Robot system suitable for rocket storage tank cleaning

Abstract

The invention provides a robot system suitable for rocket storage tank cleaning. The robot system comprises a multi-degree-of-freedom mechanical arm, a driving assembly and a platform assembly, the multi-degree-of-freedom mechanical arm is in driving connection with the driving assembly, and the multi-degree-of-freedom mechanical arm comprises a first rotating joint, a second rotating joint, a third rotating joint and a fourth rotating joint. According to the robot system, the working space, especially the posture working space, of the system is increased through the rotating joints connected in series, the coordinated action of the multi-degree-of-freedom mechanical arm and the driving assembly is controlled through a control system, cleaning of the rocket storage tank by the five-degree-of-freedom cleaning robot system is achieved, and heavy manual labor is replaced, so that cleaning mechanization and automation are realized, the robot system is capable of being operated in a harmful environment, capable of completing various expected operations through programming, capable of meeting comprehensive cleaning of the inner wall of a rocket storage tank and good in flexibility and efficiency.

Description

technical field [0001] The invention relates to the technical field of aerospace manufacturing, in particular to an automatic cleaning device for rocket fuel barrels, in particular to a robot system suitable for cleaning rocket storage tanks. Background technique [0002] The rocket fuel tank manufactured in the field of aerospace manufacturing needs to be cleaned before being put into experiments and applications to remove dust and other dirt on the inner wall, so as to prevent impurities from being mixed into the fuel during future applications, which will affect the performance and reliability of the rocket. At present, rocket tanks are generally cleaned manually. The internal space of rocket fuel tanks is complex, and cleaning is difficult. It is difficult to enter, and due to the limited working space of manual cleaning, hand-held cleaning equipment is used to wash the inner wall of the storage tank, and the noise in the narrow and closed environment is relatively harmf...

AI Technical Summary

Problems solved by technology

But the design is not suitable for cleaning the interior of the rocket tank

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