Manufacturing method for main guide pipe of pump rear-swing liquid rocket engine

Abstract

The invention relates to the technical field of manufacturing of a main guide pipe of a pump-back-swinging liquid rocket engine, in particular to a manufacturing method of the main guide pipe of the pump-back-swinging liquid rocket engine. Comprising the following steps: S1, based on a multi-view vision positioning device, respectively measuring each interface of a main conduit to obtain three-dimensional information of each interface; s2, obtaining a three-dimensional model of each sub-tube; s3, based on the three-dimensional information of each interface, performing simulation assembly on the three-dimensional model of each sub-pipe, and determining the margin of the three-dimensional model of each sub-pipe; and S4, girdling and connecting the sub-pipes based on the allowance of the sub-pipe three-dimensional model. During simulated assembling, assembling is conducted from the two end connectors of the main guide pipe to the middle position, girdling and connecting are conducted on the corresponding sub-pipe every time the allowance of the three-dimensional model of one sub-pipe is determined, and the assembling quality and consistency of the main guide pipe can be guaranteed in an iteration mode.

Description

Technical Field

[0001] The invention relates to the technical field of manufacturing a main duct of a pump-swing liquid rocket engine, and in particular to a manufacturing method of a main duct of a pump-swing liquid rocket engine. Background Art

[0002] The main pipe of the pump-back swing liquid rocket engine is not only responsible for the transportation of propellant with a certain pressure, temperature and flow rate in the engine, but also needs to withstand the flexible deformation of the pipe caused by the bidirectional swing of the engine. The main pipe has the characteristics of complex spatial direction, high pressure and low temperature of the working medium, and severe vibration conditions. Leakage or rupture of the main pipe will cause the engine to malfunction and even affect the normal launch of the rocket.

[0003] During the main pipe assembly production process, the main pipe is generally divided into the first sub-pipe, the swing bend pipe, the second sub-pipe and the third sub-pipe (such as Figure 2 The engine has interfaces for connecting various sub-pipes. Both ends of the sub-pipes have machining allowances.

[0004] When making connections, each sub-pipe needs to be manually taken to the corresponding interface position on the engine for repair and positioning, and then the pipeline is removed for segmented welding, and finally assembled on the engine. This method is mainly based on manual visual measurement, resulting in low efficiency in removing excess at both ends of each sub-pipe. Summary of the invention

[0005] In view of this, the present invention provides a method for manufacturing a main duct of a pump-back-swing liquid rocket engine, so as to solve the problem of low efficiency in removing the excess at both ends of the sub-tubes in the existing main duct manufacturing.

[0006] The present invention provides a method for manufacturing a main pipe of a pump-backswing liquid rocket engine, comprising the following steps:

[0007] S1, based on the multi-eye vision positioning device, measure each interface of the main pipe respectively to obtain the three-dimensional information of each interface;

[0008] S2, obtaining a three-dimensional model of each sub-tube;

[0009] S3, based on the three-dimensional information of each interface, simulate the assembly of the three-dimensional model of each sub-pipe to determine the margin of the three-dimensional model of the sub-pipe;

[0010] S4, based on the remainder of the sub-pipe 3D model, the sub-pipe is circularly cut and connected;

[0011] When performing simulated assembly, assembly is performed from the two end interfaces of the main pipe to the middle position, and each time the remainder of a sub-pipe three-dimensional model is determined, the corresponding sub-pipe is circumcised and connected until the connection of the main pipe is completed.

[0012] This application simulates the assembly of the three-dimensional model of each sub-pipe through the three-dimensional information of each interface to determine the margin of the sub-pipe three-dimensional model. Compared with the existing technology, manual visual measurement can be eliminated, and the sub-pipe can be circumcised after the margin is determined through simulated assembly, which improves the efficiency of removing the margin at both ends of each sub-pipe. When performing simulated assembly, assembly is performed from the interfaces at both ends of the main pipe to the middle position, and each time the margin of a sub-pipe three-dimensional model is determined, the corresponding sub-pipe is circumcised and connected, and the assembly quality and consistency of the main pipe can be guaranteed through iteration.

[0013] In an optional embodiment, the interfaces of the main pipe include an upstream end interface, an upstream fixed position interface, a reference position interface, a downstream fixed position interface and a downstream end interface in sequence, and the cross axis of the reference position interface is the swing center of the swing elbow three-dimensional model during simulated assembly. The swing elbow can swing and can be constrained by the upstream fixed position interface and the reference position interface.

[0014] In an optional embodiment, the upstream end interface and the upstream fixed position interface are constraint conditions for the first sub-pipe three-dimensional model during simulated assembly. The first sub-pipe three-dimensional model can be simulated and assembled on the upstream end interface three-dimensional model and the upstream fixed position interface three-dimensional model on the host computer to determine the margin of the first sub-pipe.

[0015] In an optional embodiment, the upstream fixed position interface and the reference position interface are constraint conditions for the swing elbow three-dimensional model during simulated assembly. The swing elbow three-dimensional model can adjust the position of the swing elbow through the reference position interface three-dimensional model, and one end is connected with the upstream end interface three-dimensional model to determine the margin of the swing elbow three-dimensional model at this intersection.

[0016] In an optional embodiment, the reference position interface and the downstream fixed position interface are constraint conditions for the second sub-pipe three-dimensional model during simulated assembly. One end of the second sub-pipe three-dimensional model can be connected to the downstream fixed position interface three-dimensional model, and the second sub-pipe three-dimensional model and the swing bend three-dimensional model are connected at the other end, and the margin of the second sub-pipe three-dimensional model and the other end of the swing bend three-dimensional model is determined at the intersection.

[0017] In an optional embodiment, the downstream fixed position interface and the downstream end interface are constraint conditions for the third sub-pipe three-dimensional model during simulated assembly. The third sub-pipe three-dimensional model can be simulated and assembled on the downstream fixed position interface three-dimensional model and the downstream end interface three-dimensional model on the host computer to determine the margin of the third sub-pipe.

[0018] In an optional embodiment, the three-dimensional information of the upstream end interface and the downstream end interface both include the space coordinates of the center of the end interface and the vector coordinates of the normal vector. The first sub-pipe three-dimensional model and the third sub-pipe three-dimensional model can be accurately simulated and assembled at the upstream end interface and the downstream end interface, respectively.

[0019] In an optional embodiment, the three-dimensional information of the upstream fixed position interface and the downstream fixed position interface both include the end face coordinates of the fixed position interface, which can be used to confirm the margins of the first sub-pipe and the third sub-pipe, respectively, and to accurately simulate the assembly of the swing elbow three-dimensional model and the second sub-pipe three-dimensional model, respectively.

[0020] In an optional embodiment, the three-dimensional information of the reference position interface includes the spatial coordinates of the cross axis center of the reference position interface and the vector coordinates of the axis normal vector. The margin of the swing elbow at the upstream fixed position interface and the margin of the swing elbow and the second sub-pipe at the two intersections can be determined.

[0021] In an optional implementation, the three-dimensional model of each sub-pipe is simulated and assembled in accordance with the optimal principle of verticality and misalignment of the sub-pipe three-dimensional model. This can reduce human errors and workload, improve engine assembly quality and efficiency, narrow the tolerance range, and increase the interchangeability and repeatable service life of the main pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the principle of an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the main pipe structure of an embodiment of the present invention;

[0025] Figure 3 Schematic diagram of verticality and misalignment of an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] Combine the following Figures 1 to 3 , describing an embodiment of the present invention.

[0028] According to an embodiment of the present invention, a method for manufacturing a main pipe of a pump-backswing liquid rocket engine is provided, comprising the following steps:

[0029] S1, based on the multi-eye visual positioning device, measures each interface of the main pipe separately to obtain the three-dimensional information of each interface, and uploads the three-dimensional information of each interface to the host computer; the multi-eye visual positioning device can use multiple cameras or camera arrays to obtain image data from different directions, and use complex algorithms (such as visual SLAM, deep learning) to obtain accurate spatial coordinates, and can establish a three-dimensional model by scanning. It is suitable for three-dimensional reconstruction, precise positioning, environmental perception, robot path planning, etc. of the scene. Products may include: Vicon Motion Systems, among which the multi-eye visual positioning system provided by Vicon is widely used in motion capture, virtual reality and robot positioning; OptiTrack, which can provide high-precision multi-eye vision systems for dynamic capture and positioning, which are widely used in robots, autonomous driving and industrial control. The three-dimensional information of each interface may include a three-dimensional model and coordinate position.

[0030] It should be noted that before step S1, the multi-eye visual positioning device is also installed and zero-positioned. When measuring each interface of the main conduit, a marking point can be pasted on the interface. The cross section of the interface is generally circular.

[0031] S2, obtaining a three-dimensional model of each sub-tube; wherein the three-dimensional model of each sub-tube can be obtained during 3D printing, or each sub-tube can be measured and the three-dimensional model of each sub-tube can be established through three-dimensional software.

[0032] S3, based on the three-dimensional information of each interface, the three-dimensional model of each sub-pipe can be simulated and assembled on the host computer to determine the margin of the three-dimensional model of the sub-pipe; each interface is used to connect the corresponding sub-pipe, and generally two interfaces determine one sub-pipe. The three-dimensional information of each interface, that is, the three-dimensional model and coordinate position can be uploaded to the host computer. When the three-dimensional model of the sub-pipe is simulated and assembled, the margin of the three-dimensional model of the sub-pipe can be determined on the host computer through the corresponding two interfaces. For example, a sub-pipe is connected to one of the interfaces according to the three-dimensional information of the interface, and the margin of the three-dimensional model of the sub-pipe is confirmed through the three-dimensional information of the other interface. The margin of the three-dimensional model of the sub-pipe is the margin of the sub-pipe.

[0033] S4, based on the remainder of the sub-pipe three-dimensional model, the sub-pipe is circularly cut and connected; wherein the connection method can be welding.

[0034] When performing simulated assembly, assembly is performed from the two end interfaces of the main pipe to the middle position, and each time the remainder of a sub-pipe three-dimensional model is determined, the corresponding sub-pipe is circumcised and connected until the connection of the main pipe is completed.

[0035] This application simulates the assembly of the three-dimensional model of each sub-pipe through the three-dimensional information of each interface to determine the margin of the sub-pipe three-dimensional model. Compared with the existing technology, manual visual measurement can be eliminated, and the sub-pipe can be circumcised after the margin is determined through simulated assembly, which improves the efficiency of removing the margin at both ends of each sub-pipe. When performing simulated assembly, assembly is performed from the interfaces at both ends of the main pipe to the middle position, and each time the margin of a sub-pipe three-dimensional model is determined, the corresponding sub-pipe is circumcised and connected, and the assembly quality and consistency of the main pipe can be guaranteed through iteration.

[0036] In an optional embodiment, the interfaces of the main pipe include an upstream end interface, an upstream fixed position interface, a reference position interface, a downstream fixed position interface and a downstream end interface in sequence, and the upstream fixed position interface and the downstream fixed position interface may be provided with positioning holes, and the cross axis of the reference position interface is the swing center of the swing elbow three-dimensional model during simulated assembly. The swing elbow can swing and can be constrained by the upstream fixed position interface and the reference position interface.

[0037] The upstream fixed position interface and the downstream fixed position interface can be suitable for connecting the main pipe to the engine. When performing simulated assembly, the host computer obtains the three-dimensional information of the upstream end interface, the upstream fixed position interface, the reference position interface, the downstream fixed position interface and the downstream end interface, including the corresponding three-dimensional models and coordinate positions. The first sub-pipe three-dimensional model can be set between the upstream end interface three-dimensional model and the upstream fixed position interface three-dimensional model, so that the first sub-pipe three-dimensional model is respectively connected to the upstream end interface three-dimensional model and the upstream fixed position interface three-dimensional model to determine the margin at both ends of the first sub-pipe three-dimensional model. The swing elbow three-dimensional model can adjust the position of the swing elbow three-dimensional model through the reference position interface three-dimensional model, so that the swing center of the swing elbow three-dimensional model is located at the cross axis of the reference position interface three-dimensional model, and one end of the swing elbow three-dimensional model is connected to the upstream fixed position interface three-dimensional model to determine the margin of the swing elbow three-dimensional model at this intersection. The third sub-pipe three-dimensional model can be set between the downstream end interface three-dimensional model and the downstream fixed position interface three-dimensional model, so that the third sub-pipe three-dimensional model is respectively connected to the downstream end interface three-dimensional model and the downstream fixed position interface three-dimensional model to determine the margin at both ends of the third sub-pipe three-dimensional model. One end of the second sub-pipe three-dimensional model can be connected to the downstream fixed position interface three-dimensional model, and the second sub-pipe three-dimensional model and the swing bend three-dimensional model are intersected at the other end (cross-sections overlap), and the margin of the second sub-pipe three-dimensional model and the other end of the swing bend three-dimensional model is determined at the intersection.

[0038] It should be noted that the swing elbow in this embodiment may include a first swing hose, a second swing hose, and a connecting hard pipe connected between the first swing hose and the second swing hose, and the connecting hard pipe is a bend. The first swing hose, the second swing hose, and the connecting hard pipe may all have margins, and the cross axis of the reference position interface is the swing center of the connecting hard pipe. The axis of the first swing hose three-dimensional model may coincide with the axis of the end face of the upstream fixed position interface three-dimensional model and enable the first swing hose three-dimensional model to be connected to the connecting hard pipe three-dimensional model. It should be noted that the connection may mean that the cross section of the first swing hose three-dimensional model can coincide with the cross section of the connecting hard pipe three-dimensional model, so that a smooth connection can be made. Similarly, the first swing hose three-dimensional model is enabled to be connected to the upstream fixed position interface three-dimensional model to determine the margins at both ends of the first swing hose and the margin of the connecting hard pipe near one end of the first swing hose. At this time, the position of the connecting rigid pipe three-dimensional model is fixed, one end of the second sub-pipe three-dimensional model can be connected to the downstream fixed position interface three-dimensional model, and a second swing hose three-dimensional model is configured at the other end of the second sub-pipe three-dimensional model, so that the cross-sections at both ends of the second swing hose three-dimensional model coincide with the cross-sections of the connecting rigid pipe three-dimensional model and the cross-sections of the second sub-pipe three-dimensional model, so as to determine the margins at both ends of the second swing hose, the margin of the connecting rigid pipe near one end of the second swing hose, and the margins at both ends of the second sub-pipe three-dimensional model.

[0039] The position of the connecting rigid pipe can be adjusted through the reference position interface three-dimensional model so that the swing center of the connecting rigid pipe three-dimensional model is located at the cross axis center of the reference position interface three-dimensional model, and one end is connected with the upstream fixed position interface three-dimensional model to determine the margin of the swing elbow three-dimensional model at this intersection.

[0040] In an optional embodiment, the upstream end interface and the upstream fixed position interface are constraint conditions for the first sub-pipe three-dimensional model during simulated assembly. The first sub-pipe three-dimensional model can be simulated and assembled on the upstream end interface three-dimensional model and the upstream fixed position interface three-dimensional model on the host computer to determine the margin of the first sub-pipe.

[0041] In an optional embodiment, the upstream fixed position interface and the reference position interface are constraint conditions for the swing elbow three-dimensional model during simulated assembly. The swing elbow three-dimensional model can adjust the position of the swing elbow through the reference position interface three-dimensional model, and one end is connected to the upstream fixed position interface three-dimensional model to determine the margin of the swing elbow three-dimensional model at this intersection.

[0042] In an optional embodiment, the reference position interface and the downstream fixed position interface are constraint conditions for the second sub-pipe three-dimensional model during simulated assembly. One end of the second sub-pipe three-dimensional model can be connected to the downstream fixed position interface three-dimensional model, and the second sub-pipe three-dimensional model and the swing bend three-dimensional model are connected at the other end, and the margin of the second sub-pipe three-dimensional model and the other end of the swing bend three-dimensional model is determined at the intersection.

[0043] In an optional embodiment, the downstream fixed position interface and the downstream end interface are constraint conditions for the third sub-pipe three-dimensional model during simulated assembly. The third sub-pipe three-dimensional model can be simulated and assembled on the downstream fixed position interface three-dimensional model and the downstream end interface three-dimensional model on the host computer to determine the margin of the third sub-pipe.

[0044] In an optional embodiment, the three-dimensional information of the upstream end interface and the downstream end interface both include the space coordinates of the center of the end interface and the normal vector coordinates. According to the space coordinates of the center of the end interface and the normal vector coordinates, the first sub-pipe three-dimensional model and the third sub-pipe three-dimensional model can be accurately simulated and assembled at the upstream end interface and the downstream end interface, respectively.

[0045] In an optional embodiment, the three-dimensional information of the upstream fixed position interface and the downstream fixed position interface both include the end face coordinates of the fixed position interface and the normal vector coordinates of the locating hole axis, which can be used to confirm the margins of the first sub-pipe and the third sub-pipe, respectively, and to accurately simulate the assembly of the swing elbow three-dimensional model and the second sub-pipe three-dimensional model, respectively.

[0046] In an optional embodiment, the three-dimensional information of the reference position interface includes the spatial coordinates of the axis center of the cross axis of the reference position interface and the vector coordinates of the axis normal vector. According to the spatial coordinates of the axis center of the cross axis of the reference position interface and the vector coordinates of the axis normal vector, the margin of the swing elbow at the upstream fixed position interface and the margins of the swing elbow and the second sub-pipe at two intersections can be determined.

[0047] In an optional implementation, when simulating the assembly of the three-dimensional models of each sub-tube, the principle of optimal verticality and misalignment of the three-dimensional models of the sub-tubes is followed, that is, the verticality of the end face of each sub-tube and its axis and the misalignment of the end face axis between the sub-tubes are minimized. This can reduce human errors and workload, improve the quality and efficiency of engine assembly, narrow the tolerance range, and increase the interchangeability and repeatable service life of the main tube.

[0048] When the interface model and the sub-tube model in the present application are connected, the interface end face of the interface model can be made to coincide with the cross section of the sub-tube model.

[0049] In the assembly and production of rocket engines, the welding and assembly of the main duct are of vital importance. The purpose of the present invention is to provide a method for manufacturing the main duct of a pump-swing liquid rocket engine based on multi-camera vision positioning measurement. Multi-camera vision positioning is used to successively measure, remove and weld each sub-tube until the main duct is completed, thereby ensuring that the verticality and misalignment of the end face of each sub-tube interface are optimal, which can not only reduce human errors and workload, improve the quality and efficiency of engine assembly, but also narrow the tolerance range and increase the interchangeability and repeatable service life of the main duct.

[0050] The present invention adopts a multi-eye vision positioning measurement system to measure the spatial position coordinates of the upstream and downstream interfaces, reference position interfaces and fixed position interfaces related to the main pipe, and iterates from both ends to the middle to complete the three-dimensional model simulation assembly, port removal margin calculation, sub-pipe ring cutting and welding of each sub-pipe in order under the constraint conditions of optimal verticality and misalignment of the sub-pipe end face until the main pipe is completed. This improves the low efficiency and low reliability of the existing manual piping of the main pipe of the pump-back swing liquid rocket engine, and effectively ensures the assembly quality and efficiency of the main pipe.

[0051] The present invention adopts multi-eye visual positioning for measurement, which reduces the workload of personnel such as repeated comparison and marking when trying to install the catheter, reduces the labor intensity of personnel, and can greatly save labor costs.

[0052] The present invention adopts multi-eye vision positioning for measurement. Compared with non-contact space measurement technologies such as laser trackers, lidars, and indoor GPS, the present invention has low cost, high reliability, high flexibility, and safe operation. It is suitable for rocket engine assembly sites with dense tooling equipment and narrow space.

[0053] The multi-view visual positioning measurement of the present invention can be replaced by non-contact space measurement technologies such as laser trackers, laser radars, and indoor GPS.

[0054] The method of welding the sub-tubes in sequence from the two ends to the middle of the present invention can be replaced by welding the sub-tubes in sequence from the middle to the two ends.

[0055] The present invention can be applied to the sampling of the main duct of a pump-swinging liquid rocket engine and the multi-section duct of a liquid rocket engine.

[0056] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for manufacturing a main duct of a pump-back-swing liquid rocket engine, characterized in that: The following steps are involved: S1, based on the multi-eye vision positioning device, measure each interface of the main pipe respectively to obtain the three-dimensional information of each interface; S2, obtaining a three-dimensional model of each sub-tube; S3, based on the three-dimensional information of each interface, simulate the assembly of the three-dimensional model of each sub-pipe to determine the margin of the three-dimensional model of the sub-pipe; S4, based on the remainder of the three-dimensional model of the sub-pipe, the sub-pipe is circularly cut and connected; When performing simulated assembly, assembly is performed from the two end interfaces of the main pipe to the middle position, and each time the remainder of a sub-pipe three-dimensional model is determined, the corresponding sub-pipe is circularly cut and connected until the connection of the main pipe is completed.

2. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 1, characterized in that: The interfaces of the main conduit include an upstream end interface, an upstream fixed position interface, a reference position interface, a downstream fixed position interface and a downstream end interface in sequence. The cross axis center of the reference position interface is the swing center of the swing bend three-dimensional model during simulated assembly.

3. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 2, characterized in that: The upstream end interface and the upstream fixed position interface are constraint conditions for the first sub-pipe three-dimensional model during simulated assembly.

4. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 2, characterized in that: The upstream fixed position interface and the reference position interface are constraint conditions for the swing elbow three-dimensional model during simulated assembly.

5. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 2, characterized in that: The reference position interface and the downstream fixed position interface are constraint conditions for the second sub-pipe three-dimensional model during simulated assembly.

6. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 2, characterized in that: The downstream fixed position interface and the downstream end interface are constraint conditions for the third sub-pipe three-dimensional model during simulated assembly.

7. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 2, characterized in that: The three-dimensional information of the upstream end interface and the downstream end interface both include the spatial coordinates of the center of the end interface and the vector coordinates of the normal vector.

8. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 2, characterized in that: The three-dimensional information of the upstream fixed position interface and the downstream fixed position interface both include the end face coordinates of the fixed position interface.

9. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 2, characterized in that: The three-dimensional information of the reference position interface includes the spatial coordinates of the axis center of the cross axis of the reference position interface and the vector coordinates of the axis normal vector.

10. The method for manufacturing a main duct of a pump-back-swing liquid rocket engine according to claim 1, characterized in that: When simulating the assembly of the three-dimensional models of each sub-tube, the optimal principle of verticality and misalignment of the three-dimensional models of the sub-tube is followed.

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