(5)The design of structure for perfusion device. According to the structure parameters of sphercial crown honeycomb heat-shield and automatic perfusion robot, the structure of perfusion device is designed. According to the function of automatic perfusion system, the composition of perfusion device is determined, which includes feeding container of thermal protection material, injection device, rotation device and grab device. Then, design the structure of perfusion device, including the structure design of rotation device and motor selection, the structure design and selected calculation of injection device, the selected calculation of electromagnetic chuck and rotation device. At last, establish 3D solid models by determining the overall structure of perfusion device. |
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