Manipulators for automated single-point leak testing

Abstract

The invention discloses a mechanical hand used for automatic single-point leakage detection. The mechanical hand comprises a flange connector, an air cylinder and a piston, wherein the leakage detection mechanical hand is in butt joint with an industrial mechanical arm through the flange connector, and the piston is arranged in the air cylinder and linearly moves up and down. The flange connector is formed in the top end of the outer wall of the air cylinder, and air cylinder compressed air connectors are formed in the side wall of the air cylinder, so that an electromagnetic valve controls the inlet and outlet direction of compressed air to control reciprocating linear motion of the piston; a prismatic pair of the piston is converted into a revolute pair through connecting rods, so that leakage detection grippers are controlled to do gripping actions; a local sealing cavity is in gas communication with a leakage detection suction gun body with adjustable flow through a leakage detection gas sampling hose and is provided with a flexible seal ring inflating and deflating pipeline, and the suction gun body adopts gas in the local sealing cavity wrapped by the leakage detection grippers to achieve leakage rate detection.

Description

technical field [0001] The invention relates to a manipulator for grabbing weld seams of pipelines, in particular to a manipulator for grabbing, coating and leak detecting weld seams in the automatic single-point leak detection process of weld seams of spacecraft pipelines. Background technique [0002] At present, leakage is a serious threat to the safe launch and stable in-orbit operation of spacecraft. Various spacecraft must undergo strict leak detection tests during stand-alone production and final assembly. In the final assembly stage of the spacecraft, all welds must be leak tested one by one to ensure that the leak rate of each weld is within the allowable range. Spacecraft leak detection usually adopts helium mass spectrometry leak detection method. During leak detection, helium gas at a specified pressure is first filled into the system under test, and then the size of the leak is measured by a helium mass spectrometer leak detector to determine whether the leak ra...

AI Technical Summary

Problems solved by technology

However, there are a large number of welds in spacecraft pipelines (for example, as high as 200 or more), and the single-point leak detection process requires a lot of labor to cover the welds, measure the leak rate, and the excess after the leak detection (aprons and tapes) ) clean up

And due to the large number of welds, it is easy to cause missed inspections during the operation.

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