Robot for annularly cutting aramid fiber combustion chamber

Abstract

The robot for annularly cutting the aramid fiber combustion chamber comprises an annular crawling robot body, an annular robot frame with a self-adaptive curved surface is designed, a chain and chain wheel transmission structure is arranged, and the robot stably crawls on the surface of a combustion chamber shell; the electrostatic safety system integrates an aramid fiber cutting knife and an electrostatic elimination device, ions are released to neutralize static electricity while cutting is conducted, and electrostatic sparks are prevented from being generated; an intelligent control system is adopted, an operator operates through a console outside a safe distance, and the system is provided with a multi-angle industrial safety sensor to provide real-time visual feedback. Annular cutting remote operation is achieved, personnel contact is zero, and the explosion risk faced by operators is completely eliminated; according to the cutting tool integrated real-time static electricity monitoring and eliminating system and the control method thereof, static electricity is completely eliminated; annular cutting is wide in application range, cutting operation efficiency is greatly improved, cost is reduced due to efficiency improvement, cutting quality is uniform and consistent, and dissection analysis precision is improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical cutting technology, and more specifically to a robot for annular cutting of aramid fiber combustion chambers. Background Technology

[0002] In the aerospace field, the anatomical analysis of solid rocket motor combustion chambers is a crucial step in studying engine performance and conducting failure analysis. Combustion chamber shells are typically constructed from multiple layers of composite materials, with aramid fibers (such as Kevlar) widely used as reinforcing layers due to their high strength and low density.

[0003] Common cutting techniques include manual cutting: technicians wear protective suits and use handheld cutting tools (such as electric cutters, laser cutters, etc.) at close range. Operators are exposed to hazardous environments, cutting accuracy depends on skill, efficiency is low, and there is a high risk of explosion and combustion. Semi-automatic cutting devices: fixed cutting equipment requires the combustion chamber to be fixed in a specific position for cutting. They lack flexibility and adaptability, cannot handle cutting complex curved surfaces, and require auxiliary positioning. General-purpose industrial robots: standard industrial robotic arms perform cutting tasks, but lack the ability to adapt to the curved surface structure of the combustion chamber. Explosion-proof cutting equipment: uses an inert gas environment or wet cutting to reduce static electricity, but the equipment is complex and inefficient. Currently, the industry generally uses the first method, manual operation, but the accident rate is high. According to industry statistics, in the past five years, there have been 17 serious accidents related to combustion chamber dissection globally, 12 of which were directly caused by electrostatic sparks generated during the cutting of aramid fibers.

[0004] In summary, the main problems of existing technologies are concentrated in three aspects: insufficient safety: unable to effectively solve the fundamental problem of electrostatic spark ignition of propellants; poor adaptability: difficult to adapt to the curved surface structure of combustion chambers of different sizes and shapes; and complex operation: long equipment preparation time and the need for professional personnel to operate. Summary of the Invention

[0005] Based on the above-mentioned technical problems, this invention proposes a robot for annular cutting of aramid fiber combustion chambers, in order to solve the fundamental problem that existing cutting technologies cannot effectively solve the problem of electrostatic spark ignition of propellants, as well as the problem of difficulty in adapting to the curved surface structure of combustion chambers.

[0006] To address the aforementioned technical problems, one objective of this invention is to provide a robot for annularly cutting aramid fiber combustion chambers, comprising: The main body of the ring-shaped crawling robot is designed with a ring-shaped robot frame with an adaptive curved surface and equipped with a chain and sprocket drive structure, which allows it to crawl stably on the surface of the combustion chamber shell. The electrostatic safety system integrates an aramid fiber cutting blade with an electrostatic elimination device, releasing ions to neutralize static electricity during cutting and preventing sparks from being generated. The intelligent control system allows operators to operate it from a safe distance via a console. The system is equipped with multi-angle industrial safety sensors to provide real-time visual feedback.

[0007] Furthermore, the robot body includes a chain 1, a driven wheel 2, a motor output shaft support structure 3, a carriage 4, a cutting tool 5, a cutting tool support structure 6, a set screw 7, a motor 8, an L-shaped motor support plate 9, a sprocket 10, and a lateral set screw 11 for the motor support structure. The robot's overall support structure consists of a platform 4 and four driven wheels 2. The platform and the four driven wheels are connected by stainless steel pins, which are locked in place by set screws 7 on the platform. The L-shaped motor support plate 9 is threaded to the vehicle plate and is used to fix the motor 8. The motor output shaft support structure 3 is fixedly connected to the vehicle plate via the lateral set screw 11 of the motor support structure; Sprocket 10 is driven by the output shaft of a motor; Chain 1 is embedded in sprocket 10 and passes around the engine housing to be cut; The output shaft of motor 8 drives sprocket 10 to drive driven wheel 2 to achieve circumferential crawling; The cutting tool support structure 6 is fixed at a suitable position on the car plate 4. The cutting tool support structure 6 fixes the cutting tool 5 through the set screw 7. The cutting tool 5 can be adjusted along the axial direction of the fixing ring of the cutting tool support structure 6 to remove residual aramid fibers at different depths.

[0008] Furthermore, the electrostatic safety system employs an ion wind electrostatic eliminator and a high-sensitivity electrostatic sensor with a monitoring accuracy of ±0.1kV to achieve closed-loop control of static electricity generation during the cutting process.

[0009] Furthermore, the intelligent control system is characterized by using a remote controller to achieve manual remote control and preset automatic programs for cutting. It employs multi-sensor fusion technology for cutting, with safety sensors located behind the product to monitor the cutting site in real time. Infrared temperature sensors remotely monitor temperature changes at the cutting site in real time and will immediately alarm when the upper limit of the cutting temperature is reached. The cutting task will continue after the temperature drops. When an abnormal situation occurs during the cutting process, the power supply to the cutting robot will be automatically cut off and protection will be activated.

[0010] Furthermore, the L-shaped motor support plate 9 has a U-shaped hole, which allows the motor to move up and down during installation, thereby tensioning the chain 10 with the sprocket 10 to accommodate products of different diameters.

[0011] The above-mentioned one or more technical solutions of the present invention have at least one or more of the following technical effects: The present invention enables remote operation of the ring cutting, with zero contact between personnel, completely eliminating the explosion risk faced by operators; the real-time electrostatic monitoring and elimination system and its control method integrated into the cutting tool of the present invention completely eliminate electrostatics; the ring cutting of the present invention has a wide range of applications, greatly improves the efficiency of cutting operations, and the efficiency improvement leads to cost reduction, uniform cutting quality, and improved accuracy of dissection analysis, providing more accurate data for engine research. Attached Figure Description

[0012] Figure 1 Side view of a circular cutting robot; Figure 2 Top view of a circular cutting robot; Figure 3 : Side view of the axis of the ring cutting robot; Figure 4 Workflow diagram of the cutting robot; Figure 5 : Working principle diagram of a ring-shaped cutting robot; Wherein: 1-Chain, 2-Driven wheel, 3-Motor output shaft support structure, 4-Car plate, 5-Cutting tool, 6-Cutting tool support structure, 7-Setting screw, 8-Motor, 9-L-shaped motor support plate, 10-Sprocket, 11-Motor support structure side setting screw. Detailed Implementation Plan

[0013] This invention discloses a robot for annularly cutting aramid fiber combustion chambers, comprising: an annular crawling robot body with an adaptive curved surface annular robot frame and a chain and sprocket drive structure for stable crawling on the surface of the combustion chamber shell; an electrostatic safety system integrating an aramid fiber cutting blade and an electrostatic eliminator to release ions to neutralize static electricity during cutting and prevent spark generation; and an intelligent control system operated by an operator at a safe distance via a control console, equipped with multi-angle industrial safety sensors to provide real-time visual feedback.

[0014] The cutting process is mainly achieved using a chain drive structure. A servo motor drives a sprocket to rotate. The sprocket rotates through the meshing of chain links with teeth on the sprocket. The sprocket then drives four driven wheels to crawl around the cylindrical product. A beryllium bronze cutting tool for cutting aramid fibers is fixed to the side of the robot body via a set screw structure. Figure 5 The cutting speed and efficiency of the beryllium bronze tool are controlled by the motor speed via a remote controller. Static electricity elimination and monitoring are used to eliminate static electricity generated during the cutting process.

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments obtained. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0016] The main body of the ring-shaped crawling robot is designed with a ring-shaped robot frame with an adaptive curved surface and equipped with a chain and sprocket drive structure, which can stably crawl on the surface of the combustion chamber shell.

[0017] The electrostatic safety system integrates an aramid fiber cutting blade with an electrostatic eliminator, releasing ions to neutralize static electricity during cutting and preventing sparks from being generated.

[0018] The intelligent control system allows operators to operate it from a safe distance via a console. The system is equipped with multi-angle industrial safety sensors to provide real-time visual feedback.

[0019] System workflow diagram as follows Figure 4 As shown, the robot cuts residual aramid fibers in the product mainly by using a sprocket-driven chain to fix the robot on the combustion chamber. The robot is controlled by a remote controller to crawl around the circumference of the combustion chamber. A beryllium bronze knife is fixed on the side of the robot, and the robot carries the beryllium bronze knife to radially cut the residual aramid fibers.

[0020] The static electricity elimination system mainly consists of an ion wind static electricity eliminator installed in the cutting workshop to eliminate static electricity generated during the cutting process, and a real-time static electricity monitoring system fixed next to the product to monitor the amount of static electricity during the cutting process.

[0021] This invention provides a robotic system for annular cutting of aramid fiber combustion chambers, the basic technical solution of which includes: The main body of the ring-shaped crawling robot is designed with an adaptive curved surface ring-shaped cutting robot frame. It adopts a motor-driven chain transmission mode to crawl stably in a ring direction on the surface of the combustion chamber shell. The main body of the crawling robot and its components are detailed in the attached drawings. Figure 1 In the circular cutting robot, the main body of the circular cutting robot consists of a sprocket 1, a driven wheel 2, a motor output shaft support structure 3, a carriage 4, a cutting tool 5, a cutting tool support structure 6, and a set screw 7. Figure 2 The top view of the ring-shaped cutting robot, in addition to the components shown in the side view, also includes motor 8 and L-shaped motor support plate 9. Figure 3 The diagram of the two sides of the annular cutting robot shaft includes a sprocket 10 and a lateral set screw 11 for the motor support structure.

[0022] The robot's overall support structure consists of a platform 4 and four driven wheels 2. The platform, measuring 212mm × 121mm × 17mm, is connected to the four driven wheels, each with a diameter of φ70mm, via φ14mm 316 stainless steel pins. These pins are secured by set screws on the platform. Figure 2 The L-shaped motor support plate 9 is connected to the vehicle plate via a threaded connection. The motor output shaft support structure 3 connects the vehicle plate and the motor output shaft support structure 3 via an M8 11 lateral set screw, and the height of the motor output shaft 3 can be adjusted. The L-shaped motor support plate has a φ10mm U-shaped hole, which allows the motor to move up and down during installation, so that the sprocket 10 can tension the chain to accommodate products of different diameters. Figure 2 The servo motor output shaft drives the attached Figure 3 The sprocket 10 drives the driven wheel to achieve circumferential crawling.

[0023] The cutting tool support structure 6 fixes the cutting tool 5 with the set screw 7. The cutting tool 5 can be adjusted along the axis of the fixing ring of the cutting tool support structure 6 to remove residual aramid fibers at different depths.

[0024] The electrostatic safety system primarily employs an ion wind electrostatic eliminator and a high-sensitivity electrostatic sensor with a monitoring accuracy of ±0.1kV to achieve closed-loop control of static electricity generation during the cutting process. The ion wind electrostatic eliminator is fixed above the product in the cutting workshop, continuously releasing positive and negative ions. This device automatically adjusts the intensity of the ion wind according to the static electricity level. Real-time monitoring by the high-sensitivity electrostatic sensor fixed to the product allows for control of static electricity generated during the cutting process. Residual static charge is then conducted to the ground via a dedicated grounding wire.

[0025] The intelligent control system allows the robot cutting aramid fibers to be controlled manually or via a preset automatic program. Operators do not need to constantly monitor the cutting process remotely and can perform other tasks. Multi-sensor fusion technology enhances the safety and reliability of the cutting process. Safety sensors located on the side and rear of the product provide real-time monitoring of the cutting area, while infrared temperature sensors remotely monitor temperature changes and trigger an alarm when the upper temperature limit is reached. At this point, the remote operator can stop the robot and allow it to resume cutting once the temperature has decreased. In case of any abnormalities during the cutting process, the robot's power supply will be automatically cut off, and safety protection mechanisms will be activated.

[0026] This invention presents a combined design of a ring frame and a three-axis motion system to achieve adaptive crawling of the combustion chamber surface. It also includes a real-time electrostatic monitoring and elimination system and its control method integrated with the cutting tool; an explosion-proof safety control algorithm based on multi-sensor data fusion; the mechanical structure design of the ring-crawling robot; the integrated structure of the cutting tool and electrostatic elimination device; an automatic adjustment method for ion wind intensity based on electrostatic sensor feedback; an adaptive cutting path planning algorithm for the combustion chamber surface; and a multi-level safety interlocking mechanism for the remote control system.

[0027] This invention can also be achieved through the following design changes or alternatives: Tracked mobility solutions replace wheeled mobility, enhancing adaptability to complex surfaces; magnetic levitation drive: contactless drive, suitable for special surfaces.

[0028] Cutting technology alternatives include water-guided laser cutting (for environments particularly sensitive to static electricity) and low-temperature plasma cutting (to improve cutting efficiency). Expanded control methods: Augmented Reality (AR) control: Operators can operate intuitively through AR glasses; Fully automatic intelligent cutting: Automatically identifies the cutting path based on an AI vision system.

[0029] Application scenarios are expanded to include cutting of other composite materials, such as carbon fiber and glass fiber products; hazardous environment detection: adding detection modules for chemical plants, nuclear facilities, etc.; and maintenance of large pressure vessels, such as surface treatment of gas storage tanks and reactors.

[0030] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if these modifications and variations to the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A robot for use in a toroidal cutting aramid fiber combustion chamber, characterized by, The application relates to a robot for cutting residual aramid fiber on the surface of a combustion chamber shell. The robot comprises a ring-shaped crawling robot body, a ring-shaped robot frame designed with an adaptive curved surface, a chain and sprocket transmission structure, and a static safety system. The static safety system comprises an aramid fiber cutting knife and an electrostatic eliminator. The intelligent control system is operated by an operator outside a safe distance through a console, and the system is provided with multi-angle industrial safety sensors to provide real-time visual feedback.

2. The robot for annular cutting aramid fiber combustion chamber according to claim 1, characterized in that, The robot body comprises a chain (1), driven wheels (2), a motor output shaft support structure (3), a car plate (4), a cutting tool (5), a cutting tool support structure (6), a top pin (7), a motor (8), an L-shaped motor support plate (9), a sprocket (10) and a motor support structure lateral top pin (11). The car plate (4) and the four driven wheels (2) serve as the overall support structure of the robot, and the car plate is connected with the four driven wheels through stainless steel pins which are locked through the top pin (7) on the car plate. The L-shaped motor support plate (9) is threadedly connected with the car plate and used for fixing the motor (8). The motor output shaft support structure (3) is fixedly connected with the car plate through the motor support structure lateral top pin (11). The sprocket (10) is driven by the motor output shaft. The chain (1) is embedded in the sprocket (10) and passes around the engine shell to be cut. The motor output shaft support structure (3) is connected with the car plate and the motor output shaft support structure (3) through the M8 lateral top pin (11), and the height of the motor output shaft can be adjusted. The motor (8) output shaft drives the sprocket (10) to drive the driven wheel (2) to realize ring crawling. The cutting tool support structure (6) is fixed on the car plate (4) at a proper position, the cutting tool support structure (6) fixes the cutting tool (5) through the top pin (7), and the cutting tool (5) is adjusted along the axial direction of the fixed ring of the cutting tool support structure (6) to adjust the extension amount of the cutting tool (5), so that residual aramid fiber with different depths is removed.

3. The robot for annular cutting aramid fiber combustion chamber according to claim 1, characterized by, The static safety system adopts an ion wind electrostatic eliminator and a high-sensitivity static sensor with a monitoring accuracy of +0.1kV to realize closed-loop control of static generation in the cutting process.

4. The robot for annular cutting aramid fiber combustion chamber according to claim 1, characterized by, The intelligent control system realizes manual remote control and preset automatic program cutting through a remote controller, adopts multi-sensor fusion technology for cutting, the safety sensor is located at the rear of the product side to monitor the cutting site in real time, the infrared temperature sensor remotely monitors the temperature change of the cutting site in real time, and when the cutting temperature upper limit is reached, an alarm is immediately given, and when the temperature is reduced, the cutting task is continued, and when an abnormal condition occurs in the cutting process, the power supply of the cutting robot is automatically cut off and protection is started.

5. The robot for annular cutting aramid fiber combustion chamber according to claim 3, characterized in that: The L-shaped motor support plate (9) has a U-shaped hole, and the motor is moved up and down during installation, so that the sprocket (10) tensions the chain (1) to adapt to products with different diameters.

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