A thruster installation device and suppression method that are conducive to suppressing liquid sloshing

Abstract

The present invention belongs to the technical field of carrier rocket thrusters, in particular to a thruster installation device and suppression method that are beneficial to suppressing liquid sloshing, including a bracket. A support column is fixedly installed on the upper surface of the middle part of the bracket. Cables fixedly connected to the upper surface of the bracket are also fixedly installed on both sides of the top of the support column. A large beam is movably installed on the opposite inner sides of the support column through bearings. For the thruster installation device and suppression method that are beneficial to suppressing liquid sloshing, by setting a diameter adjustment mechanism, precise control can be achieved for thruster storage tank boxes with different diameters. The horizontal arc-shaped cross beam can well bear the weight and is not easily deformed. Moreover, through the hydraulic cylinder, it is not only easy to control, but also the pressure sensors of the existing technology can be used to sense the pressure value of each contact with the storage tank box, so as to ensure the dimensional and shape tolerances during the welding process of the storage tank.

Description

Technical Field

[0001] The present invention relates to the technical field of thrusters for launch vehicles, and particularly to a thruster mounting device and a suppression method that are beneficial to suppressing liquid sloshing. Background Art

[0002] With the continuous improvement of the rocket's carrying capacity, the satellite's working life, and the mission complexity of deep space probes, the proportion of liquid propellant in the total mass of the spacecraft has also been increasing. However, the sloshing of liquid propellant greatly affects the motion stability of the spacecraft and the reliability of the attitude and orbit control system. The sloshing of a large amount of liquid propellant will generate a large interference force / moment on the spacecraft. If the interference force / moment exceeds the range that the control system can adjust or the structure can withstand, it will cause the control system to be unstable or the structure to be damaged.

[0003] As for the storage tank for storing rocket fuel and oxidizer, its working environment is relatively harsh. The fuel and oxidizer are stored in the tank after being formed into liquids under high pressure. However, at present, there are few methods for detecting the fault sources of launch vehicle storage tanks. Since the rocket storage tank belongs to a small-sample structure, conventional fault monitoring means based on big data are not applicable. That is, once the rocket fuel liquid or oxidizer is injected into the tank, it is in a stage that is difficult to monitor. When the liquid such as fuel sloshes in the tank and collides with the inner wall of the tank body, combined with the high-pressure environment, it makes the geometric parameter accuracy factors of the tank and the degree of their influence on the geometric parameter accuracy very important. The tank is formed by rolling multiple plates into circular arcs and then welding them. In most cases, the surface accuracy of the tank plates can be manually controlled, which makes the welding process accuracy of the tank very difficult.

[0004] When welding existing storage tanks, most of them are lifted to a specified height and position by a crane, and then combined with steel cables and other auxiliary tools or manually, the angles, welds, and fixed heights are preset before welding. However, this method of auxiliary positioning and fixing has the problem of low accuracy. Especially when lifted for a long time, it is not only dangerous, but also the steel cables and other auxiliary tools are prone to fatigue during pre-fixed positioning. And the welding time after manual positioning or fixing is relatively long. The longer the steel cable on the crane, the easier it is for the steel cable to stretch, resulting in uneven stress during the welding process and deformation. Once the stress is unstable and causes weld problems, it is extremely unfavorable for suppressing the sloshing of fuel or oxidizer in the liquid state. Summary of the Invention

[0005] Based on the existing technical problems, the present invention proposes a thruster mounting device and a suppression method that are beneficial to suppressing liquid sloshing.

[0006] A thruster installation device and suppression method that are beneficial to suppressing liquid sloshing proposed by the present invention include a bracket. A support column is fixedly installed on the upper surface of the middle part of the bracket. On both sides of the top of the support column, cables fixedly connected to the upper surface of the bracket are also fixedly installed.

[0007] A large beam is movably installed on the opposite inner sides of the support column through bearings.

[0008] Arc-shaped cross beams are fixedly installed at equal intervals along the length direction of the large beam on the lower surface of the large beam. Diameter adjustment mechanisms are fixedly installed at equal intervals on the arc-shaped surface of the arc-shaped cross beam facing its center to realize the assembly and welding actions for adapting to thruster boxes with different diameters.

[0009] A driving mechanism is fixedly installed on the side surface of the arc-shaped cross beam. The driving mechanism includes an arc-shaped guide rail, and a weld maintaining mechanism is provided on the surface of the arc-shaped guide rail.

[0010] On the outer surface of the arc-shaped cross beams at both ends of the large beam, petal supports are also provided. The driving mechanism drives the petal supports to move along the surface of the arc-shaped cross beam to realize the splicing action during the welding of adjacent petals.

[0011] A linear guide rail is fixedly installed on the upper surface of the bracket. A support plate is slidably arranged on the surface of the linear guide rail. An arc-shaped manipulator is fixedly installed on the upper surface of the support plate. A movable welding torch mechanism is arranged on the surface of the arc-shaped manipulator. After the welding torch mechanism moves along the length direction of the linear guide rail, the welding actions of the thruster box body and the petals are realized.

[0012] Preferably, the diameter adjustment mechanism includes main hydraulic cylinders fixedly installed in an annular array on the surface of the arc-shaped cross beam. The top of the piston rod of the hydraulic cylinder is movably installed through a bearing with a roller. The roller is driven by a servo motor installed on the surface of the top of the piston rod of the main hydraulic cylinder.

[0013] Through the above technical solutions, not only the force on the storage tank welding plate is made uniform, but also the adjacent two rollers can be vertically distributed to facilitate the movement of the storage tank welding plate in the circumferential direction and the axial direction.

[0014] Preferably, a toothed groove is opened at the sunken inner wall of the arc-shaped guide rail. An arc-shaped plate is slidably sleeved on the surface of the arc-shaped guide rail. A driving motor is fixedly installed in the middle of the arc-shaped plate through a mounting seat. The output shaft of the driving motor is fixedly sleeved with a driving gear. The surface of the driving gear meshes with the toothed groove to drive the arc-shaped plate to slide along the surface of the arc-shaped guide rail.

[0015] Through the above technical solutions, it is convenient for other mechanisms to move along the surface of the arc-shaped cross beam.

[0016] Preferably, the weld holding mechanism includes a fixed seat fixed on the outer surface of the arc-shaped plate. A locking hydraulic cylinder is fixedly installed at the center line of the fixed seat. A top sleeve is fixedly sleeved on the top of the piston rod of the locking hydraulic cylinder. A micro motor is fixedly installed in the axial direction of the top sleeve. A connecting rod is threadedly installed on the output shaft of the micro motor. A weld piece is fixedly installed at the top of the connecting rod.

[0017] When the weld piece is jacked up by the locking hydraulic cylinder, after the weld piece extends into the interior along the weld of the thruster box body, then control the micro motor to drive the weld piece to rotate by 90 degrees. Finally, control the locking hydraulic cylinder to retract. The two ends of the weld piece will drive the adjacent welding plates of the thruster box body downward to be tightened until the outer surface of the welding plate contacts the top sleeve.

[0018] Through the above technical solution, the welds of the adjacent box body welding plates can be corrected to the same straight line, ensuring the dimensional tolerance of the welds.

[0019] Preferably, the segment carrier includes a lining plate. The bottom of the lining plate is fixedly connected to the outer surface of the arc-shaped plate. A plurality of the main hydraulic cylinders, rollers and servo motors are fixedly installed on the surface of the lining plate at equal intervals.

[0020] Through the above technical solution, the shape of the segment can be adapted, so that the segment is evenly stressed during welding.

[0021] Preferably, moving motors are fixedly installed at both ends of the support plate. The output shafts of the moving motors are fixedly sleeved with moving gears through keys and key grooves. A moving rack is also fixedly installed on the upper surface of the linear guide rail. After the moving motors drive the moving gears to mesh with the moving rack, the entire support plate moves along the length direction of the linear guide rail.

[0022] Through the above technical solution, the structure on the entire support plate can be controlled to move along the length direction of the linear guide rail.

[0023] Preferably, the arc-shaped manipulator includes a support shaft movably installed on the upper surface of the support plate through a bearing. A worm gear groove is formed on the bottom surface of the support shaft. A steering motor is also fixedly installed on the upper surface of the support plate. A worm is fixedly installed on the output shaft of the steering motor through a coupling. After the steering motor drives the surface of the worm to mesh with the inner wall of the worm gear groove, the support shaft is axially steered.

[0024] Through the above technical solution, the steering motor can control the weld types of the entire welding mechanism, such as the circumferential welds and linear welds on the storage tank, and can also be used to control the welding speed.

[0025] Preferably, a jacking hydraulic cylinder is fixedly installed at the top of the support shaft. The top of the piston rod of the jacking hydraulic cylinder is fixedly installed with an arc-shaped robotic arm. The inner wall of the arc-shaped robotic arm is slidably connected with a bottom plate adapted to its inner wall. The lower surfaces of both ends of the bottom plate are fixedly installed with traveling motors. The output shafts of the traveling motors are fixedly installed with traveling wheels. The surface of the traveling wheels is in rolling connection with the inner bottom wall of the arc-shaped robotic arm to drive the bottom plate to move along the surface of the arc-shaped robotic arm.

[0026] Through the above technical solution, the jacking hydraulic cylinder controls the height of the entire welding mechanism, and the traveling motor controls the welding position in the circumferential direction of the welding mechanism, such as the circumferential direction of the segment and the storage tank.

[0027] Preferably, the welding torch mechanism includes a U-shaped seat fixedly installed on the upper surface of the bottom plate. A welding torch is fixedly installed in the middle of the U-shaped seat. A wire reel for winding the welding wire is provided at the tail of the welding torch. A winding motor is fixedly installed on the axis of the wire reel. The winding motor drives the welding wire to wind and releases the welding wire for the welding torch during welding.

[0028] Through the above technical solution, the feeding speed of the welding wire can be fully controlled to ensure the welding tolerance of the weld seam.

[0029] A suppression method for a thruster installation device that is beneficial to suppressing liquid sloshing includes S1. Use a crane to lift each welding plate of the box body onto the arc-shaped crossbeam and control the diameter adjustment mechanism to start.

[0030] S11. Start the main hydraulic cylinder until it stops at the preset diameter of the thruster box body and maintain the adjusted posture. S12. Control the servo motor to start, and the roller drives the welding plate of the thruster box body to reach the specified position. S13. The rollers are divided into two types. One type drives the welding plate to move along the length direction of the girder, and the other type drives the welding plate to move along the circumferential direction of the arc-shaped crossbeam.

[0031] S2. Control the weld seam holding mechanism to start and control the weld seam gap within the dimensional tolerance range.

[0032] S21. When the weld seam piece is jacked up by the locking hydraulic cylinder, the weld seam piece extends into the interior along the weld seam of the thruster box body. The weld seam piece can be replaced with weld seam pieces with different weld seam requirements through the connecting rod installed by threading. S22. Control the micro motor to drive the weld seam piece to rotate 90 degrees, and finally control the locking hydraulic cylinder to retract. The two ends of the weld seam piece drive the adjacent welding plates of the thruster box body to be tightened downward until the outer surface of the welding plate contacts the top sleeve.

[0033] S3. When welding the segment is required, start the driving mechanism on any one of the arc-shaped crossbeams at both ends of the girder.

[0034] S31. Control the main hydraulic cylinder to start, and stop and maintain the adjusted posture until the preset diameter of the segment of the thruster housing is reached. S32. Control the servo motor to start, and the roller drives the segment of the thruster housing to reach the specified position and stay.

[0035] S4. Control the arc manipulator to reach the specified position and then perform the welding action.

[0036] S41. After the moving motor drives the moving gear to engage with the moving rack, the entire pallet and the welding torch mechanism move along the length direction of the linear guide rail to reach the specified position and then perform the welding action. S42. After the steering motor drives the surface of the worm to engage with the inner wall of the worm gear groove, it drives the support shaft to axially turn, drives the arc manipulator to rotate along the circumferential direction of the support shaft to reach the specified position, and at the same time controls the lifting hydraulic cylinder to start to drive the arc manipulator to reach the specified welding height.

[0037] S5. Control the welding torch mechanism to start and then perform the welding action.

[0038] S51. The surface of the traveling wheel is in rolling connection with the inner bottom wall of the arc manipulator, and then drives the bottom plate to move along the surface of the arc manipulator. S52. After the welding torch is started, weld the weld seam.

[0039] The beneficial effects of the present invention are as follows:

[0040] 1. By setting the diameter adjustment mechanism, it can accurately control the thruster tank housing with different diameters. The horizontal arc-shaped crossbeam can well bear the weight and is not easy to deform. Moreover, through the hydraulic cylinder, it is not only easy to control, but also can use the pressure sensors in the existing technology to sense the pressure value of each contact with the tank housing, so as to ensure the dimensional and shape tolerances during the tank welding process.

[0041] 2. By setting the driving mechanism, it can move the components during the welding process, and further ensure the dimensional tolerance of the welding.

[0042] 3. By setting the weld seam holding mechanism, it can ensure the dimensional tolerance of the weld seam, further ensure the uniformity of the temperature and speed during the weld seam welding process, and ensure the dimensional tolerance.

[0043] 4. By setting the segment fixture, it can support the segment components of the key welding of the tank, so that the force is uniform and the butt joint of the weld seam is flat.

[0044] 5. By setting an arc-shaped manipulator, the entire welding torch mechanism can accurately cover half of the welding range of the storage tank, completely solving the weld tolerance problem during the storage tank welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention;

[0046] Figure 2 Stereogram of the flipping mechanism of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention;

[0047] Figure 3 Stereogram of the installation of the arc-shaped crossbeam and arc-shaped guide rail structure of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention;

[0048] Figure 4 Stereogram of the main hydraulic cylinder structure of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention;

[0049] Figure 5 Stereogram of the installation of the segment carrier of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention;

[0050] Figure 6 Stereogram of the weld holding mechanism of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention;

[0051] Figure 7 Stereogram of the installation of the arc-shaped manipulator of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention;

[0052] Figure 8 Stereogram of the welding torch mechanism of a thruster installation device and suppression method for suppressing liquid sloshing proposed by the present invention.

[0053] In the figure: 1. Bracket; 11. Support column; 12. Cable; 13. Steering seat; 14. Roller; 15. Positioning groove; 16. Steel cable; 17. Positioning ball; 18. Tipping motor; 2. Girder; 3. Arc-shaped cross beam; 31. Main hydraulic cylinder; 32. Roller; 33. Servo motor; 4. Arc-shaped guide rail; 41. Tooth groove; 42. Arc-shaped plate; 421. Fixed seat; 422. Locking hydraulic cylinder; 423. Top sleeve; 424. Micro motor; 425. Connecting rod; 426. Weld seam piece; 427. Welding plate; 43. Driving motor; 44. Driving gear; 5. Linear guide rail; 51. Moving motor; 52. Moving gear; 53. Moving rack; 6. Support plate; 61. Support shaft; 62. Worm gear groove; 63. Steering motor; 64. Worm; 7. Liner; 8. Lifting hydraulic cylinder; 81. Arc-shaped robotic arm; 82. Bottom plate; 83. Traveling motor; 84. Traveling wheel; 9. U-shaped seat; 91. Welding torch; 92. Winding roller; 93. Rewinding motor; 94. Welding wire. Embodiment

[0054] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0055] Refer to Figure 1-8 , a thruster installation device and suppression method that are beneficial to suppressing liquid sloshing, including a bracket 1. A support column 11 is fixedly installed on the upper surface of the middle part of the bracket 1, which can enable the structures on the bracket 1 to perform rotational and tipping actions, facilitating force control.

[0056] In order to prevent the problem of unstable force on the bracket 1 during the tipping process, cables 12 fixedly connected to the upper surface of the bracket 1 are also fixedly installed on both sides of the top of the support column 11. The relatively inner sides of the support columns 11 are movably installed with a girder 2 through bearings.

[0057] As Figure 1-Figure 2 shown, in order to facilitate the easy control of the tipping action, a tipping mechanism can also be provided on the bracket 1. The tipping mechanism includes steering seats 13 fixed on both sides of the upper surface of the bracket 1. The top of the steering seat 13 is installed with a roller 14 through a bearing, and a positioning groove 15 is provided on the surface of the roller 14.

[0058] The tipping mechanism also includes a tipping motor 18 fixed to the bottom of the support column 11. The tipping motor 18 drives the roller 14 on the steering seat 13 with the largest size in the middle to rotate. The tipping action is specifically realized as follows:

[0059] After one end of a steel cable 16 is fixed to the lower surface of the girder 2, the other end passes through the steering seat 13 again and is fixed to the lower surface of the other end of the girder 2. The steel cable 16 is used as the force-bearing component for the flipping action. Since the force required for the flipping action is much smaller than the force required for the crane to lift the storage tank, no tensile fatigue points will occur.

[0060] Then, positioning balls 17 are evenly and fixedly sleeved on the surface of the steel cable 16. When the positioning balls are pulled by the steel cable 16, they can accurately cooperate with the positioning grooves 15 on the roller shafts 14 to achieve the positioning action of the steel cable 16. Therefore, by only controlling the forward and reverse rotation of the flipping motor 18, the flipping and tilting action of the girder 2 can be achieved, which is convenient for welding and also convenient for manual welding.

[0061] As Figure 1 、 Figure 3-Figure 4 shown, in order for this device to be applicable to the welding actions of storage tanks with different diameters, arc-shaped crossbeams 3 are fixedly installed at equal intervals along the length direction of the girder 2 on the lower surface of the girder 2. Diameter adjustment mechanisms are fixedly installed at equal intervals on the arc-shaped surface of the arc-shaped crossbeams 3 facing the center of the circle to achieve the assembly and welding actions for thruster boxes with different diameters.

[0062] Furthermore, the diameter adjustment mechanism includes main hydraulic cylinders 31 fixedly installed in an annular array on the surface of the arc-shaped crossbeams 3. The top of the piston rod of the hydraulic cylinder is movably installed with rollers 32 through bearings, and the rollers 32 are driven by a servo motor 33 installed on the surface of the top of the piston rod of the main hydraulic cylinder 31.

[0063] This not only makes the force on the storage tank welding plate uniform, but also enables the adjacent two rollers 32 to be vertically distributed, so as to facilitate the movement of the storage tank welding plate in the circumferential direction and the axial direction.

[0064] In order to prevent the problem that the storage tank is too large and inconvenient for circumferential rotation, a driving mechanism is fixedly installed on the side of the arc-shaped crossbeam 3. The driving mechanism includes an arc-shaped guide rail 4. A toothed groove 41 is opened on the concave inner wall of the arc-shaped guide rail 4. An arc-shaped plate 42 is slidably sleeved on the surface of the arc-shaped guide rail 4. A driving motor 43 is fixedly installed in the middle of the arc-shaped plate 42 through a mounting seat. A driving gear 44 is fixedly sleeved on the output shaft of the driving motor 43. After the surface of the driving gear 44 meshes with the toothed groove 41, it drives the arc-shaped plate 42 to slide along the surface of the arc-shaped guide rail 4. This can facilitate the movement of other mechanisms along the surface of the arc-shaped crossbeam 3.

[0065] In order to control the tolerance of the weld seam, a weld seam holding mechanism is provided on the surface of the arc-shaped guide rail 4.

[0066] Furthermore, as Figure 6As shown, the weld holding mechanism includes a fixing seat 421 fixed on the outer surface of the arc plate 42, a locking hydraulic cylinder 422 is fixedly installed at the center line of the fixing seat 421, a top sleeve 423 is fixedly sleeved on the top of the piston rod of the locking hydraulic cylinder 422, a micro motor 424 is fixedly installed in the axial direction of the top sleeve 423, a connecting rod 425 is threadedly installed on the output shaft of the micro motor 424, and a weld piece 426 is fixedly installed on the top of the connecting rod 425.

[0067] When the weld sheet 426 is lifted up by the locking hydraulic cylinder 422, the weld sheet 426 extends into the thruster box along the weld, and then the micro motor 424 is controlled to drive the weld sheet 426 to rotate 90 degrees, and finally the locking hydraulic cylinder 422 is controlled to retract, and the two ends of the weld sheet 426 drive the adjacent thruster box welding plate 427 downward to be tightened until the outer surface of the welding plate 427 contacts the top sleeve 423. The welds of the adjacent box welding plates can be corrected to the same straight line to ensure the dimensional tolerance of the welds.

[0068] like Figure 1 as well as Figure 5 As shown, in order to facilitate the arc-shaped melon slice welding operation, a melon slice holder is also provided on the outer surface of the arc-shaped cross beam 3 located at both ends of the main beam 2, and the driving mechanism drives the melon slice holder to move along the surface of the arc-shaped cross beam 3 to realize the splicing action when adjacent melon slices are welded.

[0069] Furthermore, the melon slice support includes a lining plate 7, the bottom of which is fixedly connected to the outer surface of the arc plate 42, and a plurality of main hydraulic cylinders 31, rollers 32 and servo motors 33 are fixedly installed at equal intervals on the surface of the lining plate 7. The same structure of the driving mechanism is adopted, which can facilitate unified control. It can adapt to the shape of the melon slice, so that the melon slice is evenly stressed during welding.

[0070] like Figure 1 as well as Figure 7 As shown, in order to accurately weld the outer surface of the tank, a linear guide rail 5 is fixedly installed on the upper surface of the bracket 1, and a support plate 6 is slidably arranged on the surface of the linear guide rail 5. A moving motor 51 is fixedly installed at both ends of the support plate 6, and a moving gear 52 is fixedly sleeved on the output shaft of the moving motor 51 through a key and a keyway. A moving rack 53 is also fixedly installed on the upper surface of the linear guide rail 5. After the moving gear 52 is driven by the moving motor 51 to mesh with the moving rack 53, the entire support plate 6 moves along the length direction of the linear guide rail 5. The structure on the entire support plate 6 can be controlled to move along the length direction of the linear guide rail 5.

[0071] In order to prevent the linear manipulator from interfering with the curved tank surface, a curved manipulator is fixedly mounted on the upper surface of the support plate 6 .

[0072] Further, the arc manipulator includes a support shaft 61 movably mounted on the upper surface of the pallet 6 through a bearing. A worm gear groove 62 is formed on the bottom surface of the support shaft 61. A steering motor 63 is also fixedly mounted on the upper surface of the pallet 6. A worm 64 is fixedly mounted on the output shaft of the steering motor 63 through a coupling. After the surface of the worm 64 driven by the steering motor 63 meshes with the inner wall of the worm gear groove 62, the support shaft 61 is axially steered.

[0073] The steering motor 63 can control the weld type of the entire welding mechanism, such as the circumferential weld and the linear weld on the storage tank, and can also be used to control the welding speed.

[0074] Further, a lifting hydraulic cylinder 8 is fixedly mounted on the top of the support shaft 61. The top of the piston rod of the lifting hydraulic cylinder 8 is fixedly mounted with an arc manipulator arm 81. A bottom plate 82 adapted to the inner wall thereof is slidably connected to the inner wall of the arc manipulator arm 81. Travel motors 83 are fixedly mounted on the lower surfaces of both ends of the bottom plate 82. Travel wheels 84 are fixedly mounted on the output shafts of the travel motors 83. After the surfaces of the travel wheels 84 roll on the inner bottom wall of the arc manipulator arm 81, the bottom plate 82 is driven to move along the surface of the arc manipulator arm 81.

[0075] The lifting hydraulic cylinder 8 controls the height of the entire welding mechanism, and the travel motors 83 control the welding positions in the circumferential direction of the welding mechanism, such as the segments and the circumference of the storage tank.

[0076] As Figure 1 and Figure 8 shown, a movable welding torch mechanism is provided on the surface of the arc manipulator. After the welding torch mechanism moves along the length direction of the linear guide rail 5, the welding operations of the box body of the thruster and the segments are realized.

[0077] The welding torch mechanism includes a U-shaped seat 9 fixedly mounted on the upper surface of the bottom plate 82. A welding torch 91 is fixedly mounted in the middle of the U-shaped seat 9. A wire reel 92 for winding the welding wire 94 is provided at the tail of the welding torch 91. A wire reel motor 93 is fixedly mounted on the axis of the wire reel 92. After the wire reel motor 93 drives the welding wire 94 to be wound, the welding wire 94 is released for the welding torch 91 during welding. The feeding speed of the welding wire 94 can be fully controlled to ensure the welding tolerance of the weld.

[0078] By providing the arc manipulator, the entire welding torch mechanism can accurately cover half of the welding range of the storage tank, completely solving the weld tolerance problem during the storage tank welding process. Thus, the problem of fuel and oxidizer liquid sloshing suppression caused by the difficult control of welding tolerance in the prior art is solved.

[0079] Working principle:

[0080] S1. Use a crane to lift the welding plate of each box body onto the arc crossbeam 3, and control the diameter adjustment mechanism to start.

[0081] S11. Start the main hydraulic cylinder 31 until it stops when reaching the preset diameter of the thruster housing, and maintain the adjusted posture. S12. Control the servo motor 33 to start, and the roller 32 drives the welding plate of the thruster housing to reach the specified position. S13. The rollers 32 are divided into two types. One type drives the welding plate to move along the length direction of the girder 2, and the other type drives the welding plate to move along the circumferential direction of the arc-shaped cross beam 3.

[0082] S2. Control the weld holding mechanism to start and control the weld gap within the dimensional tolerance range.

[0083] S21. When the weld piece 426 is lifted by the locking hydraulic cylinder 422, the weld piece 426 extends into the interior along the weld of the thruster housing. The weld piece 426 can be replaced with weld pieces 426 with different weld requirements through the link 425 installed by thread. S22. Control the micro motor 424 to drive the weld piece 426 to rotate by ninety degrees, and finally control the locking hydraulic cylinder 422 to retract. The two ends of the weld piece 426 drive the adjacent welding plates 427 of the thruster housing to be tightened downward until the outer surface of the welding plate 427 contacts the top sleeve 423.

[0084] S3. When it is necessary to weld the segment, start the driving mechanism on any one of the arc-shaped cross beams 3 at both ends of the girder 2.

[0085] S31. Control the main hydraulic cylinder 31 to start until it stops when reaching the preset diameter of the thruster housing segment, maintain the adjusted posture and hold. S32. Control the servo motor 33 to start, and the roller 32 drives the thruster housing segment to reach the specified position and hold.

[0086] S4. Control the arc-shaped manipulator to reach the specified position and then perform the welding action.

[0087] S41. The moving motor 51 drives the moving gear 52 to mesh with the moving rack 53, so that the entire pallet 6 and the welding torch 91 mechanism move along the length direction of the linear guide rail 5 to reach the specified position and then perform the welding action. S42. The steering motor 63 drives the surface of the worm 64 to mesh with the inner wall of the worm gear groove 62, and then drives the support shaft 61 to axially turn, driving the arc-shaped robotic arm 81 to rotate along the circumferential direction of the support shaft 61 to reach the specified position. At the same time, control the lifting hydraulic cylinder 8 to start and drive the arc-shaped robotic arm 81 to reach the specified welding height.

[0088] S5. Control the welding torch mechanism to start and then perform the welding action.

[0089] S51. The surface of the traveling wheel 84 is in rolling connection with the inner bottom wall of the arc-shaped robotic arm 81, and then drives the bottom plate 82 to move along the surface of the arc-shaped robotic arm 81. S52. Start the welding torch 91 to start and then weld the weld.

[0090] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A thruster mounting device that is beneficial to suppressing liquid sloshing, comprising a bracket (1), wherein a support column (11) is fixedly installed on the upper surface of the middle part of the bracket (1), and cable stays (12) fixedly connected to the upper surface of the bracket (1) are further fixedly installed on both sides of the top of the support column (11), characterized in that ； The opposite inner sides of the support columns (11) are movably installed with a girder (2) through bearings; On the lower surface of the girder (2), arc-shaped cross beams (3) are fixedly installed at equal intervals along the length direction of the girder (2). On the arc-shaped surface of the arc-shaped cross beam (3) facing its center, a diameter adjustment mechanism is fixedly installed at equal intervals to realize the assembly and welding actions for adapting to thruster boxes with different diameters; A driving mechanism is fixedly installed on the side surface of the arc-shaped cross beam (3). The driving mechanism includes an arc-shaped guide rail (4), and a weld maintaining mechanism is arranged on the surface of the arc-shaped guide rail (4); An arc-shaped plate (42) is slidably sleeved on the surface of the arc-shaped guide rail (4). The weld maintaining mechanism includes a fixing seat (421) fixed on the outer surface of the arc-shaped plate (42). A locking hydraulic cylinder (422) is fixedly installed at the center line of the fixing seat (421). A top sleeve (423) is fixedly sleeved on the top of the piston rod of the locking hydraulic cylinder (422). A micro motor (424) is fixedly installed in the axial direction of the top sleeve (423). A connecting rod (425) is threadedly installed on the output shaft of the micro motor (424). A weld piece (426) is fixedly installed on the top of the connecting rod (425); When the weld piece (426) is jacked up by the locking hydraulic cylinder (422), after the weld piece (426) extends into the inside along the weld of the thruster box, then control the micro motor (424) to drive the weld piece (426) to rotate by 90 degrees, and finally control the locking hydraulic cylinder (422) to retract. The two ends of the weld piece (426) drive the welding plates (427) of the adjacent thruster boxes to be tightened downward until the outer surface of the welding plate (427) contacts the top sleeve (423); On the outer surface of the arc-shaped cross beams (3) at both ends of the girder (2), petal supports are also provided. The driving mechanism drives the petal supports to move along the surface of the arc-shaped cross beam (3) to realize the splicing action during the welding of adjacent petals; A linear guide rail (5) is fixedly installed on the upper surface of the bracket (1). A support plate (6) is slidably arranged on the surface of the linear guide rail (5). An arc-shaped manipulator is fixedly installed on the upper surface of the support plate (6). A movable welding torch mechanism is arranged on the surface of the arc-shaped manipulator. After the welding torch mechanism moves along the length direction of the linear guide rail (5), the welding actions of the box body and the petals of the thruster are realized.

2. The thruster mounting device according to claim 1, which is beneficial to suppressing liquid sloshing, is characterized in that: The diameter adjustment mechanism includes main hydraulic cylinders (31) fixedly installed in an annular array on the surface of the arc-shaped cross beam (3). The top of the piston rod of the hydraulic cylinder is movably installed with a roller (32) through a bearing. The roller (32) is driven by a servo motor (33) installed on the surface of the top of the piston rod of the main hydraulic cylinder (31).

3. A thruster mounting device according to claim 2, which is beneficial to suppressing liquid sloshing, characterized in that: A tooth groove (41) is formed in the concave inner wall of the arc-shaped guide rail (4). A driving motor (43) is fixedly installed in the middle of the arc-shaped plate (42) through a mounting seat. A driving gear (44) is fixedly sleeved on the output shaft of the driving motor (43). The surface of the driving gear (44) meshes with the tooth groove (41) to drive the arc-shaped plate (42) to slide along the surface of the arc-shaped guide rail (4).

4. A thruster mounting device according to claim 3, which is conducive to suppressing liquid sloshing, characterized in that: The petal-shaped tool holder includes a lining plate (7). The bottom of the lining plate (7) is fixedly connected to the outer surface of the arc-shaped plate (42). A plurality of the main hydraulic cylinders (31), rollers (32), and servo motors (33) are fixedly installed at equal intervals on the surface of the lining plate (7).

5. A thruster mounting device according to claim 4, which is conducive to suppressing liquid sloshing, characterized in that: Moving motors (51) are fixedly installed at both ends of the support plate (6). A moving gear (52) is fixedly sleeved on the output shaft of the moving motor (51) through a key and a keyway. A moving rack (53) is also fixedly installed on the upper surface of the linear guide rail (5). The moving motor (51) drives the moving gear (52) to mesh with the moving rack (53) to move the entire support plate (6) along the length direction of the linear guide rail (5).

6. The thruster mounting device according to claim 5, which is beneficial to suppressing liquid sloshing, is characterized in that: The arc-shaped manipulator includes a support shaft (61) movably installed on the upper surface of the support plate (6) through a bearing. A worm gear groove (62) is formed in the bottom surface of the support shaft (61). A steering motor (63) is also fixedly installed on the upper surface of the support plate (6). A worm (64) is fixedly installed on the output shaft of the steering motor (63) through a coupling. The steering motor (63) drives the surface of the worm (64) to mesh with the inner wall of the worm gear groove (62) to drive the axial steering of the support shaft (61).

7. A thruster mounting device according to claim 6, which is conducive to suppressing liquid sloshing, characterized in that: A jacking hydraulic cylinder (8) is fixedly installed at the top of the support shaft (61). The top of the piston rod of the jacking hydraulic cylinder (8) is fixedly installed with an arc-shaped robotic arm (81). A bottom plate (82) adapted to the inner wall of the arc-shaped robotic arm (81) is slidably connected to the inner wall of the arc-shaped robotic arm (81). Traveling motors (83) are fixedly installed on the lower surfaces of both ends of the bottom plate (82). A traveling wheel (84) is fixedly installed on the output shaft of the traveling motor (83). The surface of the traveling wheel (84) is in rolling connection with the inner bottom wall of the arc-shaped robotic arm (81) to drive the bottom plate (82) to move along the surface of the arc-shaped robotic arm (81).

8. A thruster mounting device according to claim 7, which is conducive to suppressing liquid sloshing, characterized in that: The welding torch mechanism includes a U-shaped seat (9) fixedly installed on the upper surface of the bottom plate (82). A welding torch (91) is fixedly installed in the middle of the U-shaped seat (9). A wire reel (92) for winding the welding wire (94) is arranged at the tail of the welding torch (91). A wire winding motor (93) is fixedly installed on the axis of the wire reel (92). The wire winding motor (93) drives the welding wire (94) to wind and releases the welding wire (94) for the welding torch (91) during welding.

9. The suppression method of a thruster installation device beneficial to suppressing liquid sloshing according to claim 8, characterized in that ； Including S1, lifting each welding plate of the box body to the arc-shaped cross beam (3) by a crane, and controlling the diameter adjustment mechanism to start; S11. Start the main hydraulic cylinder (31) until it stops at the preset diameter of the thruster box to maintain the adjusted attitude. S12. Control the servo motor (33) to start, and the roller (32) drives the thruster box welding plate to the designated position. S13. The rollers (32) are divided into two types. One type drives the welding plate to move along the length direction of the girder (2), and the other type drives the welding plate to move along the circumferential direction of the arc-shaped cross beam (3). S2. Control the weld holding mechanism to start and control the weld gap within the dimensional tolerance range. S21. When the weld piece (426) is lifted by the locking hydraulic cylinder (422), the weld piece (426) extends into the interior along the thruster box weld. The weld piece (426) can be replaced with weld pieces (426) with different weld requirements through the link (425) installed by thread. S22. Control the micro motor (424) to drive the weld piece (426) to rotate 90 degrees, and finally control the locking hydraulic cylinder (422) to retract. The two ends of the weld piece (426) drive the adjacent thruster box welding plates (427) to be tightened downward until the outer surface of the welding plate (427) contacts the top sleeve (423). S3. When welding the segment, start the drive mechanism on any one of the arc-shaped cross beams (3) at both ends of the girder (2). S31. Control the main hydraulic cylinder (31) to start until it stops at the preset diameter of the thruster box segment and maintain the adjusted attitude. S32. Control the servo motor (33) to start, and the roller (32) drives the thruster box segment to the designated position and maintain. S4. Control the arc-shaped manipulator to reach the designated position and then perform the welding operation. S41. The moving motor (51) drives the moving gear (52) to mesh with the moving rack (53), so that the entire pallet (6) and the welding torch (91) mechanism move along the length direction of the linear guide rail (5) to the designated position and then perform the welding operation. S42. The steering motor (63) drives the surface of the worm (64) to mesh with the inner wall of the worm gear groove (62), driving the support shaft (61) to axially rotate, driving the arc-shaped robotic arm (81) to rotate along the circumferential direction of the support shaft (61) to the designated position. At the same time, control the lifting hydraulic cylinder (8) to start to drive the arc-shaped robotic arm (81) to reach the designated welding height. S5. Control the welding torch mechanism to start and then perform the welding operation. S51. The surface of the traveling wheel (84) is in rolling connection with the inner bottom wall of the arc-shaped robotic arm (81), driving the bottom plate (82) to move along the surface of the arc-shaped robotic arm (81). S52. Start the welding torch (91) to perform welding on the weld.

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