CN-122007104-A - Space tank main conveying pipe redundant cleaning and control system and working method

CN122007104ACN 122007104 ACN122007104 ACN 122007104ACN-122007104-A

Abstract

The invention provides a system for cleaning and controlling surplus materials of a main conveying pipe of a space storage tank and a working method, comprising an intelligent surplus material identification module, an endoscope, a track robot and a roller frame, wherein the main conveying pipe can axially rotate around the main conveying pipe through the roller frame, the track robot comprises a motion module and an execution module, the track robot can move along the inner wall of a pipeline of the main conveying pipe through the motion module, the execution module comprises a mechanical arm, a parallelogram unfolding mechanism, a low-pressure air pipeline and an endoscope lens of the endoscope are arranged on the mechanical arm, and a processing device is arranged at the tail end of the mechanical arm. The invention can collect images in real time and transmit the images to the redundant intelligent recognition module, automatically judge redundant species and feed the redundant species back to the control system of the track robot, the mechanical arm is quickly switched to a corresponding tool according to the redundant species to clean the redundant species, and the functions of detecting the inner surface quality of the main conveying pipe, cleaning, controlling, recording the whole area of the redundant species and the like can be realized.

Inventors

LIU TING
ZHAO YAOBANG
BU XING
CHEN GENLIANG
CHEN JIANHUAN
JIN NIUNIU
GONG KANG

Assignees

上海航天精密机械研究所

Dates

Publication Date: 20260512
Application Date: 20260115

Claims (10)

1. The system is characterized by comprising an intelligent redundant identification module (1), an endoscope (2), an orbital robot (3) and a roller frame, wherein the endoscope (2) and the orbital robot (3) are electrically connected with the intelligent redundant identification module (1), a main conveying pipe (4) is placed on the roller frame, and the main conveying pipe (4) can rotate around the axial direction of the main conveying pipe through the driving of the roller frame; the track robot (3) comprises a motion module and an execution module, wherein the track robot (3) can move along the inner wall of a pipeline of the main conveying pipe (4) through the driving of the motion module; The execution module comprises a mechanical arm, wherein a parallelogram unfolding mechanism (7), a low-pressure air pipeline (11) and an endoscope lens (10) of an endoscope (2) are arranged on the mechanical arm, a processing device (9) is arranged at the tail end of the mechanical arm, a quick disassembling knob (8) for replacing a processing tool is arranged on the processing device (9), and the processing device (9) can adjust the distance between the processing device and a pipe wall through driving of the parallelogram unfolding mechanism (7).
2. The system for cleaning and controlling the surplus of the main conveying pipe of the space tank according to claim 1, wherein the motion module comprises three driving wheels which are uniformly distributed along the circumferential direction, the three driving wheels are all attached to the inner wall of the pipeline of the main conveying pipe (4), and a motion controller is arranged on the driving wheels, so that the three driving wheels can synchronously move through the motion controller.
3. A space tank main conveyor pipe surplus cleaning and control system according to claim 1, characterized in that the joints of the parallelogram deployment mechanism (7) are provided with elastic hinges, the parallelogram deployment mechanism (7) being able to be deployed or stowed along the parallelogram frame diagonal.
4. The system for cleaning and controlling the surplus of the main conveying pipe of the space tank according to claim 1, wherein the endoscope lens (10) and the low-pressure air pipeline (11) are arranged above the processing device (9), a motor is arranged on the mechanical arm, and the processing device (9) can rotate through motor driving.
5. The aerospace storage tank main conveying pipe surplus cleaning and controlling system according to claim 1, wherein the roller frames comprise a driving roller frame (6) and one or more driven roller frames (5) which are coaxially arranged, the driving roller frame (6) and the driven roller frames (5) are attached to the outer wall of the main conveying pipe (4), and a rotating motor and a speed controller are arranged on the driving roller frame (6).
6. A method of operating a space tank main pipe retentate cleaning and control system as claimed in any one of claims 1-5, comprising the steps of: Step S1, intelligent recognition of redundant materials, wherein the track robot (3) crawls from one end of the main conveying pipe (4), in the crawling process of the track robot (3), image information acquired through an endoscope lens (10) is transmitted to the intelligent recognition module (1) of the redundant materials, judgment of the types of the redundant materials is carried out, the judgment of the types of the redundant materials is fed back to the track robot (3), and if the redundant materials appear in the pipeline, the track robot (3) stops crawling and processes the same; Step S2, surplus materials are dynamically cleaned, an adaptive tool is switched by the track robot (3) according to the type of the surplus materials, generated flying scraps are blown off through a low-pressure air pipeline (11) after the track robot (3) processes the defects, then whether the surplus materials are processed to meet the requirements or not is judged through an endoscope lens (10) and an intelligent surplus material identification module (1), the processing is stopped after the requirements are met, and the track robot (3) continues to advance for detection; step S3, repeating the step S1 and the step S2 until the track robot (3) climbs to the other end of the main conveying pipe (4); step S4, the roller frame rotates by a preset angle to drive the main conveying pipe (4) to rotate by the preset angle, and the track robot (3) repeats the steps S1 to S3 to clean the surplus substances until the surplus substances on the inner wall of the pipeline are completely cleaned; S5, switching a processing device (9) to a non-woven fabric dipped with absolute ethyl alcohol, crawling the track robot (3) from one end of the main conveying pipe (4) to realize indiscriminate cleaning of the inner surface, replacing the non-woven fabric when the track robot (3) crawls to the other end of the main conveying pipe (4), rotating the roller frame by a preset angle, and repeatedly crawling the track robot (3) until the whole area cleaning of the inner surface of a pipeline is realized; And S6, recording sound and image of the detection result of the inner surface of the main conveying pipe (4), and sealing flanges at two ends by using a blanking cover to prevent the entry of redundant substances.
7. The method of claim 6, wherein in step S2, the surplus materials include weld spatter, burrs, macula, water stains, scratch buildup.
8. The working method of the system for cleaning and controlling the surplus of the main conveying pipe of the space tank according to claim 7, characterized in that when the splashes and burrs of the welding seam are treated, the treatment device (9) is switched to the quartz polishing head for treatment; when the macula or the water stain is treated, the treatment device (9) is switched to the scouring pad head for treatment; When the scratches are accumulated, the processing device (9) is switched to the hundred-impeller sanding head tool for processing.
9. Method of operating a main conveyor pipe surplus cleaning and control system for space tanks according to claim 6, characterized in that in step S6 the crawling speed of the orbital robot (3) is not greater than 1.2m/min.
10. A method of operating a main conveyor pipe redundancy cleaning and control system for space tanks according to claim 6, characterized in that the rotation angle of the roller frame comprises 7.5 °, and the orbital robot (3) crawls 48 times to complete the inner surface redundancy cleaning.

Description

Space tank main conveying pipe redundant cleaning and control system and working method Technical Field The invention relates to the technical field of control of the surplus of aerospace products, in particular to a system for cleaning and controlling the surplus of a main conveying pipe of an aerospace storage box and a working method. Background With the progress of the manufacturing level of the aerospace industry and the increase of the demand of products, the aerospace products gradually develop towards automation, high efficiency and high quality. The main conveying pipe of the space tank is used as an important channel for conveying liquid oxygen or fuel, plays roles of propellant conveying, flow stability control and the like, and is directly related to the reliability of carrier rocket flight. Because the pipeline system is communicated with the engine, and the valve, the sealing surface and the like of the power system are easy to be blocked by the excessive materials in the pipeline, and the excessive materials can also react with fuel to influence the normal operation of the engine, the quality of the inner surface of the control conduit is required to be strictly controlled. The surface problems are common in the case of excess and stains on the inner surface of a catheter, wherein the size of the excess is generally controlled below 0.05x0.05mm3 or 0.07 x0.07 mm3, and an endoscope is often required to detect the inner surface, so that no tiny excess remains and the existence of potential risks is avoided. The prior art patent with the publication number of CN107061924B discloses a self-reducing pipeline cleaning robot, which comprises a machine body, wherein a walking device and a cleaning device are arranged on the machine body, the walking device comprises a front walking device and a rear walking device which are identical in structure, each of the front walking device and the rear walking device comprises three supporting legs and three first elastic pieces uniformly distributed along the circumferential direction, one end of each first elastic piece is connected with the machine body, the other end of each first elastic piece is correspondingly connected with one supporting leg, walking wheels are arranged at the tail ends of the supporting legs, the front walking device and the rear walking device comprise transmission mechanisms for driving the walking wheels to roll, the cleaning device comprises an elastic telescopic cleaning frame, and a plurality of brush heads are arranged on the cleaning frame. With the gradual lifting of carrying capacity, the length of the main conveying pipe of the aerospace storage box reaches 20m, and compared with the existing model 8 m-level main conveying pipe, the method has the advantages that the excessive cleaning and control of the inner surface of the main conveying pipe are realized, and the production difficulty and the workload are greatly improved. As the detection of the surplus on the inner surface of the catheter depends on an endoscope, the visual field range is only in the centimeter level, and the manual detection has long period and large cleaning difficulty, and is unfavorable for coping with the gradually compressed total assembly period. Therefore, the redundant cleaning and controlling system and the working method suitable for the main conveying pipe of the space storage tank are needed to be provided, and automatic detection and cleaning of redundant materials on the inner surface of the main conveying pipe can be realized, so that the problems that the redundant materials in the pipeline of the main conveying pipe are difficult to clean, the detection workload of an endoscope is large and the like are solved. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a system for cleaning and controlling the surplus of a main conveying pipe of a space tank and a working method. The invention provides a system for cleaning and controlling surplus materials of a main conveying pipe of a space storage tank, which comprises an intelligent surplus material identification module, an endoscope, an orbital robot and a roller frame, wherein the endoscope and the orbital robot are electrically connected with the intelligent surplus material identification module, the main conveying pipe is placed on the roller frame, and the main conveying pipe can rotate around the axial direction of the main conveying pipe through the driving of the roller frame; the track robot comprises a motion module and an execution module, wherein the track robot can move along the inner wall of a pipeline of the main conveying pipe through the driving of the motion module; the execution module comprises a mechanical arm, a parallelogram unfolding mechanism, a low-pressure air pipeline and an endoscope lens of the endoscope are arranged on the mechanical arm, a processing device is arranged at the tail end of the mechanical arm, a q