Automatic inspection device for low-temperature propellant filling pipeline

Abstract

The utility model provides an automatic inspection device for a low-temperature propellant filling pipeline, which relates to the technical field of low-temperature rocket propellant filling and is characterized in that an inspection robot body moves on a moving path provided by a path module, and a fault positioning module moves along with the inspection robot body to detect the temperature of the filling pipeline; the inspection robot body can detect the temperature of the filling pipeline so that a worker can know whether the temperature of the filling pipeline is abnormal or not, the inspection robot body can detect obstacles on the moving path, when the obstacles are detected, the inspection robot body stops moving, and when the obstacles are not detected, the inspection robot body normally moves along the moving path. The function of automatic inspection of the low-temperature propellant filling pipeline is achieved, and the technical problems that in the prior art, manual inspection of the low-temperature propellant filling pipeline is large in safety risk, large in inspection workload, low in automation level and not timely in leakage detection positioning are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of low-temperature rocket propellant filling, in particular to an automatic inspection device for low-temperature propellant filling pipelines. Background Art

[0002] As an important component of cryogenic rocket launch, the stability and safety of the cryogenic refueling system directly affect the overall effectiveness of rocket launch. Cryogenic propellant refueling is generally carried out within 4-8 hours before launch, when the carrier rocket and other systems are already on standby. Whether the cryogenic refueling work can be completed accurately and safely within the specified time will directly affect the launch procedure. Once it fails, the loss is immeasurable. Therefore, cryogenic refueling of propellant is a key link with decisive significance in the launch site.

[0003] The formation and development of low-temperature refueling pipeline failures are generally closely related to pipeline temperature and pressure. Affected by natural factors such as the launch site's ambient temperature, humidity, dirt, wind and sand, rain and snow, and the low-temperature and high-pressure working environment of the pipeline during the refueling process, the refueling pipeline is prone to leakage, reduced insulation performance, corrosion, and other problems, resulting in the propellant being unable to meet the temperature requirements for entering the arrow, ultimately leading to the failure or delay of the launch mission. At present, the refueling of cryogenic propellants at the launch site still uses manual inspections, which poses a high risk to the safety of test personnel, a large inspection workload, a low level of automation, and untimely leak detection and positioning. Utility Model Content

[0004] The utility model aims to provide an automatic inspection device for cryogenic propellant filling pipelines, so as to alleviate the technical problems existing in the prior art of manual inspection of cryogenic propellant filling pipelines, such as high safety risks, large inspection workload, low automation level and untimely leak detection and positioning.

[0005] The utility model provides an automatic inspection device for a cryogenic propellant filling pipeline, comprising: an inspection robot body, a path module and a fault location module;

[0006] The inspection robot body is in transmission connection with the path module, the path module is used to provide a moving path, and the inspection robot is configured to be able to move along the moving path so that the inspection robot body moves over the filling pipeline;

[0007] The fault location module is arranged on the inspection robot body, and the fault location module is used to detect the temperature of the filling pipeline;

[0008] The inspection robot body is configured to detect obstacles on the moving path and start or stop moving accordingly according to the detected obstacle information.

[0009] In an alternative embodiment,

[0010] The inspection robot body includes a moving plate and an ultrasonic sensor;

[0011] The movable plate is in transmission connection with the path module, and the movable plate can move along the moving path;

[0012] The ultrasonic sensor is arranged on the moving plate, and is used for detecting obstacles on the moving path.

[0013] In an alternative embodiment,

[0014] The path module includes a driving member and a rotating screw;

[0015] The rotating screw is connected to the driving end of the driving member, and the driving member is configured to drive the rotating screw to rotate along its own axis so that the moving plate moves along the rotating screw.

[0016] In an alternative embodiment,

[0017] A screw nut is arranged on the movable plate, and the screw nut is threadedly connected with the rotating screw.

[0018] In an alternative embodiment,

[0019] The automatic inspection device for the cryogenic propellant filling pipeline also includes a fixed body;

[0020] The two ends of the fixed body are respectively provided with a first fixed plate and a second fixed plate, the fixed end of the driving member is mounted on the first fixed plate, and one end of the rotating screw away from the driving member is rotatably connected to the second fixed plate.

[0021] In an alternative embodiment,

[0022] The fault location module includes a temperature sensor;

[0023] The temperature sensor is arranged on the moving plate.

[0024] In an alternative embodiment,

[0025] The fault location module also includes an oxygen sensor;

[0026] The oxygen sensor is arranged on the moving plate.

[0027] In an alternative embodiment,

[0028] The fault location module also includes a camera component;

[0029] The imaging component is arranged on the moving plate.

[0030] In an alternative embodiment,

[0031] The imaging member is rotatable relative to the moving plate.

[0032] In an alternative embodiment,

[0033] The automatic inspection device for the cryogenic propellant filling pipeline also includes a remote monitoring module;

[0034] The remote monitoring module is connected to the fault location module by signal, and the remote monitoring module is used to receive and display the temperature information of the filling pipeline detected by the fault location module.

[0035] The utility model provides an automatic inspection device for cryogenic propellant filling pipelines. The inspection robot body moves on a moving path provided by a path module, and the fault location module moves along with the inspection robot body to perform temperature detection on the filling pipeline, so that the staff can know whether the temperature of the filling pipeline is abnormal. In addition, the inspection robot body can also detect obstacles on the moving path. When an obstacle is detected, the inspection robot body stops moving. When no obstacle is detected, the inspection robot body moves normally along the moving path, thereby realizing the function of automatic inspection of the cryogenic propellant filling pipeline, alleviating the technical problems existing in the prior art of manual inspection of cryogenic propellant filling pipelines, large safety risks, large inspection workload, low automation level, and untimely leak detection and location. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific implementation methods of the utility model 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the overall structure of the automatic inspection device for the cryogenic propellant filling pipeline provided by an embodiment of the utility model;

[0038] Figure 2 A schematic diagram of the overall structure of the automatic inspection device for the cryogenic propellant filling pipeline provided by an embodiment of the utility model from another perspective;

[0039] Figure 3 A schematic diagram of the structure of a camera component in an automatic inspection device for a cryogenic propellant filling pipeline provided by an embodiment of the utility model;

[0040] Figure 4A schematic diagram of the structure of the automatic inspection device for the cryogenic propellant filling pipeline provided by an embodiment of the utility model from a front view;

[0041] Figure 5 A schematic diagram of the installation of a temperature sensor, an oxygen sensor and an ultrasonic sensor in an automatic inspection device for a cryogenic propellant filling pipeline provided in an embodiment of the utility model.

[0042] Icons: 100-inspection robot body; 110-moving plate; 111-screw nut; 120-ultrasonic sensor; 200-path module; 210-driving component; 220-rotating screw; 300-fault location module; 310-temperature sensor; 320-oxygen sensor; 330-camera component; 331-first bracket; 332-second bracket; 333-third bracket; 400-fixed body; 410-first fixed plate; 420-second fixed plate. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the automatic inspection device for the cryogenic propellant filling pipeline provided in this embodiment includes: an inspection robot body 100, a path module 200 and a fault location module 300; the inspection robot body 100 is transmission-connected to the path module 200, the path module 200 is used to provide a moving path, and the inspection robot is configured to be able to move along the moving path so that the inspection robot body 100 moves over the filling pipeline; the fault location module 300 is disposed on the inspection robot body 100, and the fault location module 300 is used to detect the temperature of the filling pipeline; the inspection robot body 100 is configured to be able to detect obstacles on the moving path, and start or stop movement accordingly according to the detected obstacle information.

[0047] The automatic inspection device for the cryogenic propellant filling pipeline provided in the present embodiment moves the inspection robot body 100 on the moving path provided by the path module 200, and the fault location module 300 moves together with the inspection robot body 100 to perform temperature detection on the filling pipeline, so that the staff can know whether the temperature of the filling pipeline is abnormal. In addition, the inspection robot body 100 can also detect obstacles on the moving path. When an obstacle is detected, the inspection robot body 100 stops moving. When no obstacle is detected, the inspection robot body 100 moves normally along the moving path, thereby realizing the function of automatic inspection of the cryogenic propellant filling pipeline, alleviating the technical problems existing in the prior art of manual inspection of the cryogenic propellant filling pipeline, high safety risks, large inspection workload, low automation level, and untimely leak detection and positioning.

[0048] Regarding the structure and shape of the inspection robot body 100, specifically:

[0049] The inspection robot body 100 includes a moving plate 110 and an ultrasonic sensor 120; the moving plate 110 is connected to the path module 200 by transmission, and the path module 200 generates a driving force to enable the moving plate 110 to move along the moving path; the ultrasonic sensor 120 is arranged on the moving plate 110, and the ultrasonic sensor 120 is used to detect obstacles on the moving path. The main function of the ultrasonic sensor 120 is to use high-frequency sound waves to detect the position and distance of the object. They emit a series of high-frequency sound waves, and when the sound waves touch the surface of the object, they bounce back and are received by the sensor. By calculating the time required for the sound wave to be emitted and returned, and then multiplying it by the propagation speed of the sound wave, the distance value of the object relative to the sensor can be obtained, and the ultrasonic sensor 120 is used to detect whether there is an obstacle on the moving path. When an obstacle is detected, the moving plate 110 stops moving.

[0050] Regarding the structure and shape of the path module 200, specifically:

[0051] The path module 200 includes a driving component 210 and a rotating screw 220; the driving component 210 is specifically configured as a driving motor, and the rotating screw 220 is a screw with a through-thread external thread. The rotating screw 220 is connected to the driving end of the driving component 210. The rotational driving force generated by the driving component 210 acts on the rotating screw 220. The driving component 210 can drive the rotating screw 220 to rotate along its own axis so that the movable plate 110 moves along the rotating screw 220.

[0052] In order to enable the moving plate 110 to move along the rotating screw 220 , a screw nut 111 is provided on the moving plate 110 , and the screw nut is threadedly connected to the rotating screw 220 .

[0053] The path module 200 cooperates with the inspection robot to achieve full coverage of the inspection path and complete the autonomous inspection of the low-temperature filling pipeline. During the mission, the robot can autonomously carry out inspections along the predetermined route. When problems are found, the robot can adjust its posture and focus on inspecting the problem area.

[0054] The automatic inspection device for the cryogenic propellant filling pipeline also includes a fixed body 400; the fixed body 400 is a long rod structure, and a first fixed plate 410 and a second fixed plate 420 are respectively arranged at both ends of the fixed body 400, and the fixed end of the driving member 210 is installed on the first fixed plate 410, and the end of the rotating screw 220 away from the driving member 210 is rotatably connected to the second fixed plate 420. The rotating screw 220 has the same length direction as the fixed body 400 and is arranged in parallel to save space.

[0055] Regarding the structure and shape of the fault location module 300, specifically:

[0056] The fault location module 300 includes a temperature sensor 310; the temperature sensor 310 is arranged on the movable plate 110, and the temperature sensor 310 moves with the movable plate 110. The temperature sensor 310 can detect the temperature change of the low-temperature pipeline in real time, dynamically and accurately. When the temperature difference on the surface of the same pipeline changes by more than 10%, the system will send an early warning signal to the background and control the fault location module 300 to focus on measuring the temperature and gas composition of the area.

[0057] In an optional embodiment, the fault location module 300 also includes an oxygen sensor 320; the oxygen sensor 320 is disposed on the movable plate 110, and the oxygen sensor 320 moves together with the movable plate 110. The oxygen sensor 320 can detect gas composition, and when the temperature difference on the surface of the filling pipeline changes by more than 10%, the oxygen sensor 320 detects the gas in the area.

[0058] In an optional embodiment, the fault location module 300 also includes a camera component 330; the camera component 330 is disposed on the movable plate 110, and the camera component 330 moves together with the movable plate 110. The camera component 330 can be specifically configured as an infrared camera or a high-definition camera, and by using infrared detection technology and machine vision technology, the temperature changes of the low-temperature pipeline can be detected in real time, dynamically and accurately.

[0059] like Figure 3 As shown, in an optional embodiment, the camera component 330 can rotate relative to the movable plate 110, and the camera component 330 can rotate on three axes. Specifically, the camera component 330 includes a first bracket 331, a second bracket 332, a third bracket 333 and a camera. The first bracket 331 is connected to the movable plate 110, and a motor is installed on the movable plate 110. The first bracket 331 is rotated with a vertical axis by means of a gear. The second bracket 332 is arranged below the first bracket 331. A hydraulic drive is arranged on the first bracket 331. The fixed end of the hydraulic drive is installed on the first bracket 331. The driving end of the hydraulic drive is connected to the second bracket 332. The second bracket 332 can be lifted and moved by means of the hydraulic drive. The third bracket 333 is arranged below the second bracket 332. The third bracket 333 can rotate with a horizontal axis by means of a motor and a gear. A camera is installed on the third bracket 333 to realize three-axis rotation and monitor the filling pipeline in all directions.

[0060] In an optional embodiment, the automatic inspection device for the cryogenic propellant filling pipeline further includes a remote monitoring module; the remote monitoring module is signal-connected to the fault locating module 300, and the remote monitoring module is used to receive and display the temperature information of the filling pipeline detected by the fault locating module 300.

[0061] The remote monitoring module consists of a monitor and an operation console, and its functions include pipeline infrared image monitoring, on-site video monitoring, early warning signal reception, relevant data information display and remote emergency response. The rear personnel can use this module to monitor, judge and control the on-site situation.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. An automatic inspection device for cryogenic propellant filling pipeline, characterized in that: include: An inspection robot body (100), a path module (200) and a fault location module (300); The inspection robot body (100) is transmission-connected to the path module (200), the path module (200) is used to provide a moving path, and the inspection robot is configured to be able to move along the moving path so that the inspection robot body (100) moves in the air above the filling pipeline; The fault location module (300) is arranged on the inspection robot body (100), and the fault location module (300) is used to detect the temperature of the filling pipeline; The inspection robot body (100) is configured to detect obstacles on the moving path, and start or stop moving accordingly according to the detected obstacle information.

2. The automatic inspection device for cryogenic propellant filling pipeline according to claim 1, characterized in that: The inspection robot body (100) comprises a moving plate (110) and an ultrasonic sensor (120); The moving plate (110) is drivingly connected to the path module (200), and the moving plate (110) is capable of moving along the moving path; The ultrasonic sensor (120) is arranged on the moving plate (110), and the ultrasonic sensor (120) is used to detect obstacles on the moving path.

3. The automatic inspection device for the cryogenic propellant filling pipeline according to claim 2 is characterized in that: The path module (200) comprises a driving member (210) and a rotating screw (220); The rotating screw (220) is connected to the driving end of the driving member (210), and the driving member (210) is configured to drive the rotating screw (220) to rotate along its own axis so that the moving plate (110) moves along the rotating screw (220).

4. The automatic inspection device for the cryogenic propellant filling pipeline according to claim 3 is characterized in that: A screw nut (111) is provided on the movable plate (110), and the screw nut is threadedly connected to the rotating screw (220).

5. The automatic inspection device for cryogenic propellant filling pipeline according to claim 3 is characterized in that: The cryogenic propellant filling pipeline automatic inspection device further comprises a fixed body (400); A first fixing plate (410) and a second fixing plate (420) are respectively provided at both ends of the fixing body (400); a fixing end of the driving member (210) is mounted on the first fixing plate (410); and an end of the rotating screw rod (220) away from the driving member (210) is rotatably connected to the second fixing plate (420).

6. The automatic inspection device for cryogenic propellant filling pipeline according to claim 2, characterized in that: The fault location module (300) comprises a temperature sensor (310); The temperature sensor (310) is arranged on the moving plate (110).

7. The automatic inspection device for cryogenic propellant filling pipeline according to claim 6, characterized in that: The fault location module (300) further includes an oxygen sensor (320); The oxygen sensor (320) is arranged on the moving plate (110).

8. The automatic inspection device for cryogenic propellant filling pipeline according to claim 6, characterized in that: The fault location module (300) further includes an imaging component (330); The imaging component (330) is arranged on the movable plate (110).

9. The automatic inspection device for cryogenic propellant filling pipeline according to claim 8, characterized in that: The imaging component (330) is rotatable relative to the moving plate (110).

10. The automatic inspection device for cryogenic propellant filling pipeline according to any one of claims 1 to 9, characterized in that: The automatic inspection device for the cryogenic propellant filling pipeline also includes a remote monitoring module; The remote monitoring module is signal-connected to the fault locating module (300), and the remote monitoring module is used to receive and display temperature information of the filling pipeline detected by the fault locating module (300).

Images