Spaceflight tank main delivery pipe redundancy cleaning and control system and working method

Abstract

The invention provides a spaceflight storage tank main conveying pipe redundancy cleaning and control system and a working method, the spaceflight storage tank main conveying pipe redundancy cleaning and control system comprises a redundancy intelligent identification module, an endoscope, a track robot and a roller frame, and a main conveying pipe is driven by the roller frame to rotate around the axial direction of the main conveying pipe; the rail robot comprises a movement module and an execution module, and the rail robot is driven by the movement module to move along the pipeline inner wall of the main conveying pipe; the execution module comprises a mechanical arm, a parallelogram unfolding mechanism, a low-pressure air pipeline and an endoscope lens of an endoscope are installed on the mechanical arm, and a processing device is installed at the tail end of the mechanical arm. Images can be collected in real time and transmitted to the intelligent redundancy recognition module, the types of the redundancy are automatically judged and fed back to a control system of the rail robot, the mechanical arm is rapidly switched to a corresponding tool according to the types of the redundancy, the redundancy is cleaned, and the working efficiency is improved. And the functions of quality detection of the inner surface of the main conveying pipe, full-area cleaning, control and recording of redundant materials and the like can be achieved.

Description

Technical Field

[0001] This invention relates to the field of foreign matter control technology for aerospace products, specifically to a foreign matter cleaning and control system and its working method for the main delivery pipe of an aerospace tank. Background Technology

[0002] With the advancement of manufacturing capabilities and increasing product demand in the aerospace industry, aerospace products are gradually developing towards automation, high efficiency, and high quality. The main delivery pipe of aerospace propellant tanks, as a crucial channel for transporting liquid oxygen or fuel, plays a vital role in propellant delivery and flow stability control, directly impacting the reliability of launch vehicle flight. Because the piping system connects to the engine, excess material within the pipes can easily clog valves and sealing surfaces in the power system, and may also react with the fuel, affecting the engine's normal operation. Therefore, strict quality control of the inner surface of the conduit is essential. Excess material and stains on the inner surface of the conduit are common surface problems. The size of excess material is generally controlled to be below 0.05×0.05×0.05mm³ or 0.07×0.07×0.07mm³. Endoscopic inspection of the inner surface is often necessary to ensure the absence of small excess material residue and to avoid potential risks.

[0003] A Chinese patent with publication number CN107061924B discloses a self-variable diameter pipe cleaning robot, comprising a body with a walking device and a cleaning device mounted on it. The walking device includes a front walking device and a rear walking device with identical structures. Both the front and rear walking devices include three support legs evenly distributed along the circumference and three first elastic members. One end of each first elastic member is connected to the body, and the other end is connected to one of the support legs. Each support leg has a walking wheel at its end. Both the front and rear walking devices include a transmission mechanism for driving the walking wheels to roll. The cleaning device includes an elastic telescopic cleaning frame with several brush heads mounted on it.

[0004] With the gradual improvement of carrying capacity, the length of the main delivery pipe of aerospace tanks has reached 20m. Compared with the 8m main delivery pipe of the current model, the production difficulty and workload of cleaning and controlling foreign matter on the inner surface of the main delivery pipe have increased significantly. Since the detection of foreign matter on the inner surface of the conduit relies on an endoscope, the field of view is only at the centimeter level. For manual inspection, the cycle is long and the cleaning is difficult, which is not conducive to coping with the increasingly compressed final assembly cycle.

[0005] Therefore, there is a need to provide a system and method for cleaning and controlling foreign matter in the main delivery pipe of aerospace tanks, which can realize the automated detection and cleaning of foreign matter on the inner surface of the main delivery pipe, thereby solving the problems of difficulty in cleaning foreign matter in the main delivery pipe and large workload of endoscopic inspection. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a system and method for cleaning and controlling excess materials in the main delivery pipe of aerospace storage tanks.

[0007] According to the present invention, a waste removal and control system for the main delivery pipe of an aerospace tank includes: a waste intelligent identification module, an endoscope, an orbital robot, and a roller frame. The endoscope and the orbital robot are both electrically connected to the waste intelligent identification module. The main delivery pipe is placed on the roller frame and can rotate around its axis by being driven by the roller frame. The track robot includes a motion module and an execution module. The track robot is driven by the motion module to move along the inner wall of the main delivery pipe. The execution module includes a robotic arm, on which a parallelogram unfolding mechanism, a low-pressure air pipeline, and an endoscope lens are mounted. A processing device is mounted at the end of the robotic arm, and the processing device is equipped with a quick-release knob for changing processing tools. The processing device can be adjusted in distance from the tube wall by being driven by the parallelogram unfolding mechanism.

[0008] Preferably, the motion module includes three drive wheels evenly distributed circumferentially, all three drive wheels being in contact with the inner wall of the main delivery pipe, and each drive wheel being equipped with a motion controller, enabling the three drive wheels to move synchronously via the motion controller.

[0009] Preferably, the joints of the parallelogram unfolding mechanism are provided with elastic hinges, and the parallelogram unfolding mechanism can unfold or retract along the diagonal of the parallelogram frame.

[0010] Preferably, the endoscope lens and the low-pressure air line are both located above the processing device, and the robotic arm is equipped with a motor, which drives the processing device to rotate.

[0011] Preferably, the roller frame includes a driving roller frame and one or more driven roller frames arranged coaxially, both the driving roller frame and the driven roller frame are in contact with the outer wall of the main conveying pipe, and the driving roller frame is equipped with a rotation motor and a speed controller.

[0012] A method for operating a debris removal and control system for aerospace tank main delivery pipe according to the present invention includes the following steps: Step S1, intelligent identification of foreign objects: The track robot crawls from one end of the main delivery pipe. During the crawling process, the image information collected by the endoscope lens is transmitted to the intelligent identification module for foreign object identification to determine the type of foreign object and feed it back to the track robot. If foreign objects are found inside the pipe, the track robot stops crawling and processes them. Step S2, Dynamic cleaning of foreign objects: The track robot switches to the appropriate tool according to the type of foreign object. After the track robot processes the defect, it blows away the generated flying debris through the low-pressure air pipeline. Then, it observes through the endoscope lens and judges whether the foreign object has been processed to meet the requirements through the foreign object intelligent recognition module. Once the requirements are met, the processing stops and the track robot continues to move forward to explore. Step S3: Repeat steps S1 and S2 until the track robot climbs to the other end of the main delivery pipe; Step S4: The roller frame rotates at a preset angle, causing the main conveying pipe to rotate at a preset angle. The track robot repeats steps S1 to S3 to clean up the excess material until all the excess material on the inner wall of the pipe is removed. Step S5: Switch the processing device to the non-woven fabric soaked in anhydrous ethanol. The track robot crawls from one end of the main delivery pipe to achieve indiscriminate cleaning of the inner surface. When the track robot crawls to the other end of the main delivery pipe, replace the non-woven fabric, rotate the roller frame at a preset angle, and the track robot repeats the crawling and cleaning until the entire inner surface of the pipe is cleaned. Step S6: Record the acoustic image of the inspection results on the inner surface of the main delivery pipe, and seal the flanges at both ends with plugs to prevent foreign objects from entering.

[0013] Preferably, in step S2, the excess material includes weld spatter, burrs, yellow spots, water stains, and scratch accumulation.

[0014] Preferably, when dealing with weld spatter and burrs, the processing device is switched to a quartz grinding head for processing; When treating yellow stains or water stains, switch the treatment device to the scouring pad head for treatment; When dealing with accumulated scratches, the processing device is switched to a flap wheel grinding head tool for processing.

[0015] Preferably, in step S6, the crawling speed of the track robot is no greater than 1.2 m / min.

[0016] Preferably, the rotation angle of the roller frame includes 7.5°, and the track robot crawls 48 times to complete the cleaning of excess material on the inner surface.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention utilizes a tracked robot that moves axially along the main delivery pipe. An endoscope held in a robotic arm captures images in real time and transmits them to a foreign object intelligent identification module. The module automatically identifies the type of foreign object and feeds this information back to the tracked robot's control system. The robotic arm then quickly switches to the appropriate tool based on the type of foreign object to clean it, achieving automated identification and removal. This invention enables functions such as main delivery pipe inner surface quality inspection, full-area foreign object cleaning and control, and recording. It addresses the challenges of difficult foreign object cleaning of the inner surface of aerospace tank main delivery pipes, as well as the large workload and long cycle of endoscopic inspections. Ultimately, it aims to improve the automation level of pipeline foreign object cleaning and effectively reduce the labor intensity of operators. Attached Figure Description

[0018] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram illustrating the structure of the aerospace tank main delivery pipe debris removal and control system of the present invention; Figure 2 This is a schematic diagram illustrating the structure of the track robot, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the main features of the invention: a tracked robot crawling in a duct. Figure 4 This is a schematic diagram illustrating the structure of the active roller frame, which is the main feature of this invention. Figure 5 This is a schematic diagram illustrating the structure of the driven roller frame, which is the main feature of this invention. Figure 6 This invention is a flowchart illustrating the working method of the system for cleaning and controlling excess materials in the main delivery pipe of aerospace storage tanks.

[0019] Reference numerals: 1. Excess material intelligent identification module; 2. Endoscope; 3. Tracked robot; 4. Main delivery pipe; 5. Driven roller frame; 6. Active roller frame; 7. Parallelogram unfolding mechanism; 8. Quick disassembly knob; 9. Processing device; 10. Endoscope lens; 11. Low-pressure air pipeline. Detailed Implementation

[0020] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0021] like Figure 1-6As shown, a foreign matter cleaning and control system for the main delivery pipe of an aerospace tank according to the present invention includes: a foreign matter intelligent identification module 1, an endoscope 2, an orbital robot 3, and a roller frame. The endoscope 2 and the orbital robot 3 are both electrically connected to the foreign matter intelligent identification module 1. The main delivery pipe 4 is placed on the roller frame and can rotate around its axis by being driven by the roller frame. The orbital robot 3 includes: a motion module and an execution module. The orbital robot 3 can move along the inner wall of the main delivery pipe 4 by being driven by the motion module. The execution module includes a robotic arm, on which a parallelogram unfolding mechanism 7, a low-pressure air pipeline 11, and an endoscope lens 10 of the endoscope 2 are installed. A processing device 9 is installed at the end of the robotic arm. The processing device 9 is provided with a quick-release knob 8 for changing processing tools. The processing device 9 can adjust its distance from the pipe wall by being driven by the parallelogram unfolding mechanism 7.

[0022] The motion module includes three drive wheels evenly distributed circumferentially. All three drive wheels are in contact with the inner wall of the main delivery pipe 4. A motion controller is installed on the drive wheel. The three drive wheels can move synchronously through the motion controller. The synchronous movement of the three drive wheels is achieved through a differential drive system. The high friction on the surface of the drive wheel generates a continuous traction force on the inner wall of the pipe, which can achieve forward or backward movement.

[0023] The parallelogram unfolding mechanism 7 is equipped with elastic hinges at its joints. The parallelogram unfolding mechanism 7 can unfold or retract along the diagonal of the parallelogram frame. The parallelogram frame diagonal is driven by a motor, and the elastic unit automatically adapts to pipe cross sections of different sizes to achieve flexible fit and stable support.

[0024] The endoscope lens 10 and the low-pressure air line 11 are both located above the processing device 9. The robotic arm is equipped with a motor, and the processing device 9 can rotate by the motor.

[0025] The roller frame includes a coaxially arranged active roller frame 6 and one or more driven roller frames 5. Both the active roller frame 6 and the driven roller frames 5 are in contact with the outer wall of the main conveying pipe 4. The active roller frame 6 is equipped with a rotating motor and a speed controller. The driven roller frames 5 mainly serve to drive the guide tube to rotate, and the contact surface is static friction.

[0026] The main delivery pipe 4 rotates at a constant speed under the rotation of the active roller frame 6, while the driven roller frame 5 provides support. The track robot 3 crawls along the inner wall of the main delivery pipe 4 via drive wheels. The foreign object intelligent identification module 1 couples with the image transmitted by the endoscope 2 to form an intelligent detection system. This system can automatically determine the type of foreign object from the image information collected by the endoscope and feed it back to the execution module of the track robot 3. If foreign objects are found on the inner surface, the robot stops crawling and processes them. The track robot 3 has a processing device 9 on its robotic arm. The quick-release knob 8 allows for the replacement of processing tools according to different work requirements. The execution module provides feedback signals to determine the smearing / grinding processing device. Flexible application is achieved through the elastic parallelogram unfolding mechanism 7, and processing is performed by an electric push rod. A low-pressure air pipe 11 is fixed on the robotic arm to blow away the flying debris generated during grinding after processing. The robotic arm of the track robot 3 is fixed to the endoscope lens 10. The endoscope lens 10 moves along the axial direction of the main delivery tube 4 and transmits images by pulling the endoscope fiber. After the execution module of the track robot 3 cleans up the foreign matter, the endoscope 2 collects images and feeds them back to the intelligent detection system to determine whether the foreign matter has been processed to meet the requirements. Once the requirements are met, the processing stops, and the track robot 3 continues to move forward for detection under the drive of the motion module.

[0027] Specifically, the working method of the aerospace tank main delivery pipe foreign matter cleaning and control system of this application can realize functions such as foreign matter classification and identification, dynamic cleaning of foreign matter, full-area cleaning of the inner surface, and endoscopic audio-visual recording. It can realize full-area cleaning and recording of foreign matter on the inner surface, including the following steps: Step S1, intelligent identification of foreign objects: the track robot 3 crawls from one end of the main delivery pipe 4. During the crawling process, the image information collected by the endoscope lens 10 is transmitted to the intelligent identification module 1 for foreign object identification to determine the type of foreign object and feed it back to the track robot 3. If foreign objects are found inside the pipe, the track robot 3 stops crawling and processes them. Step S2, dynamic cleaning of foreign objects: the track robot 3 switches to the appropriate tool according to the type of foreign object. After the track robot 3 processes the defect, it blows away the generated flying debris through the low-pressure air pipe 11. Then, it observes through the endoscope lens 10 and judges whether the foreign object has been processed to meet the requirements through the foreign object intelligent recognition module 1. After meeting the requirements, the processing stops and the track robot 3 continues to move forward to explore. Step S3: Repeat steps S1 and S2 until the track robot 3 climbs to the other end of the main delivery pipe 4. In step S4, the roller frame rotates at a preset angle, causing the main conveying pipe 4 to rotate at a preset angle. The track robot 3 repeats steps S1 to S3 to clean up the excess material until all the excess material on the inner wall of the pipe is removed. Step S5: Switch the processing device 9 to the non-woven fabric soaked in anhydrous ethanol. The track robot 3 crawls from one end of the main conveying pipe 4 to achieve indiscriminate cleaning of the inner surface. When the track robot 3 crawls to the other end of the main conveying pipe 4, replace the non-woven fabric, rotate the roller frame at a preset angle, and the track robot 3 repeats the crawling and cleaning until the entire inner surface of the pipe is cleaned. Step S6: Record the sound and image of the inner surface inspection results of the main delivery pipe 4, and seal the flanges at both ends with plugs to prevent foreign objects from entering.

[0028] In step S1, defects identified by the endoscope are classified and identified, including weld spatter, yellow spots or water stains, scratch accumulation, burrs, etc.

[0029] In step S2, based on the type of foreign matter identified by endoscope 2, the appropriate tool is switched using the quick-release knob 8. The flexible parallelogram unfolding mechanism 7 ensures close contact between the tool and the foreign matter. Driven by a motor, the processing device 9 rotates and polishes the foreign matter. After the defect is removed, a low-pressure air nozzle connected to a hose fixed to the robotic arm blows away any flying debris, allowing endoscope 2 to observe whether the defect has been completely cleaned. If the result is not satisfactory, processing continues until a feedback signal indicates that it is acceptable. The classification, corresponding tools, and specific procedures for foreign matter cleaning are as follows: (1) Weld spatter and burrs: Generally near the weld, the processing device 9 is switched to the quartz grinding head by the quick disassembly knob 8. The grinding head is adjusted to contact the weld spatter or burrs by the elastic parallelogram unfolding mechanism 7. The grinding head is rotated to process the spatter or burrs. After processing, the flying debris is blown away with a hose, and the endoscope 2 confirms that the defect has been processed. (2) Yellow spots or water stains: Switch the processing device 9 to the scouring pad head by quickly disassembling the knob 8, adjust the grinding head to contact the yellow spots or water stains by using the elastic parallelogram unfolding mechanism 7, and treat the yellow spots or water stains by moving the scouring pad grinding head back and forth; after treatment, use a hose to blow away the flying debris, and use the endoscope 2 to confirm that the defect treatment is completed. (3) Scratch accumulation: Switch the processing device 9 to the flap wheel sander tool by quickly disassembling knob 8, adjust the flap wheel sander to contact the accumulated scratches by the elastic parallelogram unfolding mechanism 7, and process by rotating the flap wheel sander; after processing, blow away the flying debris with a hose, and confirm that the defect processing is completed by endoscope 2. In step S3, the robotic arm of the track robot 3 switches to a non-woven fabric soaked in anhydrous ethanol. The elastic parallelogram unfolding mechanism 7 ensures that the non-woven fabric is in close contact with the inner surface of the pipe. The track robot 3 crawls to achieve indiscriminate cleaning of the inner surface. When the track robot 3 crawls to the end of the pipe, the non-woven fabric is replaced, the guide tube is rotated at a certain angle, and the crawling cleaning continues until the entire inner surface of the pipe is cleaned.

[0030] In step S4, the track robot 3 climbs from the front end to the rear end of the conveying pipe, the active roller frame 6 rotates by 7.5°, and the track robot 3 then climbs from the rear end to the front end. Steps 3 to 5 are repeated, and the robot crawls a total of 48 times to complete the cleaning of excess material on the inner surface of the track.

[0031] In step S6, the endoscopic ultrasound recording includes the following steps: the track robot 3 crawls from one end of the main delivery tube 4. During the crawling process, the track robot 3 drives the endoscope lens 10 to transmit the collected image information to the foreign object intelligent recognition module 1 through the robotic arm. The detection results of the inner surface of the main delivery tube 4 are recorded. The full-area ultrasound recording is completed by the rotation of the main roller frame 6. After recording, the flanges at both ends are sealed with protective covers to prevent foreign objects from entering. The crawling speed of the track robot 3 is no more than 1.2 m / min, the rotation angle of the roller frame is 7.5°, and the track robot 3 completes the cleaning of excess material on the inner surface by crawling 48 times.

[0032] The track robot 3 of this application can move along the axis of the main delivery pipe 4. The robotic arm holds an endoscope lens 10, which can collect images in real time and transmit them to the foreign matter intelligent identification module 1. The module automatically judges the type of foreign matter and feeds it back to the control system of the track robot 3. The robotic arm quickly switches to the corresponding tool according to the type of foreign matter to clean up the foreign matter, thereby achieving the purpose of automated identification and cleaning of foreign matter.

[0033] This application enables full-area cleaning and control of foreign matter on the inner surface, and can realize functions such as quality detection, processing and recording of the inner surface of the main delivery pipe 4. It can solve the problems of difficulty in cleaning foreign matter on the inner surface of the main delivery pipe of aerospace tank, large workload and long cycle of endoscope 2 inspection. Through automated detection and cleaning of foreign matter on the inner surface of the main delivery pipe 4, it can improve the automation level of pipeline foreign matter cleaning and effectively reduce the labor intensity of operators.

[0034] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A system for cleaning and controlling excess material in the main delivery pipe of an aerospace storage tank, characterized in that, include: The system includes a foreign object intelligent identification module (1), an endoscope (2), a track robot (3), and a roller frame. The endoscope (2) and the track robot (3) are electrically connected to the foreign object intelligent identification module (1). The main delivery tube (4) is placed on the roller frame and can rotate around its axis by the roller frame. The track robot (3) includes a motion module and an execution module. The track robot (3) is driven by the motion module to move along the inner wall of the main delivery pipe (4). The execution module includes a robotic arm, on which a parallelogram unfolding mechanism (7), a low-pressure air line (11), and an endoscope lens (10) of an endoscope (2) are mounted. A processing device (9) is mounted at the end of the robotic arm. The processing device (9) is equipped with a quick-release knob (8) for changing processing tools. The processing device (9) can adjust its distance from the tube wall by being driven by the parallelogram unfolding mechanism (7).

2. The aerospace tank main delivery pipe debris cleaning and control system as described in claim 1, characterized in that, The motion module includes three drive wheels evenly distributed circumferentially. All three drive wheels are in contact with the inner wall of the main delivery pipe (4). A motion controller is provided on each drive wheel, and the three drive wheels can move synchronously through the motion controller.

3. The aerospace tank main delivery pipe debris cleaning and control system as described in claim 1, characterized in that, The parallelogram unfolding mechanism (7) is provided with elastic hinges at its joints, and the parallelogram unfolding mechanism (7) can unfold or retract along the diagonal of the parallelogram frame.

4. The aerospace tank main delivery pipe debris cleaning and control system as described in claim 1, characterized in that, The endoscope lens (10) and the low-pressure air line (11) are both located above the processing device (9). The robotic arm is equipped with a motor, and the processing device (9) can rotate by the motor.

5. The aerospace tank main delivery pipe debris cleaning and control system as described in claim 1, characterized in that, The roller frame includes a coaxially arranged active roller frame (6) and one or more driven roller frames (5). Both the active roller frame (6) and the driven roller frames (5) are attached to the outer wall of the main conveying pipe (4). The active roller frame (6) is equipped with a rotating motor and a speed controller.

6. A method for operating the waste removal and control system for the main delivery pipe of an aerospace tank as described in any one of claims 1-5, characterized in that, Includes the following steps: Step S1, intelligent identification of foreign objects: the track robot (3) crawls from one end of the main delivery pipe (4). During the crawling process, the image information collected by the endoscope lens (10) is transmitted to the intelligent identification module (1) for foreign object identification, which judges the type of foreign object and feeds it back to the track robot (3). If foreign objects appear inside the pipe, the track robot (3) stops crawling and processes them. Step S2, dynamic cleaning of foreign objects. The track robot (3) switches to the appropriate tool for the type of foreign object. After the track robot (3) processes the defect, it blows away the generated flying debris through the low-pressure air pipeline (11). Then, it observes through the endoscope lens (10) and judges whether the foreign object has been processed to meet the requirements through the foreign object intelligent recognition module (1). After meeting the requirements, it stops processing and the track robot (3) continues to move forward to conduct detection. Step S3, repeat steps S1 and S2 until the track robot (3) climbs to the other end of the main delivery pipe (4); Step S4, the roller frame rotates at a preset angle, driving the main conveying pipe (4) to rotate at a preset angle, and the track robot (3) repeats steps S1 to S3 to clean up the excess until all the excess on the inner wall of the pipe is removed. Step S5: Switch the processing device (9) to the non-woven fabric soaked in anhydrous ethanol. The track robot (3) crawls from one end of the main conveying pipe (4) to achieve indiscriminate cleaning of the inner surface. When the track robot (3) crawls to the other end of the main conveying pipe (4), replace the non-woven fabric, rotate the roller frame at a preset angle, and the track robot (3) repeats the crawling and cleaning until the entire inner surface of the pipe is cleaned. Step S6: Record the sound and image of the inner surface inspection results of the main delivery pipe (4), and seal the flanges at both ends with plugs to prevent foreign objects from entering.

7. The working method of the aerospace tank main delivery pipe debris cleaning and control system as described in claim 6, characterized in that, In step S2, the foreign matter includes weld spatter, burrs, yellow stains, water stains, and scratch accumulation.

8. The working method of the aerospace tank main delivery pipe debris cleaning and control system as described in claim 7, characterized in that, When dealing with weld spatter and burrs, the treatment device (9) is switched to the quartz grinding head for treatment; When treating yellow stains or water stains, the treatment device (9) is switched to the scouring pad head for treatment; When dealing with scratch buildup, the processing device (9) switches to the flap wheel grinding head tool for processing.

9. The working method of the aerospace tank main delivery pipe debris cleaning and control system as described in claim 6, characterized in that, In step S6, the crawling speed of the track robot (3) is no greater than 1.2 m / min.

10. The working method of the aerospace tank main delivery pipe debris cleaning and control system as described in claim 6, characterized in that, The rotation angle of the roller frame includes 7.5°, and the track robot (3) crawls 48 times to complete the cleaning of excess material on the inner surface.

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