Measuring system and measuring method for external inspection of spaceflight pressure storage tank

Abstract

The invention provides a measuring system and a measuring method for external inspection of a spaceflight pressure storage tank, the measuring system comprises a rotation supporting platform and an omnibearing measuring mechanism located at one side of the rotation supporting platform, the rotation supporting platform is provided with a first rotation driving device and a tank body bracket installed on the first rotation driving device; the tank body bracket is provided with an adjustable clamp for fixing the spaceflight pressure storage tank; the omni-directional measurement mechanism comprises an X-axis movement mechanism, a Y-axis movement mechanism and a two-axis turnover mechanism, the Y-axis movement mechanism is installed on the X-axis movement mechanism in a sliding mode in the X-axis direction, and the two-axis turnover mechanism is installed on the Y-axis movement mechanism in a sliding mode in the Y-axis direction; and the two-shaft turnover mechanism is used for driving the tank body measuring equipment to do up-down pitching swing and do circumferential rotation along the axis. Through omnibearing and multi-angle automatic pose control, comprehensive detection of the spaceflight pressure storage tank is realized, and comprehensiveness and reliability of detection are ensured.

Description

Technical Field

[0001] The invention relates to aerospace pressure storage tank testing, and in particular to a measurement system and a measurement method for external inspection of aerospace pressure storage tanks. Background Art

[0002] Space pressure storage tanks are an important part of spacecraft and are widely used to store critical gases or liquids such as propellants, oxidizers, helium, nitrogen, etc. These tanks play a vital role in the propulsion system, attitude control system and life support system of spacecraft. In the harsh space environment, pressure storage tanks not only need to withstand drastic temperature changes and mechanical stress, but also must maintain high pressure for a long time in a vacuum environment to ensure the safe operation of the spacecraft. Any slight deformation of the shape or structural defect may cause propulsion system failure, attitude loss of control, and even endanger the life safety of astronauts. Therefore, the structural integrity and sealing of space pressure storage tanks are crucial to their safety.

[0003] In space missions, the external inspection of pressure tanks covers several key parameters, including roundness, wall thickness, weld quality, flatness and deformation. These inspections are crucial because the geometry and structural state of pressure tanks directly affect their performance and safety. Roundness inspection ensures that the tank does not produce uneven stress distribution under high pressure, thereby avoiding damage to the tank body. Wall thickness uniformity inspection is to ensure that the tank can withstand pressure fluctuations in extreme environments. Any area with uneven wall thickness may become a weak point and increase the risk of failure. Weld quality is the most vulnerable link in the tank structure. If cracks, pores or other discontinuities occur, it may cause leakage or rupture during use. Surface flatness inspection helps to find defects such as uneven surfaces, which may cause local stress concentration and cause structural failure under high pressure or vacuum conditions. Deformation inspection ensures that the tank does not undergo physical deformation during manufacturing, transportation and use, ensuring its structural integrity. Through comprehensive external inspections, the reliability and safety of aerospace pressure tanks under extreme conditions can be ensured to avoid affecting the normal operation of spacecraft.

[0004] At present, the external inspection of storage tanks mainly relies on manual operation. Workers use measuring instruments such as laser rangefinders and ultrasonic thickness gauges to measure the diameter, height, roundness, wall thickness, weld and other parameters of the storage tanks point by point. However, this method has significant limitations: the accuracy of manual measurement depends on the experience and skills of the operator, which is prone to measurement errors. At the same time, manual measurement takes a long time, point-by-point measurement is inefficient, and it is difficult to achieve comprehensive and accurate coverage. In addition, in extreme environments such as high temperature, high pressure or vacuum, the feasibility and safety of manual inspection are limited, and operators cannot directly contact the storage tank for inspection. This not only increases the difficulty of the operation, but also may threaten the safety of personnel. Therefore, the application of automated inspection equipment is particularly necessary. By introducing automated inspection equipment, high-precision and comprehensive external inspection can be achieved in harsh environments, which not only ensures the accuracy of the data, but also improves the efficiency and safety of inspection.

[0005] The existing technology has the following main disadvantages in the external detection of pressure storage tanks:

[0006] 1. Insufficient detection accuracy: Manual measurement relies on the operator’s experience and skills. The measurement accuracy is easily affected by human factors, making it difficult to achieve all-round accurate measurement.

[0007] 2. Low efficiency: Manual point-by-point measurement is time-consuming and inefficient. The adjustment and operation of traditional measuring equipment are complicated, which further reduces the detection speed and cannot meet the detection needs of the modern aerospace industry.

[0008] 3. Complex operation and poor flexibility: Existing detection technologies are cumbersome to operate, and measuring equipment is difficult to flexibly adjust to suit the sizes and shapes of different pressure storage tanks. Especially when faced with diverse detection scenarios, existing equipment lacks sufficient flexibility and is difficult to efficiently respond to different detection requirements.

[0009] Poor environmental adaptability: Manual measurement has poor adaptability in special environments, especially in extreme temperature, high pressure or vacuum environments, where manual operation will be greatly restricted. These conditions will not only endanger the safety of operators, but also affect the accuracy and efficiency of detection. In some cases, operators cannot enter extreme environments for measurement, or must use expensive and complex protective equipment, which further reduces the feasibility and safety of detection work.

[0010] The existing external inspection of aerospace pressure tanks has problems such as manual measurement errors, low efficiency, and difficulty in operation under extreme environments, which makes it difficult to meet the inspection needs of the modern aerospace industry. Therefore, there is an urgent need for a solution that can achieve automated, all-round, and safe inspection to make up for the shortcomings of existing technologies and improve the reliability and efficiency of inspection. Summary of the invention

[0011] The present invention provides an all-round multi-angle automatic posture control measurement system for external inspection of aerospace pressure storage tanks. The measurement system detects the aerospace pressure storage tanks through a tank body measurement device. The measurement system includes a slewing support platform and an all-round measurement mechanism located on one side of the slewing support platform.

[0012] The slewing support platform is provided with a first rotary drive device and a tank bracket mounted on the first rotary drive device, and the tank bracket is provided with an adjustable clamp for fixing the aerospace pressure storage tank;

[0013] The omnidirectional measuring mechanism includes an X-axis motion mechanism, a Y-axis motion mechanism, and a two-axis flipping mechanism. The Y-axis motion mechanism is slidably installed on the X-axis motion mechanism along the X-axis direction, and the two-axis flipping mechanism is slidably installed on the Y-axis motion mechanism along the Y-axis direction. The two-axis flipping mechanism is used to drive the tank measuring equipment to perform up and down pitch swing and circumferential rotation.

[0014] Furthermore, the measuring system comprises an outer box installed on the ground, and the tank bracket and the omnidirectional measuring mechanism are all installed in the outer box.

[0015] Furthermore, the first rotary drive device is arranged in a trench opened on the ground. The first rotary drive device is provided with a first drive motor, a transmission system and an output shaft. The first drive motor drives the output shaft to rotate through the transmission system, and the output shaft is fixedly connected to the tank bracket.

[0016] Further, the transmission system is installed on a base bracket, the transmission system includes a coupling, a transmission shaft, a first bevel gear, a second bevel gear, the first drive motor is fixedly installed on the base bracket, the first bearing seat and the second bearing seat are installed on the base bracket, and the transmission shaft and the output shaft are rotatably installed on the first bearing seat and the second bearing seat respectively;

[0017] The first drive motor is connected to one end of the transmission shaft through a coupling, and a first bevel gear is fixed to the other end of the transmission shaft. The first bevel gear is meshed with a second bevel gear, and the second bevel gear is fixedly mounted on the output shaft.

[0018] Furthermore, the tank bracket includes a turntable base, the turntable base is connected to the first rotation drive device, an adjustable clamp is fixedly installed on the upper surface of the turntable base, the adjustable clamp includes at least three sets of adjustment frames that are circumferentially distributed and centrally symmetrical, and the aerospace pressure storage tank is placed in a funnel-shaped opening formed between the adjustment frames;

[0019] Each adjustment frame is provided with an oblique support arm, an insertion rod, a sleeve and a latch. The bottom of the oblique support arm is rotatably connected to the turntable base, the top of the oblique support arm is rotatably connected to the insertion rod, the insertion rod is inserted into the sleeve, and the bottom of the sleeve is rotatably connected to the turntable base. The sleeve and the insertion rod are provided with a row of latch holes with the same spacing. The latch is inserted into the overlapping latch holes of the sleeve and the insertion rod to lock the adjustment frame.

[0020] Furthermore, the X-axis motion mechanism includes an X-axis track, an X-axis driving device and a first slider, and the X-axis track is fixedly mounted with an X-axis rack.

[0021] The X-axis driving device and the Y-axis motion mechanism are both fixedly mounted on the first slider, and the X-axis driving device drives the first slider to slide on the X-axis track in the X-axis. The X-axis driving device includes a second driving motor and a second driving gear mounted on the output shaft of the second driving motor, and the second driving gear is engaged with the X-axis rack.

[0022] Furthermore, the Y-axis motion mechanism includes a Y-axis track, a Y-axis driving device and a second slider;

[0023] The Y-axis track is fixed with a Y-axis rack.

[0024] The Y-axis driving device and the two-axis flipping mechanism are installed on the second slider. The Y-axis driving device drives the second slider to slide on the Y-axis track. The Y-axis driving device includes a third driving motor and a third driving gear installed on the output shaft of the third driving motor. The third driving gear is engaged with the Y-axis rack.

[0025] Furthermore, the Y-axis motion mechanism is driven to slide along the X-axis and / or the two-axis flip mechanism is driven to slide along the Y-axis through a synchronous belt transmission mechanism or a ball screw drive mechanism.

[0026] Furthermore, the two-axis flip mechanism includes a circumferential rotation mechanism and a pitch swing mechanism.

[0027] The circumferential rotation mechanism includes a second rotation drive device and a U-shaped rotating frame, the second rotation drive device includes a fourth drive motor, a worm gear, and a worm, the output shaft of the fourth drive motor is equipped with a worm gear, the worm gear is rotationally connected to the worm gear, and the worm gear is fixedly connected to the rotating frame;

[0028] The pitching and swinging mechanism includes a fifth driving motor. The tank body measuring device is installed on a rotating frame for up and down rotation. The fifth driving motor drives the tank body measuring device to do pitching and swinging on the rotating frame.

[0029] A method for external inspection of aerospace pressure storage tanks based on the above measurement system, the method comprising the following steps:

[0030] Adjust the adjustable clamp and place the aerospace pressure storage tank on the adjustable clamp;

[0031] The first rotary drive device drives the tank bracket to rotate, and

[0032] The tank measuring equipment is driven to move through the X-axis motion mechanism, Y-axis motion mechanism and two-axis flipping mechanism to perform all-round and multi-angle inspection of aerospace pressure storage tanks.

[0033] The advantages of the present invention are:

[0034] 1. Improved the flexibility and adaptability of detection, and can be quickly adjusted to adapt to pressure tanks of different sizes and shapes to meet the needs of diverse detection scenarios.

[0035] 2. Through automated operation, the detection efficiency is significantly improved, the error of manual measurement is reduced, and the accuracy of the test results is ensured.

[0036] 3. Improved environmental adaptability, so that detection can be carried out safely and efficiently in special environments such as extreme temperature, high pressure or vacuum, ensuring the safety of operators.

[0037] 4. Reduce the dependence on expensive and complex protective equipment, improve the feasibility and safety of detection work, and reduce costs.

[0038] 5. Through all-round and multi-angle automatic posture control, comprehensive inspection of aerospace pressure storage tanks is achieved, ensuring the comprehensiveness and reliability of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 It is an overall schematic diagram of the omnidirectional and multi-angle automatic posture control measurement system with an outer box body of the present invention;

[0041] Figure 2 for Figure 1 Schematic diagram of the structure after hiding the outer box;

[0042] Figure 3 This is a three-dimensional structural diagram of the slewing support platform;

[0043] Figure 4 It is a three-dimensional structural diagram of the slewing support platform from another perspective;

[0044] Figure 5 This is the main view of the slewing support platform;

[0045] Figure 6 A structural diagram of one set of adjustment frames of an adjustable fixture;

[0046] Figure 7 It is a schematic diagram of the structure of the adjustable fixture in different states;

[0047] Figure 8 It is the structural diagram of the all-round measuring mechanism;

[0048] Fig. 9 This is the main view of the omnidirectional measuring mechanism;

[0049] Fig.10 It is the structural diagram of the X-axis motion mechanism;

[0050] Fig.11 It is the structural diagram of the Y-axis motion mechanism;

[0051] Fig.12 It is the structural diagram of the two-axis flip mechanism. DETAILED DESCRIPTION

[0052] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0053] In order to fully understand the present invention, detailed steps and detailed structures will be proposed in the following description to illustrate the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0054] Reference Figure 1-2 As shown, the present invention provides an all-round multi-angle automatic posture control measurement system for external inspection of aerospace pressure storage tanks. The measurement system detects the aerospace pressure storage tank 4 through a tank measurement device 3. The measurement system includes a slewing support platform 1 and an all-round measurement mechanism 2 located on one side of the slewing support platform 1. The tank bracket 12 and the all-round measurement mechanism 2 are both installed in an outer box 5 on the ground. The outer box 5 can play a role of partial shading and protection, thereby improving the detection accuracy of the all-round measurement mechanism 2.

[0055] Slewing support platform 1

[0056] The slewing support platform 1 is provided with a first rotary drive device 11 and a tank bracket 12 mounted on the first rotary drive device 11 . The tank bracket 12 is provided with an adjustable clamp 121 for fixing the aerospace pressure storage tank 4 .

[0057] like Figure 2-5 As shown, the first rotary drive device 11 is arranged in a trench 6 opened on the ground. The first rotary drive device 11 is provided with a first drive motor 111, a transmission system 112 and an output shaft 113. The first drive motor 111 drives the output shaft 113 to rotate through the transmission system 112, and the output shaft 113 is fixedly connected to the tank bracket 12.

[0058] The transmission system 112 is installed on a base bracket 1121, and the base bracket 1121 is fixed in the trench 6. The transmission system 112 includes a coupling 1122, a transmission shaft 1123, a first bevel gear 1124, and a second bevel gear 1125. The first drive motor 111 is fixedly installed on the base bracket 1121, and a first bearing seat 1126 and a second bearing seat 1127 are installed on the base bracket 1121. The transmission shaft 1123 and the output shaft 113 are rotatably installed on the first bearing seat 1126 and the second bearing seat 1127 respectively; the first drive motor 111 is connected to one end of the transmission shaft 1123 through the coupling 1122, and the other end of the transmission shaft 1123 is fixed with a first bevel gear 1124, the first bevel gear 1124 and the second bevel gear 1125 are meshed, and the second bevel gear 1125 is fixedly installed on the output shaft 113. The power of the first driving motor 111 is transmitted to the transmission shaft 1123 through the coupling 1122 to make it rotate, and by meshing the first bevel gear 1124 and the second bevel gear 1125, the output shaft 113 and the turntable base 122 are rotated horizontally, and finally the aerospace pressure storage tank 4 on the turntable base 122 is rotated 360° horizontally, so that the tank measuring equipment 3 of the slewing support platform 1 can perform 360° detection of the aerospace pressure storage tank 4 in the horizontal direction.

[0059] The tank bracket 12 includes a turntable base 122, which is fixedly connected to the output shaft 113. An adjustable clamp 121 is fixedly installed on the upper surface of the turntable base 122. The adjustable clamp 121 is composed of three sets of adjustment frames 1211 distributed circumferentially and symmetrically. The aerospace pressure storage tank 4 is placed in the funnel-shaped opening formed between the adjustment frames 1211 (such as Figure 7 shown).

[0060] Figure 6 The structure diagram of a single adjustment frame 1211 is shown. Each adjustment frame 1211 is provided with an oblique support arm 1212, a plug rod 1213, a sleeve 1214 and a latch. The bottom of the oblique support arm 1212 is rotatably connected to the turntable base 122, the top of the oblique support arm 1212 is rotatably connected to the plug rod 1213, the plug rod 1213 is inserted into the sleeve 1214, the bottom of the sleeve 1214 is rotatably connected to the turntable base 122, the sleeve 1214 and the plug rod 1213 are provided with a row of latch holes 1215 with the same spacing, and the latch is inserted into the latch holes 1215 of the sleeve 1214 and the plug rod 1213 that overlap to lock the adjustment frame 1211. Two hinge seats 1216 are fixedly installed on the turntable base 122, which are rotatably connected to the sleeve 1214 and the bottom of the oblique support arm 1212 respectively. By inserting the latch into different latch holes 1215, the angle of the oblique support arm 1212 can be adjusted, thereby adjusting the size of the funnel-shaped opening. Figure 7As shown, it can adapt to aerospace pressure storage tanks 4 of different sizes, and at the same time, the height and elevation angle of the aerospace pressure storage tank 4 can be adjusted, with a higher degree of adjustment freedom.

[0061] Omnidirectional measuring mechanism 2

[0062] The omnidirectional measuring mechanism 2 includes an X-axis motion mechanism 21, a Y-axis motion mechanism 22, and a two-axis flipping mechanism 23. The Y-axis motion mechanism 22 is slidably installed on the X-axis motion mechanism 21 along the X-axis direction, and the two-axis flipping mechanism 23 is slidably installed on the Y-axis motion mechanism 22 along the Y-axis direction. The two-axis flipping mechanism 23 is used to drive the tank body measuring equipment 3 to perform up and down pitch swings and circumferential rotation along the axis.

[0063] 1) X-axis motion mechanism 21

[0064] like Figure 8-10 As shown, the X-axis motion mechanism 21 is fixedly mounted on a ground bracket 214. The X-axis motion mechanism 21 includes two X-axis rails 211, an X-axis drive device 212 and a first slider 213. The X-axis rail 211 is fixedly mounted with an X-axis rack 2111. The X-axis drive device 212 and the Y-axis motion mechanism 22 are both fixedly mounted on the first slider 213, and the X-axis drive device 212 drives the first slider 213 to slide on the X-axis rail 211 in the X-axis. The X-axis drive device 212 includes a second drive motor and a second drive gear mounted on the output shaft of the second drive motor, and the second drive gear is engaged with the X-axis rack 2111. Through the X-axis motion mechanism 21, the tank body measurement device 3 can be driven to approach or move away from the aerospace pressure storage tank 4 in the X direction to adjust and change the distance between the tank body measurement device 3 and the aerospace pressure storage tank 4, so as to achieve near-field detection or far-field detection.

[0065] 2) Y-axis motion mechanism 22

[0066] like Figure 8-9 as well as Fig.11 As shown, the Y-axis motion mechanism 22 includes two Y-axis rails 221, a Y-axis driving device 222 and a second slider 223. The Y-axis rail 221 is fixedly mounted with a Y-axis rack 2211. The Y-axis driving device 222 and the two-axis flipping mechanism 23 are mounted on the second slider 223, and the second slider 223 is driven by the Y-axis driving device 222 to slide on the Y-axis rail 221. The Y-axis driving device 222 includes a third driving motor and a third driving gear mounted on the output shaft of the third driving motor, and the third driving gear is engaged with the Y-axis rack 2211. The Y-axis motion mechanism 22 can drive the tank body measuring device 3 to move up and down in the Y direction to adjust and change the height of the tank body measuring device 3, and detect the aerospace pressure storage tank 4 at different heights.

[0067] In some other embodiments, the Y-axis motion mechanism 22 can be driven to slide along the X-axis and / or the two-axis flipping mechanism 23 can be driven to slide along the Y-axis by a synchronous belt drive mechanism or a ball screw drive mechanism. The synchronous belt drive mechanism or the ball screw drive mechanism is common knowledge to those skilled in the art and will not be elaborated here.

[0068] 3) Two-axis flip mechanism 23

[0069] like Fig.12 As shown, the two-axis flip mechanism 23 includes a circumferential rotation mechanism 231 and a pitch swing mechanism 232. The circumferential rotation mechanism 231 includes a second rotation drive device 2311 and a U-shaped rotating frame 2312. The second rotation drive device 2311 includes a fourth drive motor 2313, a worm gear 2314, and a worm 2315. The output shaft of the fourth drive motor 2313 is equipped with a worm 2315, which is rotatably connected to the worm gear 2314. The worm gear 2314 is rotatably mounted on the second slider 223, and the worm gear 2314 is fixedly connected to the rotating frame 2312. The fourth drive motor 2313 rotates to drive the rotating frame 2312 to rotate 360 ​​degrees.

[0070] The pitching and swinging mechanism 232 includes a fifth driving motor 2321. The tank measuring device 3 is installed on the rotating frame 2312 for vertical rotation. The fifth driving motor 2321 drives the tank measuring device 3 to pitch and swing on the rotating frame 2312. The two-axis flipping mechanism 23 can drive the tank measuring device 3 to pitch up and down and rotate 360° around the axis of the worm gear 2314, further improving the freedom of movement of the tank measuring device 3 in the spatial coordinate system, thereby fully detecting the aerospace pressure storage tank 4.

[0071] Electronic control system

[0072] The electronic control system is centrally installed in the electronic control box on one side of the platform. The servo drive mechanisms and controllers of the slewing support platform 1 and the omnidirectional measuring mechanism 2 are connected together through cables to achieve unified and coordinated control of each motion mechanism. The electronic control system is equipped with an operation interface, through which the operator can set the motion trajectory, speed and angle of each axis.

[0073] The method for external inspection of aerospace pressure storage tanks using the present invention comprises the following steps:

[0074] 1) Fixing of the aerospace pressure storage tank 4: adjust the adjustable clamp 121 so that its opening is adapted to the size of the aerospace pressure storage tank 4 to be tested, then lift the aerospace pressure storage tank 4 and place it on the adjustable clamp 121, test run the slewing support platform 1, rotate the first rotary drive device 11, so that the tank body bracket 12 drives the aerospace pressure storage tank 4 to rotate together, and observe whether the aerospace pressure storage tank 4 is properly installed.

[0075] 2) System test: The first rotary drive device 11 drives the tank bracket 12 to perform 360° horizontal rotation, and drives the tank measuring device 3 to perform X-axis movement, Y-axis movement, up and down pitch and 360° rotation around the axis of the worm gear 2314 through the X-axis movement mechanism 21, the Y-axis movement mechanism 22, and the two-axis flip mechanism 23, so as to perform all-round and multi-angle detection of the aerospace pressure storage tank.

[0076] The advantages of the present invention are:

[0077] 1) High-precision detection: The present invention can realize multi-angle and all-round high-precision detection of aerospace pressure storage tanks through an automated detection platform, avoiding errors caused by manual operation and ensuring the accuracy of measurement results.

[0078] 2) Efficiency improvement: Compared with the traditional manual point-by-point measurement method, the present invention greatly improves the detection speed through automated equipment. The automated detection platform can quickly cover all key parts of the storage tank and reduce the detection time.

[0079] 3) Strong environmental adaptability: The detection platform of the present invention can work normally in extreme environments (such as high temperature, high pressure, vacuum, etc.), solving the problem that manual detection cannot be achieved in these environments. This not only improves the flexibility of external detection of storage tanks, but also ensures the safety of detection operations.

[0080] 4) Efficient and automated operation: Unlike the existing technology that relies on manual measurement, the present invention uses an automated detection platform, which can greatly improve the detection efficiency. Without manual intervention, the system can quickly complete the external detection of the pressure storage tank, significantly reducing the detection time.

[0081] 5) Flexible adaptability: The present invention is highly flexible and can automatically adjust the measurement path and detection method according to the size and shape of different pressure storage tanks. Compared with the prior art where the measurement tools need to be frequently adjusted, this platform can easily adapt to the detection needs of various pressure storage tanks, greatly improving the convenience of operation.

[0082] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. An all-round, multi-angle automatic posture control measurement system for external inspection of aerospace pressure storage tanks, the measurement system detects the aerospace pressure storage tank (4) through a tank body measurement device (3), characterized in that: The measuring system comprises a slewing support platform (1) and an omnidirectional measuring mechanism (2) located on one side of the slewing support platform (1). The slewing support platform (1) is provided with a first rotary drive device (11) and a tank bracket (12) mounted on the first rotary drive device (11), and the tank bracket (12) is provided with an adjustable clamp (121) for fixing the aerospace pressure storage tank (4); The omnidirectional measuring mechanism (2) comprises an X-axis motion mechanism (21), a Y-axis motion mechanism (22), and a two-axis flipping mechanism (23); the Y-axis motion mechanism (22) is slidably mounted on the X-axis motion mechanism (21) along the X-axis direction; the two-axis flipping mechanism (23) is slidably mounted on the Y-axis motion mechanism (22) along the Y-axis direction; and the two-axis flipping mechanism (23) is used to drive the tank measuring device (3) to perform up and down pitching and circumferential rotation.

2. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 1, characterized in that: The measuring system comprises an outer box (5) installed on the ground, and the tank bracket (12) and the omnidirectional measuring mechanism (2) are both installed in the outer box (5).

3. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 1, characterized in that: The first rotary drive device (11) is arranged in a trench opened on the ground. The first rotary drive device (11) is provided with a first drive motor (111), a transmission system (112) and an output shaft (113). The first drive motor (111) drives the output shaft (113) to rotate through the transmission system (112). The output shaft (113) is fixedly connected to the tank bracket (12).

4. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 3, characterized in that: The transmission system (112) is mounted on a base support (1121), and the transmission system (112) comprises a coupling (1122), a transmission shaft (1123), a first bevel gear (1124), and a second bevel gear (1125); the first drive motor (111) is fixedly mounted on the base support (1121); a first bearing seat (1126) and a second bearing seat (1127) are mounted on the base support (1121); the transmission shaft (1123) and the output shaft (113) are rotatably mounted on the first bearing seat (1126) and the second bearing seat (1127), respectively; The first drive motor (111) is connected to one end of the transmission shaft (1123) via the coupling (1122); the first bevel gear (1124) is fixed to the other end of the transmission shaft (1123); the first bevel gear (1124) is meshed with the second bevel gear (1125); and the second bevel gear (1125) is fixedly mounted on the output shaft (113).

5. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 1, characterized in that: The tank bracket (12) comprises a turntable base (122), the turntable base (122) is connected to the first rotary drive device (11), the adjustable clamp (121) is fixedly mounted on the upper surface of the turntable base (122), the adjustable clamp (121) comprises at least three groups of adjustment frames (1211) which are circumferentially distributed and centrally symmetrical, and the aerospace pressure storage tank (4) is placed in a funnel-shaped opening formed between the adjustment frames (1211); Each of the adjustment frames (1211) is provided with an inclined support arm (1212), an insertion rod (1213), a sleeve (1214) and a latch; the bottom of the inclined support arm (1212) is rotatably connected to the turntable base (122); the top of the inclined support arm (1212) is rotatably connected to the insertion rod (1213); the insertion rod (1213) is inserted into the sleeve (1214); the bottom of the sleeve (1214) is rotatably connected to the turntable base (122); the sleeve (1214) and the insertion rod (1213) are both provided with a row of latch holes (1215) with the same spacing; the latch is inserted into the latch holes (1215) of the sleeve (1214) and the insertion rod (1213) that overlap to lock the adjustment frame (1211).

6. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 1, characterized in that: The X-axis motion mechanism (21) comprises an X-axis track (211), an X-axis driving device (212) and a first slider (213). The X-axis rail (211) is fixedly mounted with an X-axis rack (2111). The X-axis driving device (212) and the Y-axis motion mechanism (22) are both fixedly mounted on the first slider (213); the X-axis driving device (212) drives the first slider (213) to slide on the X-axis track (211); the X-axis driving device (212) comprises a second driving motor and a second driving gear mounted on the output shaft of the second driving motor; the second driving gear meshes with the X-axis rack (2111).

7. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 6, characterized in that: The Y-axis motion mechanism (22) comprises a Y-axis track (221), a Y-axis driving device (222) and a second sliding block (223); The Y-axis track (221) is fixedly mounted with a Y-axis rack (2211). The Y-axis driving device (222) and the two-axis flipping mechanism (23) are fixedly mounted on the second slider (223), and the Y-axis driving device (222) drives the second slider (223) to slide along the Y-axis on the Y-axis track (221). The Y-axis driving device (222) includes a third driving motor and a third driving gear mounted on the output shaft of the third driving motor, and the third driving gear meshes with the Y-axis rack (2211).

8. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 1, characterized in that: The Y-axis motion mechanism (22) is driven to slide along the X-axis and / or the two-axis flipping mechanism (23) is driven to slide along the Y-axis through a synchronous belt transmission mechanism or a ball screw drive mechanism.

9. The all-round and multi-angle automatic posture control and measurement system for external inspection of aerospace pressure storage tanks according to claim 7, characterized in that: The two-axis flipping mechanism (23) includes a circumferential rotation mechanism (231) and a pitch swing mechanism (232). The circumferential rotation mechanism (231) comprises a second rotation driving device (2311) and a U-shaped rotating frame (2312); the second rotation driving device (2311) comprises a fourth driving motor (2313), a worm wheel (2314), and a worm (2315); the worm (2315) is mounted on the output shaft of the fourth driving motor (2313); the worm (2315) is rotationally connected to the worm wheel (2314), and the worm wheel (2314) is fixedly connected to the rotating frame (2312); The pitch and tilt swing mechanism (232) includes a fifth drive motor (2321), and the tank body measuring device (3) is mounted on the rotating frame (2312) for vertical rotation, and the fifth drive motor (2321) drives the tank body measuring device (3) to perform pitch and tilt swing on the rotating frame (2312).

10. A method for external inspection of aerospace pressure storage tanks based on the measurement system according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Adjusting the adjustable clamp (121) and placing the aerospace pressure storage tank (4) on the adjustable clamp (121); The first rotation driving device (11) drives the tank bracket (12) to rotate, and The tank measuring device (3) is driven to move by the X-axis motion mechanism (21), the Y-axis motion mechanism (22) and the two-axis flipping mechanism (23) so as to perform all-round and multi-angle detection on the aerospace pressure storage tank.

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