An automatic cleaning system and method for an aircraft structural component part

Abstract

This invention discloses an automatic cleaning system and method for aerospace structural components, relating to the field of machining technology. The automatic cleaning system includes a flexible parts box for holding the parts, an automatic cleaning module, a flipping module I, an automatic oiling module, a flipping module II, a storage platform, a hoisting subsystem, and a controller. The hoisting subsystem is used to move the flexible parts box or adjust its position. The cleaning box of the automatic cleaning module is equipped with an ultrasonic generator, a liquid level sensor, a temperature sensor, and a turbidity sensor. The oiling box of the automatic oiling module is equipped with an ultrasonic generator, an oil level sensor, a turbidity sensor, and a temperature sensor. Flipping modules I and II are used to flip the flexible parts box. The controller is used to receive information from the sensors and actuators and control the operation of the corresponding actuators to achieve automatic cleaning and automatic oiling of the parts, effectively ensuring the surface quality of the aerospace structural components and achieving the purpose of protecting the parts.

Description

Technical Field

[0001] This invention relates to the field of machining technology, specifically to an automatic cleaning system and method for aerospace structural parts. Background Technology

[0002] Currently, the cleaning and protection of aerospace structural components generally suffers from low automation, significant manual intervention in the cleaning process, incomplete surface cleaning, and uneven oil film coating. To address these issues, industry professionals are continuously optimizing the equipment and systems used for cleaning and protecting components, and constantly updating cleaning and protection methods to meet production demands and improve efficiency. However, problems persist, including incomplete cleaning, difficulty in flipping components, high risk of component impact, uneven protective film, and large wastewater discharge. These problems are particularly pronounced for cleaning thin-walled aerospace structural components that are difficult to flip or prone to deformation during the flipping process.

[0003] For example, the patent application published on December 22, 2017, with publication number "CN107497740A" and titled "A Multifunctional Aircraft Engine Cleaning Machine," proposed a new cleaning machine that uses water flow generated by atomizing nozzles to rinse the surface of aircraft engines. However, this solution has problems such as requiring manual control of the nozzle position to clean different areas, the cleaning fluid not being recyclable, and the parts being inconvenient to flip.

[0004] For example, the application published on September 20, 2019, with publication number "CN209406933U" and title "An aircraft component - honeycomb cleaning machine", proposes a method for cleaning honeycomb blocks by spraying with multiple nozzles. However, the cleaning fluid in this solution cannot be recycled, and it is not suitable for cleaning thin-walled aerospace structural parts that are not easy to flip or are easily deformed during the flipping process.

[0005] Therefore, it is still necessary to optimize the cleaning systems or methods involved in aerospace structural components to ensure thorough cleaning of these components and meet cleaning requirements. At the same time, it is also necessary to improve the oil film coating effect to achieve the goals of cleaning, protecting, and extending the service life of the components. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic cleaning system and method for aerospace structural parts, which can effectively ensure the surface quality of aerospace structural parts while significantly reducing the workload of cleaning aerospace structural parts.

[0007] This invention is achieved through the following technical solution:

[0008] An automated cleaning system for aerospace structural components includes a flexible parts box for holding the parts, an automated cleaning module, a flipping module I, an automated oiling module II, a storage platform, a hoisting subsystem, and a controller.

[0009] The hoisting subsystem is used to adjust the height of the flexible parts box and to transport the flexible parts box containing the parts.

[0010] The flexible parts box includes a grid-shaped rigid outer shell, an inner wall that is a grid-shaped flexible inner wall, and is equipped with a vacuum suction plate;

[0011] The automatic cleaning module includes a cleaning tank, with several ultrasonic generators installed in the upper, middle and lower areas of the cleaning tank. A liquid level sensor is installed at the bottom of the cleaning tank, and a temperature sensor and a turbidity sensor are also installed on the cleaning tank. The cleaning tank is connected to a refrigeration unit and a filtration unit through pipes before being connected to the cleaning tank.

[0012] The automatic oiling module includes an oiling tank, which is equipped with an ultrasonic generator, an oil level sensor, a turbidity sensor and a temperature sensor. The oiling tank is connected to an oil replenishment line, and an oil pump is installed on the oil replenishment line.

[0013] Both the flipping module I and the flipping module II include a vacuum adsorption device and two crank-rocker mechanisms. The vacuum adsorption device uses a vacuum suction plate to adsorb the flexible parts box, and flips the flexible parts box by cooperating with the two crank-rocker mechanisms.

[0014] The storage platform is used to store parts that have been processed by the automatic oiling module; the controller is used to receive information from various sensors and actuators and control the operation of the corresponding actuators.

[0015] Furthermore, the crank-rocker mechanism includes a rocker arm, a connecting rod, and a crank, with the rocker arm connected to the vacuum adsorption device.

[0016] Furthermore, the hoisting subsystem includes a crane, ropes, and a vacuum adsorption device. The crane is connected to and fixed to the vacuum adsorption device via ropes. The vacuum adsorption device of the hoisting subsystem is connected to a vacuum suction plate provided on the flexible parts box via a vacuum suction plate.

[0017] Furthermore, the flipping module I and flipping module II also include a part flipping table with a return channel and a collection channel. The collection channel is located below the part flipping table and is used to receive cleaning fluid or rust-preventive oil flowing down from the return channel of the part flipping table.

[0018] An automated cleaning method for aerospace structural components, based on the aforementioned automated cleaning system, includes the following steps:

[0019] a. Fix the aerospace structural parts to be cleaned in a flexible parts box for cleaning; start the electrical components of the system, and the controller is used to receive and process the data fed back by the sensors and actuators, and control the operation of each actuator;

[0020] b. Start the hoisting subsystem. The hoisting subsystem will transfer the flexible parts box from the initial position to the cleaning box of the automatic cleaning module. The automatic cleaning module will vibrate through the ultrasonic generator to make the cleaning fluid in the cleaning box thoroughly clean the surface of the parts. The hoisting subsystem will then lift the flexible parts box to suspend it above the cleaning box, so that the cleaning fluid on the surface of the parts can flow back into the cleaning box.

[0021] c. After the initial cleaning, the hoisting subsystem transfers the flexible parts box containing the parts to the flipping module I. The vacuum adsorption device of the flipping module I is connected and fixed to the flexible parts box. Then, the parts are flipped through the cooperation of two crank-rocker mechanisms, so that the cleaning fluid in the parts cavity flows back into the cleaning tank.

[0022] d. The hoisting subsystem then sends the flipped flexible parts box to the cleaning tank of the automatic cleaning module for ultrasonic cleaning to remove impurities remaining in the parts cavity. The crane of the hoisting subsystem then lifts the flexible parts box again to suspend it above the cleaning tank, so that the cleaning fluid flows back into the cleaning tank for a second cleaning.

[0023] e. The hoisting subsystem transfers the flexible parts box cleaned in step d to the automatic oiling module. The rust-preventive oil in the oiling box quickly soaks the entire surface of the parts, thoroughly dehydrating and protecting them. The hoisting subsystem then lifts the flexible parts box so that it is suspended above the oiling box, and the excess rust-preventive oil flows back to the oiling box.

[0024] f. After the initial oiling, the hoisting subsystem transfers the flexible parts box containing the parts to the flipping module II. The vacuum adsorption device of the flipping module II is connected and fixed to the flexible parts box. Then, the parts are flipped through the cooperation of two crank-rocker mechanisms, so that the anti-rust oil in the parts cavity flows back into the oiling tank.

[0025] g. The hoisting subsystem then transfers the fully oiled flexible parts box to the storage platform, and then unloads the cleaned and oiled parts from the flexible parts box.

[0026] Furthermore, several ultrasonic generators are evenly arranged in the upper, middle, and lower areas of the cleaning tank; several ultrasonic generators are evenly arranged in the upper and lower areas of the oiling tank.

[0027] Furthermore, the liquid level sensor of the automatic cleaning module monitors the total depth of the cleaning liquid in the cleaning tank and the depth of the cleaning liquid near the upper surface of the flexible parts box, respectively, to determine whether the depth of the cleaning liquid meets the cleaning requirements of the parts and whether the distance from the flexible parts box to the bottom of the cleaning tank meets the requirements.

[0028] Ⅰ) When the total depth of the cleaning fluid is too low, the controller sends a signal to the corresponding water pump to replenish the cleaning fluid;

[0029] Ⅱ) When the cleaning fluid depth on the upper surface of the flexible parts box is too small, the controller needs to send a command to the hoisting subsystem to lower the position of the flexible parts box; conversely, when the cleaning fluid depth on the upper surface of the flexible parts box is too large, the controller controls the hoisting subsystem to raise the position of the flexible parts box.

[0030] Furthermore, the temperature sensor of the automatic cleaning module is used to monitor the temperature of the cleaning fluid. When the temperature of the cleaning fluid is too high, the controller controls the start of the cooling unit to perform heat exchange treatment on the cleaning fluid.

[0031] Furthermore, the turbidity sensor in the automatic cleaning module monitors the impurity content at the bottom and surface of the cleaning fluid, respectively.

[0032] Ⅰ) When the turbidity sensor detects that the turbidity of the cleaning fluid surface is too high, it prompts that the suspended impurities on the surface be removed by using a mesh fabric or an oil skimmer;

[0033] Ⅱ) When the turbidity sensor detects that the turbidity value at the bottom of the cleaning fluid is too high, it prompts that impurities be removed by the filtration device.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] I. This invention innovatively utilizes a novel flexible parts box, which features a grid-like rigid outer shell and a grid-like flexible inner wall, along with a vacuum suction plate structure. This flexible parts box is used to fix and load aerospace structural parts to be cleaned (parts that are difficult to flip or easily deformed during the flipping process), ensuring that the parts are well protected during subsequent cleaning, oiling, and flipping processes, preventing damage. In addition, the grid-like box allows for timely and rapid drainage of cleaning fluid / rust-preventive oil during subsequent cleaning, oiling, and flipping, facilitating the recycling of cleaning fluid / rust-preventive oil and reducing waste discharge.

[0036] Second, in this invention, several ultrasonic generators are evenly arranged in the upper, middle, and lower areas of the cleaning tank to ensure that the cleaning fluid in the entire cleaning tank has the same vibration state, thus ensuring the consistency of parts cleaning; several ultrasonic generators are evenly arranged in the upper and lower areas of the oiling tank. The purpose of setting ultrasonic generators in the oiling tank is to improve the separation speed of rust-preventive oil and water droplets and to quickly precipitate a small amount of suspended impurities. Considering both economic cost and effectiveness, ultrasonic generators are only arranged in the upper and lower areas of the oiling tank. Compared with the cleaning tank, the number of ultrasonic generators in each area can be appropriately reduced, which can reduce the investment cost of the cleaning system.

[0037] Thirdly, this invention innovatively introduces flipping modules I and II into the automatic cleaning system, enabling flipping cleaning / oiling of large-sized aerospace structural parts, as well as removing cleaning fluid or rust-preventive oil that cannot flow out from the parts' cavities. Large-sized aerospace structural parts in this field are mostly frame and beam structures with large cross-sectional areas and small heights, and these parts have numerous deep grooves and cavities. Ultrasonic cleaning can effectively avoid the problems of difficult cleaning or low cleanliness of the inner walls of deep grooves and cavities. Flipping cleaning can avoid the problem of large amounts of cleaning fluid, impurities, and rust-preventive oil accumulating on the inner walls of deep grooves and cavities. Therefore, this system can effectively solve problems such as incomplete cleaning, uneven protective film on parts, and large wastewater discharge.

[0038] IV. In this invention, the flipping module I and flipping module II mainly include collection tank I / II for collecting cleaning fluid / rust-preventive oil and a parts flipping mechanism. The collection tank can collect the cleaning fluid / rust-preventive oil carried out by the parts and guide it back to the cleaning tank / oiling tank, avoiding environmental pollution by the cleaning fluid and rust-preventive oil, while realizing the recycling of cleaning fluid and rust-preventive oil. The parts flipping mechanism is mainly composed of two crank-rocker mechanisms, avoiding the problem of unstable motion and power characteristics when the rocker swing angle is close to 180°, and the sum of the swing angles of the two rockers is 180°. The flipping mechanism composed of two crank-rocker mechanisms has zero rotation speed when loading, exchanging, and unloading parts boxes, and has good motion and power characteristics, ensuring safe and stable parts flipping.

[0039] V. In this invention, a cleaning method based on an automatic cleaning system for aerospace structural parts is proposed. Through the cooperation of the controller with various sensors and actuators in the automatic cleaning system, automated operation is achieved, which can thoroughly clean aerospace structural parts to meet cleaning requirements, while improving the oil film coating effect, so as to achieve the purpose of cleaning, protecting parts and extending the service life of parts. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the automatic cleaning system for aerospace structural parts according to the present invention.

[0041] Figure 2 This is a schematic diagram of the automatic cleaning module and the automatic oiling module of the automatic cleaning system of the present invention.

[0042] Figure 3 This is a structural diagram of the part flipping table for flipping module I and flipping module II.

[0043] Figure 4 This is a schematic diagram of a vacuum adsorption device.

[0044] Figure 5This is a structural schematic diagram of a flexible parts box.

[0045] Figure 6 This is a schematic diagram of a crank-rocker mechanism.

[0046] Figure 7 This is a schematic diagram of the vacuum adsorption device I in the flipping module I.

[0047] Figure 8 This is a flowchart of the cleaning method in this invention.

[0048] Figure 9 This is a flowchart of the automatic cleaning module in this invention.

[0049] Figure 10 This is a flowchart of the automatic oiling module in this invention.

[0050] Figure 11 This is a structural diagram of the hoisting subsystem.

[0051] The system includes: 1. Parts; 2. Flexible parts box; 3. Automatic cleaning module; 4. Turning module I; 5. Automatic oiling module; 6. Turning module II; 7. Storage platform; 8. Lifting subsystem; 2.1. Mesh-shaped rigid outer shell; 2.2. Mesh-shaped flexible inner wall; 3.1. Cleaning tank; 3.2. Ultrasonic generator I; 3.3. Liquid level sensor I; 3.4. Temperature sensor I; 3.5. Turbidity sensor I; 3.6. Refrigeration unit; 3.7. Filtration unit; 3.8. Water pump; 4.1. Vacuum adsorption device I; 4.2. 4.3 Crank-rocker mechanism I; 4.4 Crank-rocker mechanism II; 4.1.1 Collection tank I; 5.1 Vacuum suction plate I; 5.2 Oil tank; 5.3 Ultrasonic generator II; 5.4 Oil level sensor; 5.5 Turbidity sensor II; 5.6 Temperature sensor II; 5.7 Oil replenishment line; 6.8 Oil pump; 6.9 Vacuum adsorption device II; 6.0 Crank-rocker mechanism III; 6.0 Crank-rocker mechanism IV; 6.1 Collection tank II; 8.2 Crane; 8.3 Rope; 8.4 Vacuum adsorption device III. Detailed Implementation

[0052] The present invention will be further described in detail below with reference to embodiments, but the implementation of the present invention is not limited thereto.

[0053] Example 1

[0054] To facilitate public understanding of the present invention, this embodiment uses an automatic cleaning system for aerospace structural parts as an example to further illustrate the solution, which relates to the field of machining technology.

[0055] For details, please refer to Figure 1-2The automatic cleaning system includes a flexible parts box 2 for placing parts 1, an automatic cleaning module 3, a flipping module I 4, an automatic oiling module 5, a flipping module II 6, a storage platform 7, a hoisting subsystem 8, and a controller. The hoisting subsystem 8 is used to transport the flexible parts box 2 containing parts 1.

[0056] In this embodiment, the controller controls the movement position of the hoisting subsystem 8 and receives data from various sensors and actuators. By combining certain logical relationships, the controller controls the operation of each actuator to ensure the automated operation of the entire system.

[0057] Specifically, the controller can activate relevant actuators based on the values ​​of the liquid level sensor, temperature sensor, and turbidity sensor to achieve filtration, increase / decrease of cleaning fluid or rust-preventive oil; the controller can control the actuators to complete actions such as loading, handling, hanging, flipping, and unloading according to the set cleaning and oiling process.

[0058] In this invention, the controller's main tasks include controlling the crane's operation, controlling the vacuum adsorption device's operation, controlling the crank's operation in the crank-rocker mechanism, controlling the operation of the adjustable water pump, refrigeration unit, and filtration unit for the cleaning fluid, controlling the rust-preventive oil pump's operation, and controlling the ultrasonic generator's operation. Furthermore, the controller's real-time display screen can show the entire system's status in real time.

[0059] In this embodiment, reference Figure 4-5 The flexible parts box 2 includes a grid-shaped rigid outer shell 2.1, an inner wall of grid-shaped flexible inner wall 2.2, and a vacuum suction plate IV. The grid-shaped rigid outer shell 2.1 is used to support the entire box and prevent external objects from directly colliding with the parts 1, and can be made of materials such as steel or hard aluminum; the grid-shaped flexible inner wall 2.2 is used to reduce the collision between the aerospace structural parts 1 and the box, and plays a role in protecting the parts 1, and can be made of materials such as plastic or rubber; the vacuum suction plate IV is used to form a sealed vacuum cavity with the vacuum adsorption device.

[0060] Preferably, the rigid mesh outer shell 2.1, the flexible mesh inner wall 2.2, and other components are connected by flexible fasteners, fastening screws, and other components. The flexible fasteners are used to fix and support the part 1, preventing the part 1 from moving within the box, and can be made of materials such as plastic or rubber. The fastening screws and the nuts inside the box are used to fix the flexible fasteners. The flexible parts box 2 can ensure that the aerospace structural parts 1 are not collided with during crane handling and cleaning, eliminating safety risks to parts 1 during automatic cleaning and oiling processes.

[0061] In this embodiment, reference Figure 2The automatic cleaning module 3 includes a cleaning tank 3.1. Several ultrasonic generators I 3.2 are arranged in the upper, middle and lower areas of the cleaning tank 3.1. A liquid level sensor I 3.3 is provided at the bottom of the cleaning tank 3.1. A temperature sensor I 3.4 and a turbidity sensor I 3.5 are also provided on the cleaning tank 3.1. The cleaning tank 3.1 is connected to the refrigeration unit 3.6 and the filter unit 3.7 through pipes and then connected to the cleaning tank 3.1.

[0062] The cleaning tank 3.1 is used to store cleaning fluid (which can be pure water or a cleaning fluid with added special cleaning agents). The level sensor I 3.3 can provide feedback on the liquid level in the cleaning tank 3.1 and transmit the data to the controller. The ultrasonic generator I 3.2 is an important component of the automatic cleaning module 3 for part 1. Its high-frequency vibration drives the cleaning fluid to vibrate and rinse the surface of part 1. To ensure the consistency and sufficiency of the vibration and rinsing of the cleaning fluid, multiple ultrasonic generators I 3.2 are arranged inside the cleaning tank 3.1 in this design.

[0063] Turbidity sensor I 3.5 is used to measure the cleanliness of the cleaning fluid and transmit the data to the controller. The cleanliness of the cleaning fluid itself has a significant impact on the cleaning effect on part 1, making real-time monitoring of the turbidity of the cleaning fluid essential. Temperature sensor I 3.4 is used to monitor the real-time temperature of the cleaning fluid and transmit the data to the controller. Prolonged ultrasonic cleaning of part 1 can easily cause a significant rise in the temperature of the cleaning fluid, affecting the performance and lifespan of the sensors and actuators in the automatic cleaning module 3, and even impacting the surface quality of part 1. Therefore, it is necessary to control the temperature of the cleaning fluid in the cleaning tank 3.1 within a certain range.

[0064] Preferably, in this embodiment, by adding a cooling unit 3.6 to the cleaning tank 3.1, the cleaning fluid in the cleaning tank 3.1 can be easily controlled within a suitable range. Preferably, the rear end of the cooling unit 3.6 is connected to a filter unit 3.7, which can remove impurities such as aluminum shavings and suspended solids from the cleaning fluid, thereby purifying the cleaning fluid.

[0065] In this embodiment, reference Figure 1 The flipping module I4 includes a vacuum adsorption device I4.1, a crank-rocker mechanism I4.2, and a crank-rocker mechanism II4.3. The vacuum adsorption device I4.1 can adsorb the vacuum suction plate IV of the flexible parts box 2 through the vacuum suction plate I4.1.1, and flip the flexible parts box 2 through the cooperation of the crank-rocker mechanism I4.2 and the crank-rocker mechanism II4.3.

[0066] In this embodiment, the automatic oiling module 5 includes an oiling tank 5.1, as referenced. Figure 2The oiling tank 5.1 is equipped with an ultrasonic generator II 5.2, an oil level sensor 5.3, a turbidity sensor II 5.4, and a temperature sensor II 5.5. The oiling tank 5.1 is connected to an oil replenishment line 5.6, and an oil pump 5.7 is installed on the oil replenishment line 5.6.

[0067] The oiling tank 5.1 in the automatic oiling module 5 is used to store rust-preventive oil (or anti-corrosion oil, anti-corrosion liquid, etc.) and to fix various sensors. During the oiling stage of part 1, the need for ultrasonic vibration is relatively small; a few ultrasonic generators II 5.2 can be distributed at the upper and lower parts of the oiling tank 5.1. The automatic oiling module 5 needs to monitor the moisture content at the bottom of the tank in real time through the turbidity sensor II 5.4 and promptly activate the oil pump 5.7 to remove the rust-preventive oil with high water content at the bottom of the tank, thus purifying the rust-preventive oil. The automatic oiling module 5 can also adopt the same design as the automatic cleaning module 3. In this embodiment, considering that there are very few aluminum shavings and suspended impurities in this module, the filter unit and cooling unit are omitted.

[0068] In this embodiment, reference Figure 1 The flipping module II6 includes a vacuum adsorption device II6.1, a crank-rocker mechanism III6.2, and a crank-rocker mechanism IV6.3. The vacuum adsorption device II6.1 can adsorb the vacuum suction plate IV of the flexible parts box 2 through the vacuum suction plate II, and flip the flexible parts box 2 through the cooperation of the crank-rocker mechanism III6.2 and the crank-rocker mechanism IV6.3.

[0069] In this embodiment, the flipping module I4 and flipping module II6 further include a part 1 flipping table with a return channel and a collection channel, as shown in the reference. Figure 3 The collection tank is located below the turning table of Part 1. The collection tank is used to receive cleaning fluid or rust-preventive oil flowing down from the return tank of the turning table of Part 1. For details, please refer to... Figure 1 Collection tank I 4.4 / Collection tank II 6.4 can collect the cleaning fluid / rust-preventive oil brought out by part 1 and guide it back to cleaning tank 3.1 / oiling tank 5.1, avoiding environmental pollution by cleaning fluid and rust-preventive oil, and realizing the recycling of cleaning fluid and rust-preventive oil.

[0070] In this embodiment, the storage platform 7 is used to place the part 1 after it has been processed by the automatic oiling module 5.

[0071] In one preferred embodiment, the crank-rocker mechanism I 4.2, crank-rocker mechanism II 4.3, crank-rocker mechanism III 6.2, and crank-rocker mechanism IV 6.3 all adopt the same structure, as shown in the reference. Figure 6 Specifically, it includes a rocker arm, connecting rod, and crank, with the rocker arm connected to a corresponding vacuum adsorption device. Figure 6In the diagram, solid lines represent the initial state of the component, while dashed lines represent the transition or final state of the component. When the crank rotates one revolution, the flexible parts box 2, fixed to the rocker arm by a vacuum suction device, rotates a certain angle with the rocker arm until its rotational speed becomes zero. The vacuum suction device on the other rocker arm fixes the flexible parts box 2 and swings it a certain angle until its rotational speed becomes zero. Thus, the flexible parts box 2 is flipped over.

[0072] In this embodiment, the motor driving the crank has real-time acquisition and transmission functions for parameters such as torque and power. The two crank-rocker arms move in a rhythmic pattern according to commands sent by the controller. The rocker arms start and stop at zero speed, reducing the impact on part 1 during the flipping process. The specific parameters of the crank-rocker mechanism need to be designed and optimized according to the actual application scenario. Typically, the crank rotation speed is relatively slow, requiring the use of a gearbox with a high reduction ratio. To prevent collision between the rocker arms of the two crank-rocker mechanisms, appropriate limiting devices can also be designed according to the actual situation.

[0073] In one preferred embodiment, the hoisting subsystem 8 includes a crane 8.1, a rope 8.2, and a vacuum adsorption device Ⅲ 8.3, as shown in the reference. Figure 11 The crane 8.1 is connected to the fixed vacuum adsorption device III 8.3 via rope 8.2. The vacuum adsorption device III 8.3 of the hoisting subsystem 8 is connected to the vacuum suction plate IV on the flexible parts box 2 via vacuum suction plate III. The parts 1 to be cleaned are cleaned by the crane 8.1, rope 8.2, and vacuum adsorption device III 8.3 of the hoisting subsystem 8. The forward, reverse, and stationary rotation of the motor of the crane 8.1 controls the length of the rope 8.2, realizing the vertical movement of the flexible parts box 2; the crane 8.1 drives the motor to move forward, backward, left, and right, controlling the horizontal movement of the flexible parts box 2. The rotation of the motor on the crane 8.1 and the movement of the crane 8.1 are all completed by program instructions issued by the controller.

[0074] In this embodiment, vacuum adsorption device I 4.1, vacuum adsorption device II 6.1, and vacuum adsorption device III 8.3 do not refer to completely different vacuum adsorption devices, but are used to describe the connection, movement, and transmission relationships of the components in this solution. The vacuum adsorption device in this solution is used to realize the automatic and rapid loading and unloading of aerospace structural parts 1. Preferably, the vacuum adsorption device consists of components such as a vacuum pump, sealing ring, suction plate / suction cup, and pipelines, as shown in the reference. Figure 4Alternatively, in step 7, when loading part 1, the vacuum pump extracts air from the cavity (the cavity formed by the vacuum suction plate and suction cup) to create negative pressure; when unloading part 1, the vacuum pump fills the cavity with air. This automatic cleaning system uses a vacuum suction device, which reduces the workload of fixing the flexible parts box 2 and also reduces the positioning requirements of the flexible parts box 2 on the crane 8.1 / rocker. Fixing the flexible parts box 2 with a vacuum suction device significantly improves the automation level of cleaning and oiling part 1, avoids manual intervention using traditional bolt fixing methods, and reduces the workload caused by frequent loading and unloading of the flexible parts box 2.

[0075] As can be seen, the system and method of this embodiment can realize the automatic cleaning and automatic oiling of aerospace structural parts 1, so as to achieve high-quality, high-efficiency and low-cost automatic cleaning and protection of parts 1, and enhance the corrosion resistance of parts 1 while reducing manual intervention and workload.

[0076] In this embodiment, the cleaning method based on the automatic cleaning system for the aerospace structural component 1 includes the following steps, referred to... Figure 1-8 11:

[0077] Step 1: Fix the aerospace structural component 1 to be cleaned in the flexible parts box 2, ready for cleaning; start the electrical components of the system, the controller is used to receive and process the data fed back by the sensors and actuators, and control the operation of each actuator.

[0078] Step 2: Start the hoisting subsystem 8. The hoisting subsystem 8 will transfer the flexible parts box 2 from its initial position to the cleaning box 3.1 of the automatic cleaning module 3. The automatic cleaning module 3 will vibrate using an ultrasonic generator to ensure that the cleaning fluid in the cleaning box 3.1 thoroughly cleans the surface of the parts 1. The hoisting subsystem 8 will then lift the flexible parts box 2 so that it is suspended above the cleaning box 3.1, allowing the cleaning fluid on the surface of the parts 1 to flow back into the cleaning box 3.1.

[0079] Preferably, ultrasonic generators I 3.2 are evenly arranged in the upper, middle and lower areas of the cleaning tank 3.1.

[0080] In this step, the liquid level sensor I3.3 of the automatic cleaning module 3 monitors the total depth of the cleaning fluid in the cleaning tank 3.1 and the depth of the cleaning fluid near the upper surface of the flexible parts box 2, respectively, to determine whether the depth of the cleaning fluid meets the cleaning requirements of the parts 1 and whether the distance from the flexible parts box 2 to the bottom of the cleaning tank 3.1 meets the requirements. Figure 9 ;

[0081] Ⅰ) When the total depth of the cleaning fluid is too low, the controller sends a signal to the corresponding water pump 3.8 to replenish the cleaning fluid;

[0082] (ii) When the cleaning fluid depth on the upper surface of the flexible parts box 2 is too small, the controller needs to send a command to the hoisting subsystem 8 to lower the position of the flexible parts box 2; conversely, when the cleaning fluid depth on the upper surface of the flexible parts box 2 is too large, the controller controls the hoisting subsystem 8 to raise the position of the flexible parts box 2.

[0083] In this step, the temperature sensor I 3.4 of the automatic cleaning module 3 is used to monitor the temperature of the cleaning fluid. When the temperature of the cleaning fluid is too high, the controller controls the start of the cooling unit 3.6 to perform heat exchange treatment on the cleaning fluid.

[0084] In this step, the turbidity sensor I3.5 of the automatic cleaning module 3 monitors the impurity content on the bottom and surface of the cleaning fluid, respectively.

[0085] Ⅰ) When the turbidity sensor Ⅰ3.5 detects that the turbidity on the surface of the cleaning fluid is too high, it prompts that the suspended impurities on the surface be removed by using a mesh fabric or an oil skimmer.

[0086] Ⅱ) When the turbidity sensor I3.5 detects that the turbidity value at the bottom of the cleaning fluid is too high, it prompts that impurities be removed by the filtration device.

[0087] Step 3: After the initial cleaning, the hoisting subsystem 8 transfers the flexible parts box 2 containing part 1 to the flipping module I4. The vacuum adsorption device I4.1 of the flipping module I4 is connected and fixed to the flexible parts box 2. Then, the flipping of part 1 is achieved through the cooperation of two crank-rocker mechanisms, so that the cleaning fluid in the cavity of part 1 flows back into the cleaning tank 3.1.

[0088] Step 4: The hoisting subsystem 8 then sends the flipped flexible parts box 2 to the cleaning tank 3.1 of the automatic cleaning module 3 for further ultrasonic cleaning to remove the impurities remaining in the cavity of the parts 1. The crane 8.1 of the hoisting subsystem 8 then lifts the flexible parts box 2 again to suspend it above the cleaning tank 3.1, so that the cleaning fluid flows back to the cleaning tank 3.1 for a second cleaning.

[0089] Step 5: The hoisting subsystem 8 transfers the flexible parts box 2, which has been cleaned in step 4, to the automatic oiling module 5. The rust-preventive oil in the oiling tank 5.1 quickly soaks the entire surface of the parts 1, thoroughly dehydrating and protecting the parts 1. The hoisting subsystem 8 then lifts the flexible parts box 2 so that it is suspended above the oiling tank 5.1, and the excess rust-preventive oil flows back to the oiling tank 5.1.

[0090] Preferably, ultrasonic generators II 5.2 are evenly arranged in the upper and lower areas of the oiling tank 5.1. The oiling tank 5.1 is equipped with an oil level sensor 5.3, a turbidity sensor II 5.4, and a temperature sensor II 5.5. In this step, reference... Figure 10The oil level sensor 5.3 of the automatic oiling module 5 monitors the total depth of the anti-rust oil in the oiling tank 5.1 and the depth of the anti-rust oil near the upper surface of the flexible parts box 2, respectively, and determines whether the depth of the anti-rust oil meets the oiling requirements of the parts 1 and whether the distance from the flexible parts box 2 to the bottom of the oiling tank 5.1 meets the requirements.

[0091] Ⅰ) When the total depth of the rust-preventive oil is too low, the controller sends a signal to the corresponding oil pump 5.7 to replenish the rust-preventive oil;

[0092] II) When the depth of the anti-rust oil on the upper surface of the flexible parts box 2 is too small, the controller needs to send a command to the hoisting subsystem 8 to lower the position of the flexible parts box 2; conversely, when the depth of the anti-rust oil on the upper surface of the flexible parts box 2 is too large, the controller controls the hoisting subsystem 8 to raise the position of the flexible parts box 2.

[0093] In this step, the temperature sensor II5.5 of the automatic oiling module 5 is used to monitor the temperature of the rust-preventive oil. When the temperature of the cleaning fluid is too high, the corresponding oil pump is controlled to replace the rust-preventive oil.

[0094] In this step, the turbidity sensor II5.4 of the automatic oiling module 5 is used to monitor the impurity content in the rust-preventive oil. When the turbidity value in the rust-preventive oil is detected to be too high, it prompts the filter unit to remove the impurities.

[0095] Step 6: After the first oiling, the hoisting subsystem 8 will transfer the flexible parts box 2 containing part 1 to the flipping module II 6. The vacuum adsorption device of the flipping module II 6 will be connected and fixed to the flexible parts box 2. Then, the flipping of part 1 will be achieved through the cooperation of two cranks 4.2-rocker mechanisms, so that the anti-rust oil in the cavity of part 1 will flow back into the oiling tank 5.1.

[0096] Step 7: The hoisting subsystem 8 then transfers the fully oiled flexible parts box 2 to the storage platform 7, and then unloads the cleaned and oiled parts 1 from the flexible parts box 2.

[0097] After testing, it was found that using this automatic cleaning system and method can significantly improve work efficiency, and the cleaning is thorough enough to meet the cleaning requirements. At the same time, the risk of parts being bumped or knocked is significantly reduced, the protective film on the parts is uniform, and the amount of waste liquid discharged is significantly reduced. In particular, the advantages of this system over traditional cleaning devices are particularly obvious for cleaning thin-walled aerospace structural parts, and it can also achieve safe flipping of thin-walled aerospace structural parts.

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An automatic cleaning system for aerospace structural parts, characterized in that: This includes a flexible parts box for holding parts, an automatic cleaning module, a flipping module I, an automatic oiling module, a flipping module II, a storage platform, a hoisting subsystem, and a controller. The hoisting subsystem is used to adjust the height of the flexible parts box and to transport the flexible parts box containing the parts. The flexible parts box includes a grid-shaped rigid outer shell, an inner wall that is a grid-shaped flexible inner wall, and is equipped with a vacuum suction plate; The automatic cleaning module includes a cleaning tank, with several ultrasonic generators installed in the upper, middle and lower areas of the cleaning tank. A liquid level sensor is installed at the bottom of the cleaning tank, and a temperature sensor and a turbidity sensor are also installed on the cleaning tank. The cleaning tank is connected to a refrigeration unit and a filtration unit through pipes and then connected to the cleaning tank. The automatic oiling module includes an oiling tank, which is equipped with an ultrasonic generator, an oil level sensor, a turbidity sensor and a temperature sensor. The oiling tank is connected to an oil replenishment line, and an oil pump is installed on the oil replenishment line. Both the flipping module I and the flipping module II include a vacuum adsorption device and two crank-rocker mechanisms. The vacuum suction plate of the vacuum adsorption device adsorbs the flexible parts box, and the flexible parts box is flipped over by the cooperation of the two crank-rocker mechanisms. The storage platform is used to store parts that have been processed by the automatic oiling module; The controller is used to receive information from various sensors and actuators, and to control the operation of the corresponding actuators.

2. The automatic cleaning system for aerospace structural parts according to claim 1, characterized in that: The crank-rocker mechanism includes a rocker arm, a connecting rod, and a crank, with the rocker arm connected to a vacuum adsorption device.

3. The automatic cleaning system for aerospace structural parts according to claim 1, characterized in that: The hoisting subsystem includes a crane, ropes, and a vacuum adsorption device. The crane is connected to and fixed to the vacuum adsorption device via ropes. The vacuum adsorption device of the hoisting subsystem is connected to a vacuum adsorption plate on the flexible parts box via a vacuum suction plate.

4. The automatic cleaning system for aerospace structural parts according to claim 1, characterized in that: The flipping module I and flipping module II also include a part flipping table with a return channel and a collection channel. The collection channel is located below the part flipping table and is used to receive cleaning fluid or rust-preventive oil flowing down from the return channel of the part flipping table.

5. An automatic cleaning method for aerospace structural parts, characterized in that, The automatic cleaning system based on claim 1 includes the following steps: a. Fix the aerospace structural parts to be cleaned in a flexible parts box for cleaning; start the electrical components of the system, and the controller is used to receive and process the data fed back by the sensors and actuators, and control the operation of each actuator; b. Start the hoisting subsystem. The hoisting subsystem will transfer the flexible parts box from the initial position to the cleaning box of the automatic cleaning module. The automatic cleaning module will vibrate through the ultrasonic generator to make the cleaning fluid in the cleaning box thoroughly clean the surface of the parts. The hoisting subsystem will then lift the flexible parts box to suspend it above the cleaning box, so that the cleaning fluid on the surface of the parts can flow back into the cleaning box. c. After the initial cleaning, the hoisting subsystem transfers the flexible parts box containing the parts to the flipping module I. The vacuum adsorption device of the flipping module I is connected and fixed to the flexible parts box. Then, the parts are flipped through the cooperation of two crank-rocker mechanisms, so that the cleaning fluid in the parts cavity flows back into the cleaning tank. d. The hoisting subsystem then sends the flipped flexible parts box to the cleaning tank of the automatic cleaning module for ultrasonic cleaning to remove impurities remaining in the parts cavity. The crane of the hoisting subsystem then lifts the flexible parts box again to suspend it above the cleaning tank, so that the cleaning fluid flows back into the cleaning tank for a second cleaning. e. The hoisting subsystem transfers the flexible parts box cleaned in step d to the automatic oiling module. The rust-preventive oil in the oiling box quickly soaks the entire surface of the parts, thoroughly dehydrating and protecting them. The hoisting subsystem then lifts the flexible parts box so that it is suspended above the oiling box, and the excess rust-preventive oil flows back to the oiling box. f. After the initial oiling, the hoisting subsystem transfers the flexible parts box containing the parts to the flipping module II. The vacuum adsorption device of the flipping module II is connected and fixed to the flexible parts box. Then, the parts are flipped through the cooperation of two crank-rocker mechanisms, so that the anti-rust oil in the parts cavity flows back into the oiling tank. g. The hoisting subsystem then transfers the fully oiled flexible parts box to the storage platform, and then unloads the cleaned and oiled parts from the flexible parts box.

6. The automatic cleaning method for aerospace structural parts according to claim 5, characterized in that: Several ultrasonic generators are evenly arranged in the upper, middle and lower areas of the cleaning tank; several ultrasonic generators are evenly arranged in the upper and lower areas of the oiling tank.

7. The automatic cleaning method for aerospace structural parts according to claim 5, characterized in that: The liquid level sensor of the automatic cleaning module monitors the total depth of the cleaning liquid in the cleaning tank and the depth of the cleaning liquid near the upper surface of the flexible parts box, respectively, to determine whether the depth of the cleaning liquid meets the cleaning requirements of the parts and whether the distance from the flexible parts box to the bottom of the cleaning tank meets the requirements. Ⅰ) When the total depth of the cleaning fluid is too low, the controller sends a signal to the corresponding water pump to replenish the cleaning fluid; Ⅱ) When the cleaning fluid depth on the upper surface of the flexible parts box is too small, the controller needs to send a command to the hoisting subsystem to lower the position of the flexible parts box; conversely, when the cleaning fluid depth on the upper surface of the flexible parts box is too large, the controller controls the hoisting subsystem to raise the position of the flexible parts box.

8. The automatic cleaning method for aerospace structural parts according to claim 5, characterized in that: The temperature sensor of the automatic cleaning module is used to monitor the temperature of the cleaning fluid. When the temperature of the cleaning fluid is too high, the controller controls the start of the cooling unit to perform heat exchange treatment on the cleaning fluid.

9. An automatic cleaning method for aerospace structural parts according to claim 5, characterized in that: The turbidity sensor in the automatic cleaning module monitors the impurity content at the bottom and surface of the cleaning fluid, respectively. Ⅰ) When the turbidity sensor detects that the turbidity of the cleaning fluid surface is too high, it prompts that the suspended impurities on the surface be removed by using a mesh fabric or an oil skimmer; Ⅱ) When the turbidity sensor detects that the turbidity value at the bottom of the cleaning fluid is too high, it prompts that impurities be removed by the filtration device.

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