A multi-functional operating arm device for maintaining the inner cavity of a rocket tank

Abstract

The utility model discloses a multifunctional operating arm device for the maintenance of rocket storage tank inner cavity, including drive mechanism, be provided with the delivery subassembly in drive mechanism, the one end of delivery subassembly is installed with the turnover mechanism, the one side of turnover mechanism is provided with scanning subassembly, and the other side of turnover mechanism is provided with function subassembly, and drive mechanism includes two supports, and the top of each support is fixed with the support frame, and each support frame is provided with the lifting piece, and the side of each lifting piece is provided with the special-shaped hole. The utility model discloses through drive mechanism and delivery subassembly cooperation, when maintaining rocket storage tank inner cavity, can adjust drive mechanism according to different specifications rocket storage tank, can change the height of delivery subassembly, the gear of first step motor connection is engaged with the rack of delivery arm connection, and then the turnover mechanism and each component on it are sent into the rocket storage tank inside, satisfy the multiple maintenance of rocket storage tank inner cavity, ensure the production quality of rocket storage tank.

Description

Technical Field

[0001] This utility model relates to the field of rocket propellant tank technology, specifically a multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank. Background Technology

[0002] Rocket propellant tanks are key components of launch vehicles for storing propellants, primarily used in the final stage of next-generation launch vehicles to send spacecraft into their designated orbits. They are manufactured using novel materials such as aluminum-lithium alloys and composite materials.

[0003] In response to this, the invention patent with authorization announcement number CN112083074B discloses an ultrasonic testing device and control method for the circumferential seam of a rocket propellant tank, comprising: a base (100), a head frame (200), a circumferential seam clamp (300), a support bracket (400), a tail frame (500), a gantry scanning platform, and a rocket propellant tank (800); the head frame (200)

[0004] The tailstock (500) is mounted on the base (100); the rocket propellant tank (800) is securely connected to the headstock (200) and tailstock (500); the circumferential weld clamp (300) and internal support mechanism fix the circumferential weld area of ​​the rocket propellant tank (800) to be welded; the present invention meets the requirements for in-situ one-stop non-destructive testing of friction stir welds in launch vehicle propellant tanks.

[0005] It realizes the functions of phased array ultrasonic non-destructive testing, three-dimensional imaging, and automatic defect diagnosis and evaluation of welded circumferential seams of launch vehicle propellant tanks, solving the problems of low reliability, long cycle, and low system maturity of current manual scanning inspection and defect evaluation.

[0006] However, currently, only the surface of the rocket propellant tank can be inspected, making it difficult to inspect and maintain the inner cavity of the rocket propellant tank. Furthermore, it is difficult to meet the diverse inspection and maintenance needs of the inner cavity of the rocket propellant tank. Therefore, a multi-functional operating arm device for the maintenance of the inner cavity of the rocket propellant tank is needed to realize multi-functional operation of the inner cavity of the rocket propellant tank. Utility Model Content

[0007] To address the aforementioned problems, the purpose of this invention is to provide a multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank, thereby resolving the issues raised in the background art.

[0008] To achieve the above objectives, this utility model proposes a multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank, including a drive mechanism, a delivery component is provided inside the drive mechanism, a flipping mechanism is installed at one end of the delivery component, a scanning component is provided on one side of the flipping mechanism, and a functional component is provided on the other side of the flipping mechanism.

[0009] The driving mechanism includes two supports, each with a support frame fixed at its top. Each support frame contains a lifting block, and each lifting block has a shaped hole on one side. One of the lifting blocks has a mounting angle plate fixed on its surface. A first stepper motor is mounted on one side of the mounting angle plate, and a gear is fixed at the output end of the first stepper motor. The delivery assembly includes a delivery arm, with its outer walls connected to the two shaped holes on both sides. A rack is fixed at the bottom of the delivery arm, meshing with the gear. The flipping mechanism includes a third stepper motor, with a turntable fixed at its output end. A support plate is fixed at one end of the turntable, and a flipping plate is rotatably connected to the outer wall of the support plate. A first electric cylinder is hinged to one side of the top of the support plate via a first hinge, and the output end of the first electric cylinder is hinged to the middle of one side of the flipping plate via a second hinge.

[0010] As a preferred technical solution of this utility model, movable casters are fixedly provided on both sides of the bottom end of the support, and multiple crossbars are fixedly provided between the two supports. A limiting slider is slidably connected in a limiting groove opened on one side of the inner wall of each support frame, and one end of each limiting slider is fixedly connected to one end of the corresponding lifting block.

[0011] As a preferred technical solution of this utility model, one of the support frames is provided with a support lug at the top and bottom of one side, and a lead screw is rotatably connected between the two support lugs. A drive block is threadedly connected to the outer wall of the lead screw. One end of the drive block is fixedly connected to the other end of the corresponding lifting block, and the outer wall of the drive block is inserted into a strip hole opened on the surface of the corresponding support frame.

[0012] As a preferred embodiment of this utility model, the scanning component includes a second electric cylinder, the output end of which is fixedly provided with a drive box, the bottom of the inner wall of the drive box is rotatably connected to a worm gear, and the top of the inner wall of the drive box is rotatably connected to a worm wheel, the worm gear meshing with the worm wheel, and a fourth stepper motor installed on one side of the drive box, the output end of which is fixedly connected to one end of the worm gear.

[0013] As a preferred embodiment of this utility model, a rotating seat is fixedly provided at one end of the worm gear, and a fixed seat is fixedly provided on one side of the rotating seat. A vision sensor is provided inside the fixed seat, and a locking knob is threadedly connected to the surface of the fixed seat.

[0014] As a preferred technical solution of this utility model, the functional component includes a third electric cylinder, the output end of the third electric cylinder is fixedly provided with a mounting base, and both sides of the bottom end of the mounting base are fixedly provided with sliding rods. The outer wall of each sliding rod is slidably connected with a limiting seat, and one end of each of the two limiting seats is fixedly connected to the surface of the flip plate.

[0015] As a preferred embodiment of this utility model, a connecting plate is bolted to the top of the mounting base, a servo motor is mounted on the top of the connecting plate, and a grinding head is fixedly mounted on the output end of the servo motor.

[0016] As a preferred embodiment of this utility model, a switch panel is fixedly provided on one side of the drive mechanism. A first stepper motor switch, a second stepper motor switch, a third stepper motor switch, a fourth stepper motor switch, and a servo motor switch are fixedly provided on the surface of the switch panel. The first stepper motor, the second stepper motor, the third stepper motor, the fourth stepper motor, and the servo motor are electrically connected to an external power supply through the first stepper motor switch, the second stepper motor switch, the third stepper motor switch, the fourth stepper motor switch, and the servo motor switch, respectively. The surface of the switch panel is also provided with a first electric cylinder switch, a second electric cylinder switch, and a third electric cylinder switch. The first electric cylinder, the second electric cylinder, and the third electric cylinder are electrically connected to an external power supply through the first electric cylinder switch, the second electric cylinder switch, and the third electric cylinder switch, respectively.

[0017] Compared with the prior art, this utility model provides a multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank, which has the following beneficial effects:

[0018] 1. This multi-functional operating arm device for maintaining the inner cavity of the rocket propellant tank, through the cooperation of the drive mechanism and the delivery component, allows for adjustment of the drive mechanism according to different specifications of rocket propellant tanks during maintenance. This changes the height of the delivery component. The gear connected to the first stepper motor meshes with the rack connected to the delivery arm, thereby sending the tilting mechanism and its components into the rocket propellant tank. This satisfies various maintenance needs of the inner cavity of the rocket propellant tank and ensures the production quality of the rocket propellant tank.

[0019] 2. The multi-functional operating arm device for maintaining the inner cavity of the rocket propellant tank is equipped with scanning components and functional components on the flipping mechanism. The turntable connected to the third stepper motor is connected to the support plate. The flipping plate, which is rotatably connected to the support plate, is driven by the first electric cylinder. After the flipping mechanism enters the rocket propellant tank, the scanning components and functional components on the flipping plate can be arranged perpendicularly to the inner cavity of the rocket propellant tank. The scanning components can detect defects such as cracks, corrosion, and welds in the inner cavity of the rocket propellant tank. The functional components can be replaced with grinding, welding, and other functional parts as needed to ensure comprehensive inspection and maintenance of the inner cavity of the rocket propellant tank. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the connection structure between the drive mechanism and the delivery component of this utility model;

[0023] Figure 3 This utility model is located in Figure 2 Enlarged view of point A in the middle;

[0024] Figure 4 This is a schematic diagram of the connection structure of the support frame of this utility model;

[0025] Figure 5 This is a schematic diagram of the connection structure between the delivery component and the flipping mechanism of this utility model;

[0026] Figure 6 This is a schematic diagram of the connection structure of the support plate of this utility model;

[0027] Figure 7 This is a schematic diagram of the connection structure of the drive box of this utility model;

[0028] Figure 8 This is a schematic diagram of the internal structure of the drive box of this utility model;

[0029] Figure 9 This is a schematic diagram of the structure of the functional components of this utility model.

[0030] In the diagram: 1. Drive mechanism; 101. Support; 102. Movable caster; 103. Crossbar; 104. Support frame; 105. Lifting block; 106. Mounting angle plate; 107. First stepper motor; 108. Gear; 109. Irregular hole; 110. Support lug; 111. Lead screw; 112. Drive block; 113. Second stepper motor; 2. Delivery assembly; 201. Delivery arm; 202. Rack; 3. Tilting mechanism; 301. Third stepper motor; 302. Turntable 303, Support plate; 304, Flip plate; 305, First electric cylinder; 4, Scanning assembly; 401, Second electric cylinder; 402, Drive box; 403, Fourth stepper motor; 404, Rotating seat; 405, Fixed seat; 406, Vision sensor; 407, Worm gear; 408, Worm wheel; 5, Functional components; 501, Third electric cylinder; 502, Mounting seat; 503, Slide rod; 504, Limiting seat; 505, Connecting plate; 506, Servo motor; 507, Grinding head. Detailed Implementation

[0031] The technology of the present invention will now be described with reference to the accompanying drawings of the embodiments thereof.

[0032] The solution is described clearly and completely. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0033] like Figures 1-9 As shown, an embodiment of this utility model proposes a multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank, including a drive mechanism 1, a delivery component 2 is provided inside the drive mechanism 1, a flipping mechanism 3 is installed at one end of the delivery component 2, a scanning component 4 is provided on one side of the flipping mechanism 3, and a functional component 5 is provided on the other side of the flipping mechanism 3.

[0034] The drive mechanism 1 includes two supports 101, each with a support frame 104 fixedly mounted on its top. Each support frame 104 contains a lifting block 105, and each lifting block 105 has a shaped hole 109 on one side. One of the lifting blocks 105 has a mounting angle plate 106 fixedly mounted on its surface. A first stepper motor 107 is mounted on one side of the mounting angle plate 106, and a gear 108 is fixedly mounted on the output end of the first stepper motor 107. The delivery assembly 2 includes a delivery arm 201, with two shaped holes 109 on either side of the outer wall of the delivery arm 201. The shaped hole 109 is inserted and connected. The bottom end of the delivery arm 201 is fixedly provided with a rack 202, which meshes with the gear 108. The flipping mechanism 3 includes a third stepper motor 301. The output end of the third stepper motor 301 is fixedly provided with a turntable 302. One end of the turntable 302 is fixedly provided with a support plate 303. The outer wall of the support plate 303 is rotatably connected to a flipping plate 304. One side of the top of the support plate 303 is hinged to a first electric cylinder 305 through a first hinge. The output end of the first electric cylinder 305 is hinged to the middle of one side of the flipping plate 304 through a second hinge.

[0035] Both sides of the bottom end of the support 101 are fixedly provided with movable casters 102. Multiple crossbars 103 are fixedly provided between the two supports 101. A limiting slide is slidably connected in the limiting slide groove opened on one side of the inner wall of each support frame 104. One end of each limiting slide is fixedly connected to one end of the corresponding lifting block 105. The top and bottom of one side of one support frame 104 are fixedly provided with support ears 110. A lead screw 111 is rotatably connected between the two support ears 110. A drive block 112 is threadedly connected to the outer wall of the lead screw 111. One end of the drive block 112 is fixedly connected to the other end of the corresponding lifting block 105. The outer wall of the drive block 112 is inserted into the strip hole opened on the surface of the corresponding support frame 104.

[0036] The scanning component 4 includes a second electric cylinder 401. A drive box 402 is fixedly mounted on the output end of the second electric cylinder 401. A worm gear 407 is rotatably connected to the bottom of the inner wall of the drive box 402, and a worm wheel 408 is rotatably connected to the top of the inner wall of the drive box 402. The worm gear 407 and the worm wheel 408 mesh with each other. A fourth stepper motor 403 is mounted on one side of the drive box 402. The output end of the fourth stepper motor 403 is fixedly connected to one end of the worm gear 407. A rotating seat 404 is fixedly mounted on one end of the worm wheel 408. A fixed seat 405 is fixedly mounted on one side of the rotating seat 404. A vision sensor 406 is installed inside the fixed seat 405, and a locking knob is threadedly connected to the surface of the fixed seat 405.

[0037] Functional component 5 includes a third electric cylinder 501. A mounting base 502 is fixedly mounted on the output end of the third electric cylinder 501. Slide rods 503 are fixedly mounted on both sides of the bottom end of the mounting base 502. Limit seats 504 are slidably connected to the outer wall of each slide rod 503. One end of each limit seat 504 is fixedly connected to the surface of the flip plate 304. A connecting plate 505 is bolted to the top of the mounting base 502. A servo motor 506 is mounted on the top of the connecting plate 505. A grinding head 507 is fixedly mounted on the output end of the servo motor 506. A switch panel is fixedly mounted on one side of the drive mechanism 1. A first stepper motor switch and a second stepper motor switch are fixedly mounted on the surface of the switch panel. The switch panel includes a first stepper motor switch, a second stepper motor switch, a third stepper motor switch, a fourth stepper motor switch, and a servo motor switch. The first stepper motor 107, the second stepper motor 113, the third stepper motor 301, the fourth stepper motor 403, and the servo motor 506 are electrically connected to an external power supply via the first stepper motor switch, the second stepper motor switch, the third stepper motor switch, the fourth stepper motor switch, and the servo motor switch, respectively. The switch panel also includes a first electric cylinder switch, a second electric cylinder switch, and a third electric cylinder switch. The first electric cylinder 305, the second electric cylinder 401, and the third electric cylinder 501 are electrically connected to an external power supply via the first electric cylinder switch, the second electric cylinder switch, and the third electric cylinder switch, respectively.

[0038] Working principle: When using this equipment, the drive mechanism 1 can be adjusted according to the specifications of the rocket propellant tank. The first stepper motor 107 drives the lead screw 111 on the support lug 110, thereby raising and lowering the drive block 112, which in turn drives the lifting block 105 to rise and fall within the support frame 104, thus moving the delivery component 2. When the flipping mechanism 3 connected to the delivery component 2 is in the retracted state, it is aligned with the port of the rocket propellant tank. At this time, the first stepper motor 107 on the mounting angle plate 106 drives the gear 108 to rotate. The gear 108 acts on the rack 202 connected to the delivery arm 201, thereby sending the flipping mechanism 3 into the rocket propellant tank. The first electric cylinder 305 on the support plate 303 extends, thereby driving the flipping plate 304 to flip and align with the inner cavity of the rocket propellant tank. In a vertical position, the third stepper motor 301 drives the turntable 302 to rotate, ensuring comprehensive maintenance of the rocket's internal cavity. In the scanning component 4, the second electric cylinder 401 extends, and the fourth stepper motor 403 drives the worm gear 407 to drive the worm wheel 408, causing the rotating seat 404 to change its angle. This allows the vision sensor 406 in the fixed seat 405 to detect the internal cavity of the rocket's internal cavity. In the functional component 5, the third electric cylinder 501 is connected to a servo motor 506 mounted on the limit seat 504, which is connected to a grinding head 507 to grind the internal cavity of the rocket's internal cavity. Personnel can separate the limit seat 504 from the mounting seat 502, and then install different functional components on the mounting seat 502 to meet various functions such as welding, grinding, and spraying.

[0039] It should be noted that, in this document, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank, comprising a drive mechanism (1), wherein a delivery component (2) is provided inside the drive mechanism (1), a flipping mechanism (3) is installed at one end of the delivery component (2), a scanning component (4) is provided on one side of the flipping mechanism (3), and a functional component (5) is provided on the other side of the flipping mechanism (3), characterized in that: The drive mechanism (1) includes two supports (101), each of which has a support frame (104) fixedly mounted at its top. Each support frame (104) has a lifting block (105) inside it. Each lifting block (105) has a shaped hole (109) on one side. One of the lifting blocks (105) has a mounting angle plate (106) fixedly mounted on its surface. A first stepper motor (107) is mounted on one side of the mounting angle plate (106). A gear (108) is fixedly mounted on the output end of the first stepper motor (107). The delivery assembly (2) includes a delivery arm (201). The two sides of the outer wall of the delivery arm (201) are respectively connected to two... The irregular hole (109) is inserted and connected. The bottom end of the delivery arm (201) is fixedly provided with a rack (202). The rack (202) meshes with the gear (108). The flipping mechanism (3) includes a third stepper motor (301). The output end of the third stepper motor (301) is fixedly provided with a turntable (302). One end of the turntable (302) is fixedly provided with a support plate (303). The outer wall of the support plate (303) is rotatably connected with a flipping plate (304). One side of the top of the support plate (303) is hinged to a first electric cylinder (305) through a first hinge. The output end of the first electric cylinder (305) is hinged to the middle of one side of the flipping plate (304) through a second hinge.

2. The multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank according to claim 1, characterized in that: Both sides of the bottom end of the support (101) are fixedly provided with movable casters (102), and multiple crossbars (103) are fixedly provided between the two supports (101). A limiting slider is slidably connected in the limiting groove opened on one side of the inner wall of each support frame (104), and one end of each limiting slider is fixedly connected to one end of the corresponding lifting block (105).

3. The multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank according to claim 1, characterized in that: One of the support frames (104) has a fixed lug (110) on the top and bottom of one side. A lead screw (111) is rotatably connected between the two lugs (110). A drive block (112) is threadedly connected to the outer wall of the lead screw (111). One end of the drive block (112) is fixedly connected to the other end of the corresponding lifting block (105). The outer wall of the drive block (112) is inserted into a strip hole opened on the surface of the corresponding support frame (104).

4. A multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank according to claim 3, characterized in that: The scanning component (4) includes a second electric cylinder (401), and a drive box (402) is fixedly provided at the output end of the second electric cylinder (401). A worm gear (407) is rotatably connected to the bottom of the inner wall of the drive box (402), and a worm wheel (408) is rotatably connected to the top of the inner wall of the drive box (402). The worm gear (407) meshes with the worm wheel (408). A fourth stepper motor (403) is installed on one side of the drive box (402), and the output end of the fourth stepper motor (403) is fixedly connected to one end of the worm gear (407).

5. A multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank according to claim 4, characterized in that: One end of the worm gear (408) is fixedly provided with a rotating seat (404), and a fixed seat (405) is fixedly provided on one side of the rotating seat (404). A vision sensor (406) is provided inside the fixed seat (405), and a locking knob is threadedly connected to the surface of the fixed seat (405).

6. A multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank according to claim 4, characterized in that: The functional component (5) includes a third electric cylinder (501), the output end of which is fixedly provided with a mounting base (502), and both sides of the bottom end of the mounting base (502) are fixedly provided with slide rods (503). Each slide rod (503) has a limit seat (504) slidably connected to its outer wall, and one end of each of the two limit seats (504) is fixedly connected to the surface of the flip plate (304).

7. A multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank according to claim 6, characterized in that: A connecting plate (505) is bolted to the top of the mounting base (502), and a servo motor (506) is mounted on the top of the connecting plate (505). A grinding head (507) is fixedly provided at the output end of the servo motor (506).

8. A multi-functional operating arm device for maintaining the inner cavity of a rocket propellant tank according to claim 7, characterized in that: A switch panel is fixedly provided on one side of the drive mechanism (1). The surface of the switch panel is fixedly provided with a first stepper motor switch, a second stepper motor switch, a third stepper motor switch, a fourth stepper motor switch and a servo motor switch. The first stepper motor (107), the second stepper motor (113), the third stepper motor (301), the fourth stepper motor (403) and the servo motor (506) are electrically connected to an external power supply through the first stepper motor switch, the second stepper motor switch, the third stepper motor switch, the fourth stepper motor switch and the servo motor switch, respectively. The surface of the switch panel is also provided with a first electric cylinder switch, a second electric cylinder switch and a third electric cylinder switch. The first electric cylinder (305), the second electric cylinder (401) and the third electric cylinder (501) are electrically connected to an external power supply through the first electric cylinder switch, the second electric cylinder switch and the third electric cylinder switch, respectively.

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