Automatic control and emergency handling system and method for liquid propellant filling

Abstract

An automatic control and emergency treatment system and method for liquid propellant filling, characterized in that it includes a large cabin (20), the large cabin (20) is provided with a door (21) for entering and exiting products, the middle space of the large cabin (20) is a filling area (13), and the filling area (13) is a closed space; a product automatic movement and positioning platform (12) is provided in the filling area (13); the present invention integrates online concentration monitoring, waste gas treatment and emergency neutralization rain and functions in the closed filling area, effectively controls and reduces the amount of leaked propellant and the concentration of air masses, and eliminates the risks of combustion, explosion and poisoning of personnel. The present invention improves the safety of the liquid propellant filling process, the liquid propellant filling process of the present invention has a high degree of automation, and the filling time is greatly reduced. The present invention remotely controls each step, which greatly reduces the risk of poisoning of personnel.

Description

Technical Field

[0001] The present invention relates to an automatic control and emergency treatment system and method for liquid propellant filling, and relates to the technical field of propellant filling, and in particular to a closed automatic control and emergency treatment system and method for propellant filling. Background Art

[0002] Most aerospace products' attitude and orbit control power systems require the filling of liquid propellants, which generally include oxidizers and fuels. Leaked propellants will quickly evaporate into vapor, and people will be poisoned if they inhale the propellant vapor. When the propellant concentration accumulates to a certain level, fires and explosions will occur.

[0003] At present, for aerospace products filled with liquid propellants, the filling method widely used is mainly manual operation, which is carried out in a non-confined space. During the filling process, pipes are manually plugged in and out and valves are opened and closed manually. When propellant leaks during the operation, the on-site filling personnel are directly in a dangerous environment. When the leak is not discovered in time or personnel protection is not in place, the risk of poisoning increases. When the propellant vapor is not neutralized in time, as the concentration increases, its vapor will diffuse into the external space and affect the external environment. Summary of the invention

[0004] The present invention provides a closed automatic control and emergency handling system for propellant filling, aiming to solve the problems of low automation and poor safety protection level in the existing filling process. By cooperating the filling system with an industrial customized remote-controlled robotic arm, high-quality and high-efficiency automated unmanned filling operation can be achieved.

[0005] A closed automatic control and emergency treatment system for liquid propellant filling, characterized in that it includes a large cabin 20, the large cabin 20 is provided with a door 21 for entering and exiting products, the middle space of the large cabin 20 is a filling area 13, and the filling area 13 is a closed space; a product automatic moving and positioning platform 12 is provided in the filling area 13; an oxidant emergency neutralization spraying device 1, an oxidant storage tank 3, an oxidant ventilation and waste gas treatment device 5, an ambient temperature control device 7, a propellant filling device 9, a propellant concentration monitoring device 10, a backup power supply 8, a fuel ventilation and waste gas treatment device 6, a fuel storage tank 4 and a fuel emergency neutralization spraying device 2 are sequentially provided on the cabin side wall in the large cabin 20 around the filling area 13; and at least two mechanical arms 11;

[0006] Among them, the oxidizer emergency neutralization spray equipment 1 is electrically connected to the propellant concentration monitoring equipment 10; the fuel emergency neutralization spray equipment 2 is electrically connected to the propellant concentration monitoring equipment 10; the air inlet of the oxidizer storage tank 3 is connected to the gas pipeline of the propellant filling equipment 9, and the liquid outlet of the oxidizer storage tank 3 is connected to the liquid pipeline of the propellant filling equipment 9; the air inlet of the fuel storage tank 4 is connected to the gas pipeline of the propellant filling equipment 9, and the liquid outlet of the fuel storage tank 4 is connected to the liquid pipeline of the propellant filling equipment 9; the oxidizer ventilation and exhaust gas treatment equipment 5 is electrically connected to the propellant concentration monitoring equipment 10; the fuel ventilation and exhaust gas treatment equipment 6 is electrically connected to the propellant concentration monitoring equipment 10; the propellant filling equipment 9 is electrically connected to the propellant concentration monitoring equipment 10; the mechanical arm 11 is electrically connected to the propellant filling equipment 9;

[0007] Among them, the rain shower nozzles of the oxidant emergency neutralization spray equipment 1 and the fuel emergency neutralization spray equipment 2 are evenly arranged vertically above the filling area 13; the air inlets of the oxidant ventilation and exhaust gas treatment equipment 5 and the fuel ventilation and exhaust gas treatment equipment 6 are arranged in the filling area 13 close to the ground; the temperature probe of the ambient temperature control equipment 7 is arranged on the inner wall of the filling area 13, and its air inlet and return air outlet are arranged on the inner walls on both sides of the filling area 13; the sensor probes of the propellant concentration monitoring equipment 10 are arranged at multiple points on the inner wall of the filling area 13 and close to the middle part of the product automatic moving and positioning platform 12; the mechanical arm 11 is arranged on both sides of the automatic moving and positioning platform 12 and close to the middle part of the automatic moving and positioning platform 12, and the mechanical arm 11 cooperates with the propellant filling equipment 9;

[0008] A closed automatic control and emergency treatment method for liquid propellant filling, characterized in that it includes a liquid propellant filling method, an oxidant leakage emergency treatment method and a fuel leakage emergency treatment method. When the liquid propellant is filled into the product to be filled, if the propellant concentration monitoring device 10 detects that the oxidant leakage or the fuel leakage exceeds the standard, the steps 11 to 12 or the steps 13 to 14 are performed simultaneously until the propellant concentration monitoring device 10 detects that the oxidant leakage and the fuel leakage do not exceed the standard;

[0009] Liquid propellant filling method:

[0010] Step 1: The product to be filled enters the filling area 13 along the direction of entering the cabin through the product automatic moving and positioning platform 12. After the propellant filling device 9 gives a pipeline connection instruction, the mechanical arm 11 connects the oxidant pipeline of the propellant filling device 9 to the oxidant filling port of the product to be filled; at the same time, during the filling process, the ambient temperature in the filling area 13 is controlled by the ambient temperature control device 7 to ensure that the ambient temperature is suitable for oxidant and fuel filling;

[0011] Step 2: The oxidant is added by combining vacuuming and extrusion. The propellant filling device 9 performs vacuuming on the oxidant tank 3 and the fuel tank 4 of the product to be filled, and then outputs nitrogen gas of a certain pressure to sequentially pass through the gas pipeline of the propellant filling device 9 and the air inlet of the oxidant tank 3, and finally injects the nitrogen gas into the oxidant tank 3 to provide an extrusion force, and squeezes the oxidant of the oxidant tank 3 to sequentially pass through the liquid outlet of the oxidant tank 3, the liquid pipeline of the propellant filling device 9 and the product oxidant filling port, and finally transfers the oxidant into the product oxidant tank;

[0012] Step 3: After the oxidant transfer is completed, the propellant filling device 9 is linked to the mechanical arm 11, and the mechanical arm 11 disconnects the pipeline of the propellant filling device 9 from the oxidant filling port of the product to be filled, and installs the oxidant filling port plug of the product to be filled and the oxidant pipeline plug of the propellant filling device 9;

[0013] Step 4: After the pipeline of the propellant filling equipment 9 is disconnected from the filling port of the product to be filled, there is a trace of volatile gas leaking from the oxidant. After the propellant concentration monitoring device 10 detects the volatile gas of the oxidant, it will alarm and link the oxidant ventilation and waste gas treatment equipment 5. The oxidant ventilation and waste gas treatment equipment 5 performs ventilation and waste gas treatment, uses its fan to suck the oxidant gas, and neutralizes it in its absorption tower through a neutralizing liquid, and discharges it after it is qualified;

[0014] Step 5: When the oxidant gas concentration in the filling area 13 drops to zero, the propellant concentration monitoring device 10 stops the alarm, and the oxidant ventilation and waste gas treatment device 5 and the propellant filling device 9 are linked. The oxidant ventilation and waste gas treatment device 5 stops ventilation and waste gas treatment, and the propellant filling device 9 continues to perform subsequent work;

[0015] Step 6: Fuel filling is performed by combining vacuuming and extrusion. The propellant filling device 9 outputs nitrogen gas of a certain pressure, which passes through the gas pipeline of the propellant filling device 9 and the gas inlet of the fuel storage tank 4 in turn, and finally injects the nitrogen gas into the fuel storage tank 4 to provide extrusion force, and squeezes the fuel of the fuel storage tank 4 to pass through the liquid outlet of the fuel storage tank 4, the liquid pipeline of the propellant filling device 9 and the product fuel filling port in turn, and finally transfers the fuel into the product fuel tank;

[0016] Step 7: After the fuel transfer is completed, the propellant filling device 9 is linked to the mechanical arm 11, and the mechanical arm 11 disconnects the fuel pipeline of the propellant filling device 9 from the fuel filling port of the product to be filled, and installs the plug of the fuel filling port of the product to be filled and the plug of the fuel pipeline of the propellant filling device 9;

[0017] Step 8. After the fuel pipeline of the propellant filling device 9 is disconnected from the fuel filling port of the product to be filled, there is a trace of volatile gas from the fuel dripping. After the propellant concentration monitoring device 10 detects the volatile gas of the fuel, it will alarm and link the fuel ventilation and exhaust gas treatment device 6. The fuel ventilation and exhaust gas treatment device 6 performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and neutralizes it in its absorption tower through the neutralizing liquid, and discharges it after it is qualified;

[0018] Step 9: When the fuel gas concentration in the filling area 13 drops to zero, the propellant concentration monitoring device 10 stops the alarm, and the fuel ventilation and exhaust gas treatment device 6 and the propellant filling device 9 are linked, the fuel ventilation and exhaust gas treatment device 6 stops ventilation and exhaust gas treatment, and the filling work is completed;

[0019] Step 10: The filled product safely exits the filling area 13 along the original route of entering the cabin;

[0020] Emergency treatment methods for oxidant leakage:

[0021] Step 11: During the oxidant filling process, after the propellant concentration monitoring device 10 detects the oxidant gas, it will issue an oxidant leakage alarm, and link the oxidant ventilation and waste gas treatment device 5 and the propellant filling device 9. The oxidant ventilation and waste gas treatment device 5 performs ventilation and waste gas treatment, uses its fan to suck the oxidant gas, and neutralizes it in its absorption tower through the neutralizing liquid, and discharges it after it is qualified. The propellant filling device 9 uses its solenoid valve to automatically cut off the oxidant liquid pipeline, and the filling work stops;

[0022] Step 12: If the oxidant leakage situation continues to intensify during the step 11 and reaches the preset level, the propellant concentration monitoring device 10 is linked to the oxidant emergency neutralization spraying device 1, and the oxidant emergency neutralization spraying device 1 starts the rain function, and its spray pump sprays the oxidant neutralization liquid through the pipeline through the nozzle to neutralize the leaked oxidant. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged to the wastewater collection tank outside the propellant filling closed automatic control and emergency treatment system through the drain port at the bottom of the filling area 13;

[0023] Fuel leakage emergency treatment methods:

[0024] Step 13: During the oxidant filling process, after the propellant concentration monitoring device 10 detects the fuel gas, it will issue a fuel leakage alarm, and link the fuel ventilation and exhaust gas treatment device 6 and the propellant filling device 9. The fuel ventilation and exhaust gas treatment device 6 performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and neutralizes it in its absorption tower through the neutralizing liquid, and discharges it after it is qualified. The propellant filling device 9 uses its solenoid valve to automatically cut off the fuel liquid pipeline, and the filling work stops;

[0025] Step 14. If the fuel leakage continues to intensify in step 13 and reaches the preset level, the propellant concentration monitoring device 10 will be linked to the fuel emergency neutralization spray device 2, and the fuel emergency neutralization spray device 2 will start the rain function. Its spray pump will spray the fuel neutralization liquid through the pipeline through the nozzle to neutralize the leaked fuel. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged through the bottom drain port of the filling area 13 to the wastewater collection pool outside the propellant filling closed automatic control and emergency treatment system.

[0026] The present invention integrates online concentration monitoring, waste gas treatment and emergency neutralization rain shower functions in a closed filling area, effectively controls and reduces the amount of leaked propellant and the concentration of air masses, and eliminates the risks of combustion, explosion and poisoning of personnel. The present invention improves the safety of the liquid propellant filling process, the liquid propellant filling process of the present invention has a high degree of automation, and greatly reduces the filling time. The present invention remotely controls each step, greatly reducing the risk of poisoning of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a top view of the propellant filling and emergency handling system layout.

[0028] Among them, 1 is the oxidant emergency neutralization spray equipment, 2 is the fuel emergency neutralization spray equipment, 3 is the oxidant storage tank, 4 is the fuel storage tank, 5 is the oxidant ventilation and exhaust gas treatment equipment, 6 is the fuel ventilation and exhaust gas treatment equipment, 7 is the ambient temperature control equipment, 8 is the backup power supply, 9 is the propellant filling equipment, 10 is the propellant concentration monitoring equipment, 11 is the robotic arm, 12 is the product automatic movement and positioning platform, 13 is the filling area, 20 is the large cabin, and 21 is the door for entering and exiting the product. DETAILED DESCRIPTION

[0029] A closed automatic control and emergency treatment system for liquid propellant filling, characterized in that it includes a large cabin 20, the large cabin 20 is provided with a door 21 for entering and exiting products, the middle space of the large cabin 20 is a filling area 13, and the filling area 13 is a closed space; a product automatic moving and positioning platform 12 is provided in the filling area 13; an oxidant emergency neutralization spraying device 1, an oxidant storage tank 3, an oxidant ventilation and waste gas treatment device 5, an ambient temperature control device 7, a propellant filling device 9, a propellant concentration monitoring device 10, a backup power supply 8, a fuel ventilation and waste gas treatment device 6, a fuel storage tank 4 and a fuel emergency neutralization spraying device 2 are sequentially provided on the cabin side wall in the large cabin 20 around the filling area 13; and at least two mechanical arms 11;

[0030] Among them, the oxidizer emergency neutralization spray equipment 1 is electrically connected to the propellant concentration monitoring equipment 10; the fuel emergency neutralization spray equipment 2 is electrically connected to the propellant concentration monitoring equipment 10; the air inlet of the oxidizer storage tank 3 is connected to the gas pipeline of the propellant filling equipment 9, and the liquid outlet of the oxidizer storage tank 3 is connected to the liquid pipeline of the propellant filling equipment 9; the air inlet of the fuel storage tank 4 is connected to the gas pipeline of the propellant filling equipment 9, and the liquid outlet of the fuel storage tank 4 is connected to the liquid pipeline of the propellant filling equipment 9; the oxidizer ventilation and exhaust gas treatment equipment 5 is electrically connected to the propellant concentration monitoring equipment 10; the fuel ventilation and exhaust gas treatment equipment 6 is electrically connected to the propellant concentration monitoring equipment 10; the propellant filling equipment 9 is electrically connected to the propellant concentration monitoring equipment 10; the mechanical arm 11 is electrically connected to the propellant filling equipment 9;

[0031] Among them, the rain shower nozzles of the oxidant emergency neutralization spray equipment 1 and the fuel emergency neutralization spray equipment 2 are evenly arranged vertically above the filling area 13; the air inlets of the oxidant ventilation and exhaust gas treatment equipment 5 and the fuel ventilation and exhaust gas treatment equipment 6 are arranged in the filling area 13 close to the ground; the temperature probe of the ambient temperature control equipment 7 is arranged on the inner wall of the filling area 13, and its air inlet and return air outlet are arranged on the inner walls on both sides of the filling area 13; the sensor probes of the propellant concentration monitoring equipment 10 are arranged at multiple points on the inner wall of the filling area 13 and close to the middle part of the product automatic moving and positioning platform 12; the mechanical arm 11 is arranged on both sides of the automatic moving and positioning platform 12 and close to the middle part of the automatic moving and positioning platform 12, and the mechanical arm 11 cooperates with the propellant filling equipment 9;

[0032] A closed automatic control and emergency treatment method for liquid propellant filling, characterized in that it includes a liquid propellant filling method, an oxidant leakage emergency treatment method and a fuel leakage emergency treatment method. When the liquid propellant is filled into the product to be filled, if the propellant concentration monitoring device 10 detects that the oxidant leakage or the fuel leakage exceeds the standard, the steps 11 to 12 or the steps 13 to 14 are performed simultaneously until the propellant concentration monitoring device 10 detects that the oxidant leakage and the fuel leakage do not exceed the standard;

[0033] Liquid propellant filling method:

[0034] Step 1: The product to be filled enters the filling area 13 along the direction of entering the cabin through the product automatic moving and positioning platform 12. After the propellant filling device 9 gives a pipeline connection instruction, the mechanical arm 11 connects the oxidant pipeline of the propellant filling device 9 to the oxidant filling port of the product to be filled; at the same time, during the filling process, the ambient temperature in the filling area 13 is controlled by the ambient temperature control device 7 to ensure that the ambient temperature is suitable for oxidant and fuel filling;

[0035] Step 2: The oxidant is added by combining vacuuming and extrusion. The propellant filling device 9 performs vacuuming on the oxidant tank 3 and the fuel tank 4 of the product to be filled, and then outputs nitrogen gas of a certain pressure to sequentially pass through the gas pipeline of the propellant filling device 9 and the air inlet of the oxidant tank 3, and finally injects the nitrogen gas into the oxidant tank 3 to provide an extrusion force, and squeezes the oxidant of the oxidant tank 3 to sequentially pass through the liquid outlet of the oxidant tank 3, the liquid pipeline of the propellant filling device 9 and the product oxidant filling port, and finally transfers the oxidant into the product oxidant tank;

[0036] Step 3: After the oxidant transfer is completed, the propellant filling device 9 is linked to the mechanical arm 11, and the mechanical arm 11 disconnects the pipeline of the propellant filling device 9 from the oxidant filling port of the product to be filled, and installs the oxidant filling port plug of the product to be filled and the oxidant pipeline plug of the propellant filling device 9;

[0037] Step 4: After the pipeline of the propellant filling equipment 9 is disconnected from the filling port of the product to be filled, there is a trace of volatile gas leaking from the oxidant. After the propellant concentration monitoring device 10 detects the volatile gas of the oxidant, it will alarm and link the oxidant ventilation and waste gas treatment equipment 5. The oxidant ventilation and waste gas treatment equipment 5 performs ventilation and waste gas treatment, uses its fan to suck the oxidant gas, and neutralizes it in its absorption tower through a neutralizing liquid, and discharges it after it is qualified;

[0038] Step 5: When the oxidant gas concentration in the filling area 13 drops to zero, the propellant concentration monitoring device 10 stops the alarm, and the oxidant ventilation and waste gas treatment device 5 and the propellant filling device 9 are linked. The oxidant ventilation and waste gas treatment device 5 stops ventilation and waste gas treatment, and the propellant filling device 9 continues to perform subsequent work;

[0039] Step 6: Fuel filling is performed by combining vacuuming and extrusion. The propellant filling device 9 outputs nitrogen gas of a certain pressure, which passes through the gas pipeline of the propellant filling device 9 and the gas inlet of the fuel storage tank 4 in turn, and finally injects the nitrogen gas into the fuel storage tank 4 to provide extrusion force, and squeezes the fuel of the fuel storage tank 4 to pass through the liquid outlet of the fuel storage tank 4, the liquid pipeline of the propellant filling device 9 and the product fuel filling port in turn, and finally transfers the fuel into the product fuel tank;

[0040] Step 7: After the fuel transfer is completed, the propellant filling device 9 is linked to the mechanical arm 11, and the mechanical arm 11 disconnects the fuel pipeline of the propellant filling device 9 from the fuel filling port of the product to be filled, and installs the plug of the fuel filling port of the product to be filled and the plug of the fuel pipeline of the propellant filling device 9;

[0041] Step 8. After the fuel pipeline of the propellant filling device 9 is disconnected from the fuel filling port of the product to be filled, there is a trace of volatile gas from the fuel dripping. After the propellant concentration monitoring device 10 detects the volatile gas of the fuel, it will alarm and link the fuel ventilation and exhaust gas treatment device 6. The fuel ventilation and exhaust gas treatment device 6 performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and neutralizes it in its absorption tower through the neutralizing liquid, and discharges it after it is qualified;

[0042] Step 9: When the fuel gas concentration in the filling area 13 drops to zero, the propellant concentration monitoring device 10 stops the alarm, and the fuel ventilation and exhaust gas treatment device 6 and the propellant filling device 9 are linked, the fuel ventilation and exhaust gas treatment device 6 stops ventilation and exhaust gas treatment, and the filling work is completed;

[0043] Step 10: The filled product safely exits the filling area 13 along the original route of entering the cabin;

[0044] Emergency treatment methods for oxidant leakage:

[0045] Step 11: During the oxidant filling process, after the propellant concentration monitoring device 10 detects the oxidant gas, it will issue an oxidant leakage alarm, and link the oxidant ventilation and waste gas treatment device 5 and the propellant filling device 9. The oxidant ventilation and waste gas treatment device 5 performs ventilation and waste gas treatment, uses its fan to suck the oxidant gas, and neutralizes it in its absorption tower through the neutralizing liquid, and discharges it after it is qualified. The propellant filling device 9 uses its solenoid valve to automatically cut off the oxidant liquid pipeline, and the filling work stops;

[0046] Step 12: If the oxidant leakage situation continues to intensify during the step 11 and reaches the preset level, the propellant concentration monitoring device 10 is linked to the oxidant emergency neutralization spraying device 1, and the oxidant emergency neutralization spraying device 1 starts the rain function, and its spray pump sprays the oxidant neutralization liquid through the pipeline through the nozzle to neutralize the leaked oxidant. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged to the wastewater collection tank outside the propellant filling closed automatic control and emergency treatment system through the drain port at the bottom of the filling area 13;

[0047] Fuel leakage emergency treatment methods:

[0048] Step 13: During the oxidant filling process, after the propellant concentration monitoring device 10 detects the fuel gas, it will issue a fuel leakage alarm, and link the fuel ventilation and exhaust gas treatment device 6 and the propellant filling device 9. The fuel ventilation and exhaust gas treatment device 6 performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and neutralizes it in its absorption tower through the neutralizing liquid, and discharges it after it is qualified. The propellant filling device 9 uses its solenoid valve to automatically cut off the fuel liquid pipeline, and the filling work stops;

[0049] Step 14. If the fuel leakage continues to intensify in step 13 and reaches the preset level, the propellant concentration monitoring device 10 will be linked to the fuel emergency neutralization spray device 2, and the fuel emergency neutralization spray device 2 will start the rain function. Its spray pump will spray the fuel neutralization liquid through the pipeline through the nozzle to neutralize the leaked fuel. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged through the bottom drain port of the filling area 13 to the wastewater collection pool outside the propellant filling closed automatic control and emergency treatment system.

[0050] Example:

[0051] The propellant filling closed automatic control and emergency treatment system consists of oxidant emergency neutralization spray equipment 1, fuel emergency neutralization spray equipment 2, oxidant storage tank 3, fuel storage tank 4, oxidant ventilation and waste gas treatment equipment 5, fuel ventilation and waste gas treatment equipment 6, ambient temperature control equipment 7, backup power supply 8, propellant filling equipment 9, propellant concentration monitoring equipment 10, robotic arm 11, product automatic movement and positioning platform 12 and filling area 13.

[0052] The oxidizer emergency neutralization spray equipment 1 is electrically connected to the propellant concentration monitoring equipment 10; the fuel emergency neutralization spray equipment 2 is electrically connected to the propellant concentration monitoring equipment 10; the air inlet of the oxidizer storage tank 3 is connected to the gas pipeline of the propellant filling equipment 9, and the liquid outlet of the oxidizer storage tank 3 is connected to the liquid pipeline of the propellant filling equipment 9; the air inlet of the fuel storage tank 4 is connected to the gas pipeline of the propellant filling equipment 9, and the liquid outlet of the fuel storage tank 4 is connected to the liquid pipeline of the propellant filling equipment 9; the oxidizer ventilation and exhaust gas treatment equipment 5 is electrically connected to the propellant concentration monitoring equipment 10; the fuel ventilation and exhaust gas treatment equipment 6 is electrically connected to the propellant concentration monitoring equipment 10; the propellant filling equipment 9 is electrically connected to the propellant concentration monitoring equipment 10; and the robotic arm 11 is electrically connected to the propellant filling equipment 9.

[0053] The equipment of the closed automatic control and emergency handling system for propellant filling is arranged in zones. The filling area 13 is arranged in the middle. The filling area 13 is a closed space. The filling area 13 and other equipment interfaces are sealed. The oxidizer storage tank 3 and the fuel storage tank 4 are arranged on both sides of the filling area 13. The product automatic movement and positioning platform 12 is arranged in the filling area 13. Other equipment is arranged around the filling area 13. The shower nozzles of the oxidant emergency neutralization spray equipment 1 and the fuel emergency neutralization spray equipment 2 are evenly arranged vertically above the filling area 13; the air inlets of the oxidant ventilation and exhaust gas treatment equipment 5 and the fuel ventilation and exhaust gas treatment equipment 6 are arranged in the filling area 13 close to the ground; the temperature probe of the ambient temperature control equipment 7 is arranged on the inner wall of the filling area 13, and its air inlet and return air outlet are arranged on the inner walls on both sides of the filling area 13; the sensor probes of the propellant concentration monitoring equipment 10 are arranged at multiple points on the inner wall of the filling area 13 and close to the middle part of the product automatic moving and positioning platform 12; the robotic arm 11 is arranged on both sides of the automatic moving and positioning platform 12 and close to the middle part of the automatic moving and positioning platform 12, and the robotic arm 11 is deeply integrated with the propellant filling equipment 9.

[0054] The filling implementation method includes the following steps:

[0055] The product to be filled enters the filling area 13 along the direction of entering the cabin through the product automatic moving and positioning platform 12. After the propellant filling equipment 9 gives a pipeline connection instruction, the robotic arm 11 connects the oxidant pipeline of the propellant filling equipment 9 to the oxidant filling port of the product to be filled.

[0056] The oxidant is filled by combining vacuuming and extrusion. The propellant filling equipment 9 will vacuum the oxidant tank and the fuel tank of the product to be filled, and then output nitrogen at a certain pressure to pass through the gas pipeline of the propellant filling equipment 9 and the air inlet of the oxidant tank 3 in sequence, and finally inject the nitrogen into the oxidant tank 3 to provide an extrusion force, and squeeze the oxidant of the oxidant tank 3 to pass through the liquid outlet of the oxidant tank 3, the liquid pipeline of the propellant filling equipment 9 and the product oxidant filling port in sequence, and finally transfer the oxidant to the product oxidant tank.

[0057] After the oxidant transfer is completed, the propellant filling equipment 9 is linked to the mechanical arm 11, and the mechanical arm 11 disconnects the pipeline of the propellant filling equipment 9 from the oxidant filling port of the product to be filled, and installs the oxidant filling port plug of the product to be filled and the oxidant pipeline plug of the propellant filling equipment 9.

[0058] After the pipeline of the propellant filling equipment 9 is disconnected from the filling port of the product to be filled, there is a trace of volatile gas leaking from the oxidant. After the propellant concentration monitoring device 10 detects the volatile gas of the oxidant, it will alarm and link the oxidant ventilation and waste gas treatment equipment 5. The oxidant ventilation and waste gas treatment equipment 5 will perform ventilation and waste gas treatment, use its fan to suck the oxidant gas, and neutralize it in its absorption tower through the neutralizing liquid, and discharge it after it is qualified. When the oxidant gas concentration in the filling area 13 drops to zero, the propellant concentration monitoring device 10 stops the alarm, and links the oxidant ventilation and waste gas treatment equipment 5 and the propellant filling equipment 9. The oxidant ventilation and waste gas treatment equipment 5 stops ventilation and waste gas treatment, and the propellant filling equipment 9 continues to carry out subsequent work.

[0059] Fuel filling is carried out by combining vacuuming and extrusion. The propellant filling device 9 outputs nitrogen at a certain pressure, which passes through the gas pipeline of the propellant filling device 9 and the gas inlet of the fuel storage tank 4 in turn, and finally the nitrogen is injected into the fuel storage tank 4 to provide extrusion force, and the fuel of the fuel storage tank 4 is squeezed to pass through the liquid outlet of the fuel storage tank 4, the liquid pipeline of the propellant filling device 9 and the product fuel filling port in turn, and finally the fuel is transferred to the product fuel tank.

[0060] After the fuel transfer is completed, the propellant filling device 9 is linked to the mechanical arm 11, and the mechanical arm 11 disconnects the fuel pipeline of the propellant filling device 9 from the fuel filling port of the product to be filled, and installs the fuel filling port plug of the product to be filled and the fuel pipeline plug of the propellant filling device 9.

[0061] After the fuel pipeline of the propellant filling equipment 9 is disconnected from the fuel filling port of the product to be filled, there is a trace amount of volatile gas from fuel dripping. After the propellant concentration monitoring equipment 10 detects the volatile gas of the fuel, it will alarm and link the fuel ventilation and exhaust gas treatment equipment 6. The fuel ventilation and exhaust gas treatment equipment 6 performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and neutralizes it with a neutralizing liquid in its absorption tower, and discharges it after it passes the test. When the fuel gas concentration in the filling area 13 drops to zero, the propellant concentration monitoring equipment 10 stops the alarm, and links the fuel ventilation and exhaust gas treatment equipment 6 and the propellant filling equipment 9. The fuel ventilation and exhaust gas treatment equipment 6 stops ventilation and exhaust gas treatment, and the filling work is completed.

[0062] The filled product safely exits the filling area 13 along the original route of entering the cabin.

[0063] During the filling process, the ambient temperature in the filling area 13 is controlled by the ambient temperature control device 7 to ensure that the ambient temperature is suitable for the filling of oxidant and fuel.

[0064] The emergency treatment method for oxidant leakage includes the following steps:

[0065] During the oxidant filling process, after the propellant concentration monitoring device 10 detects the oxidant gas, it will issue an oxidant leakage alarm, and link the oxidant ventilation and exhaust gas treatment equipment 5 and the propellant filling equipment 9. The oxidant ventilation and exhaust gas treatment equipment 5 performs ventilation and exhaust gas treatment, uses its fan to suck the oxidant gas, and neutralizes it with the neutralizing liquid in its absorption tower. After passing the neutralization reaction, it is discharged. The propellant filling equipment 9 uses its solenoid valve to automatically cut off the oxidant liquid pipeline, and the filling work stops.

[0066] When the oxidant leakage continues to intensify and reaches the preset level, the propellant concentration monitoring device 10 is linked to the oxidant emergency neutralization spraying device 1, and the oxidant emergency neutralization spraying device 1 starts the rain function. Its spray pump sprays the oxidant neutralization liquid through the pipeline through the nozzle to neutralize the leaked oxidant. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged through the drain port at the bottom of the filling area 13 to the wastewater collection pool outside the propellant filling closed automatic control and emergency treatment system.

[0067] The fuel leak emergency treatment implementation method includes the following steps:

[0068] During the oxidizer filling process, after the propellant concentration monitoring device 10 detects the fuel gas, it will issue a fuel leakage alarm, and link the fuel ventilation and exhaust gas treatment equipment 6 and the propellant filling equipment 9. The fuel ventilation and exhaust gas treatment equipment 6 performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and neutralizes it with the neutralizing liquid in its absorption tower. After passing the neutralization reaction, it is discharged. The propellant filling equipment 9 uses its solenoid valve to automatically cut off the fuel liquid pipeline, and the filling work stops.

[0069] When the fuel leakage continues to intensify and reaches the preset level, the propellant concentration monitoring device 10 links with the fuel emergency neutralization spray device 2, and the fuel emergency neutralization spray device 2 starts the shower function. Its spray pump sprays the fuel neutralization liquid through the pipeline through the nozzle to neutralize the leaked fuel. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged through the bottom drain port of the filling area 13 to the wastewater collection pool outside the propellant filling closed automatic control and emergency treatment system.

Claims

1. A closed automatic control and emergency treatment method for liquid propellant filling, characterized in that: A closed automatic control and emergency treatment system for liquid propellant filling is used, which comprises a large cabin (20), the large cabin (20) is provided with a door (21) for entering and exiting products, the middle space of the large cabin (20) is a filling area (13), and the filling area (13) is a closed space; a product automatic moving and positioning platform (12) is provided in the filling area (13); an oxidant emergency neutralization spraying device (1), an oxidant storage tank (3), an oxidant ventilation and waste gas treatment device (5), an ambient temperature control device (7), a propellant filling device (9), a propellant concentration monitoring device (10), a backup power supply (8), a fuel ventilation and waste gas treatment device (6), a fuel storage tank (4) and a fuel emergency neutralization spraying device (2) are sequentially provided on the cabin side wall in the large cabin (20) around the filling area (13); and at least two mechanical arms (11); The oxidizer emergency neutralization spray device (1) is electrically connected to the propellant concentration monitoring device (10); the fuel emergency neutralization spray device (2) is electrically connected to the propellant concentration monitoring device (10); the air inlet of the oxidizer storage tank (3) is connected to the gas pipeline of the propellant filling device (9), and the liquid outlet of the oxidizer storage tank (3) is connected to the liquid pipeline of the propellant filling device (9); the air inlet of the fuel storage tank (4) is connected to the gas pipeline of the propellant filling device (9), and the liquid outlet of the fuel storage tank (4) is connected to the liquid pipeline of the propellant filling device (9); the oxidizer ventilation and exhaust gas treatment device (5) is electrically connected to the propellant concentration monitoring device (10); the fuel ventilation and exhaust gas treatment device (6) is electrically connected to the propellant concentration monitoring device (10); the propellant filling device (9) is electrically connected to the propellant concentration monitoring device (10); and the mechanical arm (11) is electrically connected to the propellant filling device (9); The shower nozzles of the oxidant emergency neutralization spray equipment (1) and the fuel emergency neutralization spray equipment (2) are evenly arranged vertically above the filling area (13); the air inlets of the oxidant ventilation and exhaust gas treatment equipment (5) and the fuel ventilation and exhaust gas treatment equipment (6) are arranged in the filling area (13) close to the ground; the temperature probe of the ambient temperature control equipment (7) is arranged on the inner wall of the filling area (13), and its air inlet and return air outlet are arranged on the inner walls on both sides of the filling area (13); the sensor probes of the propellant concentration monitoring equipment (10) are arranged at multiple points on the inner wall of the filling area (13) and close to the middle part of the product automatic moving and positioning platform (12); the mechanical arm (11) is arranged on both sides of the automatic moving and positioning platform (12) and close to the middle part of the automatic moving and positioning platform (12), and the mechanical arm (11) cooperates with the propellant filling equipment (9); The closed automatic control and emergency treatment method for liquid propellant filling includes a liquid propellant filling method, an oxidant leakage emergency treatment method and a fuel leakage emergency treatment method. When the liquid propellant is filled into the product to be filled, if the propellant concentration monitoring device (10) detects that the oxidant leakage or the fuel leakage exceeds the standard, steps 11 to 12 or / and steps 13 to 14 are quickly and simultaneously performed until the propellant concentration monitoring device (10) detects that the oxidant leakage and the fuel leakage do not exceed the standard; Liquid propellant filling method: Step 1: The product to be filled enters the filling area (13) along the direction of entering the cabin through the product automatic moving and positioning platform (12). After the propellant filling device (9) gives a pipeline connection instruction, the mechanical arm (11) connects the oxidant pipeline of the propellant filling device (9) to the oxidant filling port of the product to be filled; at the same time, during the filling process, the ambient temperature in the filling area (13) is controlled by the ambient temperature control device (7) to ensure that the ambient temperature is suitable for filling the oxidant and fuel; Step 2: The oxidant is added by combining vacuuming and extrusion. The propellant filling device (9) performs vacuuming on the oxidant storage tank (3) and the fuel storage tank (4) of the product to be filled, and then outputs nitrogen gas at a certain pressure to sequentially pass through the gas pipeline of the propellant filling device (9) and the gas inlet of the oxidant storage tank (3), and finally injects the nitrogen gas into the oxidant storage tank (3) to provide an extrusion force, and squeezes the oxidant in the oxidant storage tank (3) to sequentially pass through the liquid outlet of the oxidant storage tank (3), the liquid pipeline of the propellant filling device (9) and the product oxidant filling port, and finally transfers the oxidant into the product oxidant storage tank; Step 3: After the oxidant transfer is completed, the propellant filling device (9) is linked to the mechanical arm (11), and the mechanical arm (11) disconnects the pipeline of the propellant filling device (9) from the oxidant filling port of the product to be filled, and installs a plug for the oxidant filling port of the product to be filled and a plug for the oxidant pipeline of the propellant filling device (9); Step 4: After the pipeline of the propellant filling equipment (9) is disconnected from the filling port of the product to be filled, there is a trace of volatile gas leaking from the oxidant. After the propellant concentration monitoring equipment (10) detects the volatile gas of the oxidant, it will alarm and link the oxidant ventilation and waste gas treatment equipment (5). The oxidant ventilation and waste gas treatment equipment (5) performs ventilation and waste gas treatment, uses its fan to suck the oxidant gas, and performs a neutralization reaction in its absorption tower through a neutralizing liquid, and then discharges it after it passes the test; Step 5: When the oxidant gas concentration in the filling area (13) drops to zero, the propellant concentration monitoring device (10) stops the alarm, and the oxidant ventilation and waste gas treatment device (5) and the propellant filling device (9) are linked, the oxidant ventilation and waste gas treatment device (5) stops the ventilation and waste gas treatment work, and the propellant filling device (9) continues to carry out subsequent work; Step 6: Fuel is added by combining vacuuming and extrusion. The propellant filling device (9) outputs nitrogen gas of a certain pressure, which passes through the gas pipeline of the propellant filling device (9) and the gas inlet of the fuel storage tank (4) in sequence, and finally the nitrogen gas is injected into the fuel storage tank (4) to provide an extrusion force, and the fuel in the fuel storage tank (4) is squeezed to pass through the liquid outlet of the fuel storage tank (4), the liquid pipeline of the propellant filling device (9) and the product fuel filling port in sequence, and finally the fuel is transferred to the product fuel storage tank; Step 7: After the fuel transfer is completed, the propellant filling device (9) is linked to the mechanical arm (11), and the mechanical arm (11) disconnects the fuel pipeline of the propellant filling device (9) from the fuel filling port of the product to be filled, and installs a plug for the fuel filling port of the product to be filled and a plug for the fuel pipeline of the propellant filling device (9); Step 8. After the fuel pipeline of the propellant filling equipment (9) is disconnected from the fuel filling port of the product to be filled, there is a trace of volatile gas from the fuel dripping. After the propellant concentration monitoring equipment (10) detects the volatile gas of the fuel, it will alarm and link the fuel ventilation and exhaust gas treatment equipment (6). The fuel ventilation and exhaust gas treatment equipment (6) performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and performs a neutralization reaction in its absorption tower through a neutralizing liquid, and then discharges it after it passes the test; Step 9: When the fuel gas concentration in the filling area (13) drops to zero, the propellant concentration monitoring device (10) stops alarming, and the fuel ventilation and exhaust gas treatment device (6) and the propellant filling device (9) are linked, the fuel ventilation and exhaust gas treatment device (6) stops ventilation and exhaust gas treatment, and the filling work is completed; Step 10: The filled product safely exits the filling area along the original route of entering the cabin (13); Emergency treatment methods for oxidant leakage: Step 11: During the oxidant filling process, after the propellant concentration monitoring device (10) detects the oxidant gas, it issues an oxidant leakage alarm, and links the oxidant ventilation and waste gas treatment device (5) and the propellant filling device (9). The oxidant ventilation and waste gas treatment device (5) performs ventilation and waste gas treatment, uses its fan to suck the oxidant gas, and performs a neutralization reaction with a neutralizing liquid in its absorption tower. After passing the neutralization reaction, the gas is discharged. The propellant filling device (9) uses its solenoid valve to automatically cut off the oxidant liquid pipeline, and the filling work stops. Step 12: If the oxidant leakage situation continues to intensify during the process of step 11 and reaches a preset level, the propellant concentration monitoring device (10) is linked to the oxidant emergency neutralization spray device (1), and the oxidant emergency neutralization spray device (1) starts the shower function, and its spray pump sprays the oxidant neutralization liquid through the pipeline through the nozzle to neutralize the leaked oxidant. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged to the wastewater collection pool outside the propellant filling closed automatic control and emergency treatment system through the bottom drain port of the filling area (13); Fuel leakage emergency treatment methods: Step 13: During the oxidant filling process, after the propellant concentration monitoring device (10) detects the fuel gas, it issues a fuel leakage alarm, and links the fuel ventilation and exhaust gas treatment device (6) and the propellant filling device (9). The fuel ventilation and exhaust gas treatment device (6) performs ventilation and exhaust gas treatment, uses its fan to suck the fuel gas, and performs a neutralization reaction in its absorption tower with a neutralizing liquid, and discharges the fuel gas after it passes the neutralization reaction. The propellant filling device (9) uses its solenoid valve to automatically cut off the fuel liquid pipeline, and the filling work stops; Step 14. If the fuel leakage situation continues to intensify in step 13 and reaches the preset level, the propellant concentration monitoring device (10) is linked to the fuel emergency neutralization spray device (2), and the fuel emergency neutralization spray device (2) starts the rain function. Its spray pump sprays the fuel neutralization liquid through the pipeline through the nozzle to neutralize the leaked fuel. The sprayed neutralization liquid covers the filling area, and the waste liquid is discharged through the bottom drain port of the filling area (13) to the wastewater collection pool outside the propellant filling closed automatic control and emergency treatment system.

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