A cylinder segment wall plate processing system and a cylinder segment wall plate processing method

Abstract

The barrel segment wallboard processing system and barrel segment wallboard processing method provided by the application comprise a workbench provided with a work guide rail, a welding unit provided on the work guide rail and provided with a first transmission mechanism, the welding unit being adapted to move along the work guide rail under the action of the first transmission mechanism and to frictionally weld stringers and skins, a milling unit provided on the work guide rail and provided with a second transmission mechanism, the milling unit being adapted to move along the work guide rail under the action of the second transmission mechanism and to mill the skins, and a clamping tool provided on the workbench and provided adjacent to the work guide rail between the welding unit and the milling unit, the clamping tool being adapted to limit the stringers and the skins. Such a design enables the stringers and the skins to be automatically welded and connected, improves the manufacturing efficiency of the storage tank, and facilitates the system to realize different processes and improve the application range due to the separate arrangement and independent movement of the welding unit and the milling unit.

Description

Technical Field

[0001] This invention relates to the field of aircraft equipment manufacturing technology, specifically to a cylindrical section wall panel processing system and a cylindrical section wall panel processing method. Background Technology

[0002] In the structure of a liquid-fueled rocket, the propellant tank carries the fuel required for flight. It is a large and critical structural component, and a significant factor limiting rocket production efficiency and cost. Currently, in traditional propellant tank manufacturing, the wall panels of the various sections are typically machined using mechanical milling or chemical milling to create a mesh-reinforced structure, achieving both weight reduction and strength. However, chemical milling causes significant environmental pollution, while mechanical milling has low processing efficiency and requires sophisticated equipment. These characteristics directly contribute to the current situation of high propellant tank production costs and long processing cycles.

[0003] Currently, adopting a frame-truss structure design is one of the effective methods to achieve low-cost and rapid manufacturing of storage tanks. The cylindrical wall panels of a frame-truss structure storage tank can be made by bending smooth plates, welding the bent skin to the stringers to form a frame-truss structure wall panel, and then welding the frame-truss structure wall panels together to form cylindrical sections, ultimately assembling a complete frame-truss structure storage tank. Frame-truss structure storage tanks, while ensuring structural strength, avoid a large number of mechanical milling or chemical milling processes, improving manufacturing efficiency and reducing pollution. In existing technologies, the specific welding methods for frame-truss structure storage tanks mostly employ fusion welding processes, such as dual-beam laser welding, to connect the frame-truss structure wall panel skin to the stringers.

[0004] However, the fusion welding process has a large heat input, which can lead to significant welding deformation. At the same time, the welded joint is prone to defects such as porosity. These factors reduce the dimensional accuracy and load-bearing capacity of the tank, thus making it impossible for the overall performance of the tank to meet the design requirements. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problems of long processing cycle, high manufacturing cost, large deformation of fusion welding process and easy defects in welding joint in the prior art, so as to provide a cylindrical section wall panel processing system and cylindrical section wall panel processing method.

[0006] This invention provides a cylindrical section wall panel processing system, comprising: a worktable with a working guide rail thereon; a welding unit disposed on the working guide rail and equipped with a first transmission mechanism thereon, the welding unit being adapted to move along the working guide rail under the action of the first transmission mechanism, and being adapted to friction weld stringers and skin; a milling unit disposed on the working guide rail and equipped with a second transmission mechanism thereon, the milling unit being adapted to move along the working guide rail under the action of the second transmission mechanism, and being adapted to mill the skin; and a clamping fixture disposed on the worktable, adjacent to the working guide rail between the welding unit and the milling unit, and being adapted to limit the stringers and skin.

[0007] The clamping fixture includes: a load-bearing base, disposed on the workbench and adapted to support the skin, wherein a first locking structure is provided on the load-bearing base; and a clamping structure, movably connected to the load-bearing base and adapted to support the stringers, wherein a first locking engagement structure is provided on the clamping structure, wherein the first locking engagement structure has a limiting connection with the first locking structure and a locking state that causes the skin and the stringers to abut against each other.

[0008] The supporting base includes: a base platform, which is detachably connected to the worktable and adjacent to the work guide rail; an arc groove structure, which is disposed on the base platform and has the first locking structure disposed on the arc groove structure; a connecting member, which is disposed on the arc groove structure and is movably connected to the clamping structure; and a clamping assembly, which is disposed on the arc groove structure and is suitable for limiting the skin.

[0009] The extension direction of the arc groove structure is perpendicular to the working guide rail.

[0010] The connector is hinged to the clamp structure, and the connector and the first locking structure are respectively spaced apart along both ends of the arc groove structure.

[0011] The clamping assembly includes: several adsorption structures distributed within the arc groove structure, suitable for adsorbing the skin; several limiting blocks protruding along the inner wall of the arc groove structure and arranged linearly along the circumference of the arc groove structure, suitable for abutting against the end of the skin; and several side pressing structures arranged along the lateral outer edge of the arc groove structure, communicatively connected to the milling unit, having a limiting state of clamping and limiting the lateral edge of the skin, and a yielding state of moving away from the skin and disengaging from the clamping and limiting skin.

[0012] The clamp structure includes: a clamp body, which is movably connected to the connector, and is provided with the first locking engagement structure, including a plurality of slot structures arranged in an arc shape and connected to each other, the slot structures being adapted to accommodate the limiting stringer; and a plurality of clamp pressing structures, which are correspondingly disposed on the slot structures and clamp and limit the stringer with the arc groove structures.

[0013] The welding unit includes: a welding gantry, which is mounted on the working guide rail and has a welding motion structure and the first transmission mechanism mounted on it, the first transmission mechanism being movably connected to the working guide rail; and a welding head, which is connected to the welding motion structure and is adapted to move within a spatial range under the action of the welding motion structure, and is adapted to perform friction welding on the stringers and skin.

[0014] The welding motion structure includes: a first horizontal motion assembly, comprising a first platform, a first guide member, and a first horizontal drive member, wherein the first guide member is horizontally disposed on the welding gantry, the first platform is movably connected to the first guide member, and the first platform is adapted to reciprocate along the first guide member under the action of the first horizontal drive member; and a first lifting motion assembly, comprising a second platform, a second guide member, and a first lifting drive member, wherein the second guide member is vertically disposed on the first platform, the welding head is connected to the second platform, the second platform is movably connected to the second guide member, and the second platform is adapted to reciprocate along the second guide member under the action of the first lifting drive member.

[0015] The welding head includes: a head body on which a first shaft and a second shaft are mounted, the first shaft being rotatably connected to a second support, and the first shaft and the second shaft being staggered; a head split body movably connected to the second shaft, the head split body being provided with a welding end, the welding end being adapted for friction welding of the surfaces to be welded, the head split body having a built-in swing shaft, the swing shaft being staggered with the second shaft and movably connected to each other, and the welding end being adapted to adjust the tilt angle under the action of the first shaft, the second shaft and the swing shaft.

[0016] The welding end includes: an end base connected to the machine head assembly, adapted to adjust the tilt angle under the action of the machine head assembly, with a shoulder sleeve at the end of the end base away from the machine head assembly; a stirring needle sleeve disposed inside the end base, with one end connected to an end drive member, adapted to drive the stirring needle sleeve to rotate along its own axis, and the other end extending toward the shoulder sleeve, with a telescopic drive member disposed thereon; and a friction part including a stirring needle and a limiting shoulder, with one end of the limiting shoulder disposed inside the shoulder sleeve and movably connected to the shoulder sleeve, and the other end away from the machine head assembly having a through-shaft opening, one end of the stirring needle coaxially connected to the stirring needle sleeve, adapted to telescopically move relative to the stirring needle sleeve under the drive of the telescopic drive member, and the other end of the stirring needle passing through the through-shaft opening and connected thereto, having a working state of generating heat through friction with the surface to be welded and welding the surface to be welded to the adjacent interface.

[0017] The milling unit includes: a milling gantry, which is mounted on the working guide rail and has a milling motion structure and a second transmission mechanism mounted thereon, the second transmission mechanism being movably connected to the working guide rail; and a milling cutter head, which is connected to the milling motion structure and is adapted to move within a spatial range under the action of the milling motion structure, and is adapted to mill the skin.

[0018] The milling motion structure includes:

[0019] The second horizontal motion assembly includes a third support, a third guide, and a second horizontal drive. The third guide is arranged horizontally on the milling gantry. The third support is movably connected to the third guide. The third support is adapted to reciprocate along the third guide under the action of the second horizontal drive.

[0020] The second lifting motion assembly includes a fourth platform, a fourth guide member, and a second lifting drive member. The fourth guide member is vertically disposed on the fourth platform, and the milling cutter head is connected to the fourth platform. The fourth platform is movably connected to the fourth guide member, and the fourth platform is adapted to reciprocate along the fourth guide member under the action of the second lifting drive member.

[0021] The milling cutter head includes: a cutter head body on which a third shaft is disposed, the third shaft being rotatably connected to the fourth support; a cutter head split body on which a fourth shaft and a tool body are disposed, the fourth shaft being rotatably connected to the cutter head split body, the third shaft and the fourth shaft being alternately arranged, and the tool body being adapted to mill skin.

[0022] The cylindrical wall panel processing system also includes a controller, which is communicatively connected to the welding unit, the beveling unit, and the clamping fixture.

[0023] The present invention also provides a method for processing cylindrical wall panels, comprising: S1. setting a skin at the upper limit of a clamping fixture; S2. milling the skin by a milling unit to remove excess skin; S3. setting a plurality of stringers at a plurality of preset positions on the skin, corresponding to the limit; S4. frictionally welding the skin and stringers by a welding unit.

[0024] Step S2 includes: S21. Driving the milling unit to move to a position adjacent to the clamping fixture; S22. Adjusting the tool body of the milling unit to make it flush with the preset milling baseline on one side of the arc groove structure of the clamping fixture carrying the skin; S23. Adjusting the tool body of the milling unit to move along the preset milling baseline to mill the excess material on the side of the skin; S24. Adjusting the tool body of the milling unit to move to the other side of the arc groove structure and make it flush with its preset milling baseline. After executing step S23, driving the milling unit to reset.

[0025] Step S23 also includes: S231. Obtain the movement stroke of the tool body, control each side pressing structure to sequentially switch from the limiting state to the yielding state, and avoid the tool body.

[0026] Step S3 includes: S31. Driving the welding unit to move to a position adjacent to the clamping fixture; S32. Adjusting the welding end of the welding unit to be adjacent to the welding surface of one stringer on the skin, and driving the welding end to rotate to a preset tilt angle; S33. Adjusting the movement trajectory of the welding end to coincide with the preset weld on the welding surface, and performing friction welding on the stringer and the skin; S34. Adjusting the welding end to be adjacent to the welding surface of another stringer on the skin, and driving the welding end to rotate to another preset tilt angle, and executing step S33; S35. After all the stringers on the skin have been welded, driving the welding unit to reset.

[0027] Step S33 is followed by: S331. Remove burrs and other excess material from both sides of the preset weld.

[0028] Step S33 also includes S330. Manually drive the welding end of the welding unit to move along the preset weld seam to perform welding teaching.

[0029] Step S1 includes: S11. Bending the metal plate roller into an arc-shaped skin; S12. Placing the skin on the arc groove structure of the clamping fixture; S13. Activating the clamping assembly to clamp and limit the skin.

[0030] The technical solution of this invention has the following advantages:

[0031] 1. The cylindrical section wall panel processing system provided by the present invention includes: a worktable on which a working guide rail is provided; a welding unit disposed on the working guide rail and having a first transmission mechanism disposed thereon, the welding unit being adapted to move along the working guide rail under the action of the first transmission mechanism and being adapted to friction weld stringers and skin; a milling unit disposed on the working guide rail and having a second transmission mechanism disposed thereon, the milling unit being adapted to move along the working guide rail under the action of the second transmission mechanism and being adapted to mill the skin; and a clamping fixture disposed on the worktable, adjacent to the working guide rail between the welding unit and the milling unit, and being adapted to limit the stringers and skin.

[0032] By setting up a work guide rail and a clamping fixture that limits and connects the stringers and skin on the worktable, and setting welding and milling units on both sides of the guide rail, friction welding can be performed on the limited stringers and skin when the welding unit moves to the adjacent position of the clamping fixture. Friction welding has relatively small welding heat input, low welding deformation, and higher weld joint quality. Furthermore, through the transmission mechanism on the welding and milling units, automated movement towards or away from the clamping fixture can be achieved, as well as the friction welding and milling operations on the stringers and skin on the clamping fixture respectively, ensuring the automation of stringer and skin processing and improving manufacturing efficiency. At the same time, the separate setting and independent movement of the welding unit, milling unit, and tooling system facilitate the implementation of different processes by the system, expanding its applicability. In summary, this setup can effectively overcome the problems of existing technologies, such as the need for a large amount of milling work for the tank section wall panels, large deformation in the fusion welding process, and easy defects in the weld joints, thereby reducing the tank processing cycle and manufacturing cost, and improving the manufacturing precision and load-bearing performance of the overall tank structure.

[0033] 2. The cylindrical section wall panel processing system provided by the present invention includes the following supporting foundation: a base platform, which is detachably connected to the worktable and adjacent to the work guide rail; an arc groove structure, which is disposed on the base platform and has the first locking structure disposed on the arc groove structure; a connecting member, which is disposed on the arc groove structure and is movably connected to the clamping structure; and a pressing assembly, which is disposed on the arc groove structure and is suitable for limiting the skin.

[0034] The base and workbench are detachably connected, which facilitates the disassembly and replacement of the base with the corresponding arc groove structure according to different models of skin, thereby improving the applicability of the cylindrical wall panel processing system. In addition, by setting the arc groove structure on the base, it is easier to accommodate and support the arc plate-shaped skin. At the same time, with the use of the clamping component to limit the skin, the skin can be made to fit snugly against the arc groove structure, avoiding problems such as misalignment or deformation of the skin during the welding process.

[0035] 3. The cylindrical section wall panel processing system provided by the present invention includes a clamping assembly comprising: a plurality of adsorption structures distributed within the arc groove structure for adsorbing the skin; a plurality of limiting blocks protruding along the inner wall of the arc groove structure and arranged linearly along the circumference of the arc groove structure for abutting against the end of the skin; and a plurality of side pressing structures arranged along the lateral outer edge of the arc groove structure, communicatively connected to the milling unit, having a limiting state of clamping and limiting the lateral edge of the skin, and a yielding state of moving away from the skin and disengaging from the clamping and limiting skin.

[0036] By separately setting up adsorption structures, limiting blocks, and side pressing structures, the skin within the arc groove structure can be limited from multiple directions, including the bottom, axial, and lateral, ensuring a close fit between the skin and the arc groove structure and preventing misalignment. Simultaneously, it provides a positioning basis for welding and milling, ensuring accuracy during friction welding and milling, and guaranteeing precise positioning of the skin and stringers. Furthermore, the side pressing structure has both limiting and yielding states and is communicatively connected to the milling unit. When milling the skin, the state of the corresponding side pressing structure can be controlled according to the tool entry position to ensure that other positions remain in the limiting state, preventing milling deviation and improving milling accuracy.

[0037] 4. The cylindrical wall panel processing system provided by the present invention includes a welding head comprising: a head body on which a first shaft and a second shaft are disposed, the first shaft being rotatably connected to a second support, the first shaft and the second shaft being alternately arranged; a head split body movably connected to the second shaft, the head split body being provided with a welding end, the welding end being adapted for friction welding of the surface to be welded, the head split body having a built-in swing shaft, the swing shaft being alternately arranged with the second shaft and movably connected to each other, the welding end being adapted to adjust the tilt angle under the action of the first shaft, the second shaft and the swing shaft.

[0038] The welding head is configured with an interlocking first axis, second axis, and swing axis, allowing the welding end to move in at least three degrees of freedom. Combined with the welding motion structure that drives the welding head along the horizontal and vertical directions, it achieves five-axis linkage machining capability. This allows it to adapt to preset welding positions of the pre-positioned stringers and skin on the clamping fixture at different locations or angles, improving the accuracy of friction welding and further expanding the applicability of the welding unit.

[0039] 5. The cylindrical wall panel processing system provided by the present invention includes the following welding end: an end base, which is movably connected to the machine head and adapted to adjust the tilt angle under the action of the machine head; a shoulder sleeve is provided at one end of the end base away from the machine head; a stirring pin sleeve is disposed inside the end base, one end is connected to an end drive member and adapted to drive the stirring pin sleeve to rotate along its own axis, and the other end extends toward the shoulder sleeve and is provided with a telescopic drive member; a friction part, including a stirring pin and a limiting shoulder, one end of the limiting shoulder is disposed inside the shoulder sleeve and movably connected to the shoulder sleeve, and the other end away from the machine head is provided with a shaft opening; one end of the stirring pin is coaxially connected to the stirring pin sleeve and adapted to perform telescopic movement relative to the stirring pin sleeve under the drive of the telescopic drive member; the other end of the stirring pin passes through the shaft opening and is connected to the shaft opening, and has a working state of generating heat through friction with the surface to be welded and welding the surface to be welded to the adjacent interface.

[0040] By setting up a stirring pin bushing with an end drive and a telescopic drive, and a stirring pin connected to the stirring pin bushing, the stirring pin can rotate axially under the action of the end drive, generating high-temperature friction to achieve welding when it contacts the surface to be welded. On the other hand, it can move in conjunction with the limiting shoulder under the action of the telescopic drive, and move in telescopic motion relative to the shoulder bushing. This setting makes the stirring pin part of the retraction shaft assembly, which facilitates driving the stirring pin to retract at the end of the weld track during the friction welding process, thereby achieving keyless welding. Attached Figure Description

[0041] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a three-dimensional structural diagram of the cylindrical section wall panel processing system provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of the cylindrical wall panel provided in an embodiment of the present invention;

[0044] Figure 3 for Figure 2 A structural schematic diagram of the cylindrical section wall panel from another angle is shown;

[0045] Figure 4 for Figure 1The diagram shows the structure of the clamping fixture for the cylindrical section wall panel processing system.

[0046] Figure 5 for Figure 1 The diagram shows the structural schematic of the welding unit of the cylindrical section wall panel processing system.

[0047] Figure 6 for Figure 5 The diagram shows the structural schematic of the welding end of the welding unit in the cylindrical wall panel processing system.

[0048] Figure 7 for Figure 1 The diagram shows the structure of the milling unit in the cylindrical section wall panel processing system.

[0049] Figure 8 for Figure 7 The diagram shows the structure of the milling cutter head of the milling unit in the cylindrical wall panel processing system.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1. Worktable; 11. Work guide rail; 2. Welding gantry; 21. First transmission mechanism; 22. First horizontal motion assembly; 221. First support platform; 222. First guide member; 223. First horizontal drive member; 23. First lifting motion assembly; 231. Second support platform; 232. Second guide member; 3. Welding head; 31. Head body; 311. First shaft; 312. Second shaft; 32. Head body; 33. Welding end; 331. Limiting shoulder; 332. Stirring needle; 333. Stirring needle bushing; 334. Shoulder bushing; 335. End drive member; 4. Milling gantry; 41. Second transmission mechanism; 42. Second horizontal motion assembly; 421. Third support platform; 422. Third guide member; 423. 43. Second horizontal drive component; 43. Second lifting motion assembly; 431. Fourth support platform; 432. Fourth guide component; 433. Second lifting drive component; 5. Milling cutter head; 51. Cutter head body; 511. Third shaft; 52. Cutter head split body; 521. Fourth shaft; 522. Tool body; 6. Bearing base; 61. Base; 611. Preset milling baseline; 62. Arc groove structure; 621. First locking structure; 63. Connecting component; 64. Pressing assembly; 641. Adsorption structure; 642. Limiting block; 643. Side pressing structure; 7. Fixture structure; 71. Fixture body; 711. First locking fit structure; 712. Slot structure; 72. Fixture pressing structure; 8. Skin; 9. Stringer; 91. Preset weld. Detailed Implementation

[0052] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0055] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] like Figure 1 - Figure 8 This embodiment provides a cylindrical section wall panel processing system, including: a worktable 1, a welding unit, a milling unit, and a clamping fixture.

[0057] The storage tank with a frame-truss structure is cylindrical, evenly divided into several cylindrical wall panels along its circumference. Specifically, there can be two or more cylindrical wall panels; in this embodiment, it is evenly divided into four cylindrical wall panels. Preferably, each cylindrical wall panel includes a skin 8 and stringers 9. The skin 8 is plate-shaped and is formed by rolling or bending alloy sheets such as aluminum-copper, aluminum-lithium, or aluminum-magnesium alloys, specifically 2219 aluminum alloy sheet. Several stringers 9 are evenly distributed on the inner side of the skin 8. The stringers 9 can also be made of alloys such as aluminum-copper, aluminum-lithium, or aluminum-magnesium alloys, and the length direction of the stringers 9 is in the same direction as the axial direction of the cylindrical section of the storage tank. The specific shape and number of stringers 9 are set according to the actual needs and load requirements of the storage tank. Preferably, the cross-section of the stringers 9 is an inverted "V" shape, and there are 9 stringers 9 on the inner side of the skin 8. The included angle between the normals of adjacent stringers 9 is 10°. In this embodiment, the pre-set weld 91 on the stringers 9 is the center line of the lap joint surface of the stringers 9.

[0058] With this design of the skin 8 and stringers 9, on the one hand, the cylindrical section wall panels do not require milling of the mesh ribs on the skin 8, and can be formed using a smooth sheet, effectively improving the manufacturing efficiency of the cylinder. On the other hand, the internal accessories such as corner pieces and anti-sway plates can be connected to the stringers 9 by riveting or screwing, avoiding the adverse effects of reduced dimensional accuracy and mechanical performance defects caused by corner welding or spot welding.

[0059] The worktable 1 is planar and has two work guide rails 11. In this embodiment, two work guide rails 11 are provided to facilitate the carrying or transport of the welding unit and the milling unit. As an alternative implementation, there may be one or more work guide rails 11.

[0060] The welding unit is set on the working guide rail 11, and a first transmission mechanism 21 is provided on it. The first transmission mechanism 21 cooperates with the working guide rail 11. Specifically, the first transmission mechanism 21 includes a driving component such as a motor or hydraulic cylinder. The welding unit is adapted to move along the working guide rail 11 under the driving action of the first transmission mechanism 21, and to perform friction welding of the stringer 9 and the skin 8 at the clamping fixture position. Further, the friction welding is specifically lap welding.

[0061] The milling unit is also set on the working guide rail 11. In this embodiment, the welding unit and the milling unit are respectively placed on both sides of the clamping fixture. The milling unit is provided with a second transmission mechanism 41. Specifically, the second transmission mechanism 41 also includes a motor or hydraulic cylinder and other driving components. The milling unit can move along the working guide rail 11 to the clamping fixture position to mill the skin 8 under the action of the second transmission mechanism 41.

[0062] The clamping fixture is set on the worktable 1 and is arranged adjacent to the working guide rail 11 between the welding unit and the milling unit. In this embodiment, the clamping fixture is set between two working guide rails 11 and is suitable for bearing and limiting the stringer 9 and the skin 8. As an alternative implementation, two or more clamping fixtures can also be set.

[0063] By setting a working guide rail 11 and a clamping fixture that limits and connects the stringer 9 and skin 8 on the worktable 1, and setting a welding unit and a milling unit on both sides of the guide rail respectively, friction welding can be performed on the limited stringer 9 and skin 8 when the welding unit moves to the adjacent position of the clamping fixture. Friction welding has a relatively small welding heat input, low welding deformation, and higher weld joint quality. Furthermore, through the transmission mechanism on the welding unit and the milling unit, automated movement toward or away from the clamping fixture can be realized, as well as friction welding and milling operations on the stringer 9 and skin 8 on the clamping fixture respectively, ensuring the automation of the processing of stringer 9 and skin 8 and improving manufacturing efficiency. At the same time, the separate setting and independent movement of the welding unit, milling unit, and tooling system facilitate the implementation of different processes by the system, improving its applicability. In summary, this design can effectively overcome the problems in existing technologies, such as the need for extensive milling of tank section wall panels, large deformation during welding, and the susceptibility of welded joints to defects. This reduces the processing cycle and manufacturing cost of the tank, and improves the manufacturing precision and load-bearing capacity of the overall tank structure.

[0064] The clamping fixture includes: a support base 6 and a clamping structure 7.

[0065] A support base 6 is mounted on the workbench 1 and can support the skin 8. A first locking structure 621 is provided on the support base 6. A clamping structure 7 is movably connected to the support base 6 and is suitable for supporting the stringers 9. A first locking engagement structure 711 is provided on the clamping structure 711, which has a limiting connection with the first locking structure 621 and a locking state that causes the skin 8 and the stringers 9 to abut against each other. As an alternative implementation, the support base 6 can be mounted on the working guide rail 11 and is suitable for sliding along the working guide rail 11 or being positioned on the working guide rail 11.

[0066] Specifically, the supporting foundation 6 includes: a base 61, an arc groove structure 62, a connector 63, and a clamping assembly 64.

[0067] The base 61 is detachably connected to the workbench 1 and is adjacent to the work guide rail 11. In this embodiment, the base 61 is a frame structure and is made of iron or other metal as a single casting, ensuring stable load-bearing capacity for the skin 8 and stringers 9 while maintaining a lightweight structure. An arc groove structure 62 is provided on the base 61. Specifically, the arc groove structure 62 is a through groove, and its curvature is the same as that of the skin 8. Furthermore, a first locking structure 621 is provided on the arc groove structure 62. In this embodiment, the first locking structure 621 and the first locking engagement structure 711 are openable and closable latches and bayonet structures. A connecting member 63 is provided on the arc groove structure 62 and is movably connected to the clamping structure 7. In this embodiment, the connecting member 63 is a hinged seat, with the bearing base 6 and the clamping structure 7 hinged together. As an alternative implementation, the connecting member 63 can also be a lifting platform, with the bearing base 6 and the clamping structure 7 connected by a lifting and fastening mechanism. The clamping component 64 is disposed on the arc groove structure 62 and is suitable for limiting the skin 8.

[0068] The base 61 is detachably connected to the worktable 1, which facilitates the disassembly and replacement of the base 61 with the corresponding arc groove structure 62 according to different models of skin 8, thereby improving the applicability of the cylindrical wall panel processing system. In addition, by setting the arc groove structure 62 on the base 61, it is easier to accommodate and support the arc plate-shaped skin 8. At the same time, with the clamping component 64 limiting the skin 8, the skin 8 can be made to abut against and fit in the arc groove structure 62, avoiding problems such as misalignment or deformation of the skin 8 during the welding process.

[0069] In this embodiment, the extension direction of the arc groove structure 62 is perpendicular to the working guide rail 11. The length direction of the stringer 9 is perpendicular to the length direction of the working guide rail 11. This arrangement can accommodate clamping fixtures with larger diameter skins 8, while reducing the width requirements of the welding unit and milling unit. At the same time, this arrangement also facilitates the calculation of the stroke of the welding unit and milling unit, and facilitates the operation, positioning and stable control of the welding unit and milling unit.

[0070] As a variable implementation, the extension direction of the arc groove structure 62 and the working guide rail 11 can be staggered.

[0071] In this embodiment, the connector 63 is hinged to the clamping structure 7, and the connector 63 and the first locking structure 621 are spaced apart along both ends of the arc groove structure 62. This arrangement allows the skin 8 to be effectively clamped and limited by the two ends when it is being limited.

[0072] The clamping assembly 64 includes: a plurality of adsorption structures 641, a plurality of limiting blocks 642 and a plurality of side pressing structures 643.

[0073] The system includes several adsorption structures 641, specifically vacuum pumps or other adsorption structures 641, uniformly distributed within the arc groove structure 62 for adsorbing the skin 8. Several limiting blocks 642 protrude along the inner wall of the arc groove structure 62 and are linearly arranged along the circumference of the arc groove structure 62, abutting against the ends of the skin 8. In this embodiment, the limiting blocks 642 are adjacent to the connecting member 63. Several side pressing structures 643 are arranged along the lateral outer edge of the arc groove structure 62, specifically telescopic clamps, electrically connected to the milling unit and controller. They have a limiting state of clamping and limiting the lateral edge of the skin 8, and a yielding state of moving away from the skin 8 and disengaging from the clamping and limiting skin 8.

[0074] By setting up the adsorption structure 641, the limiting block 642, and the side pressing structure 643 respectively, the skin 8 inside the arc groove structure 62 can be limited from multiple directions such as bottom, axial, and lateral, ensuring that the skin 8 fits snugly against the arc groove structure 62 and avoiding misalignment. At the same time, it provides a positioning basis for welding and milling, ensuring the accuracy of friction welding and milling, and ensuring the precise positioning of the skin 8 and the stringer 9. In addition, the side pressing structure 643 has a limiting state and a yielding state, and is communicatively connected to the milling unit. When milling the allowance of the skin 8, the state of the side pressing structure 643 at the corresponding position can be controlled according to the infeed position to ensure that other positions are still in the limiting state, avoiding milling deviation and improving the accuracy of milling.

[0075] The fixture structure 7 includes: a fixture body 71 and several fixture pressing structures 72.

[0076] The fixture body 71 is arranged in an arc-shaped frame, with one end hinged to the connector 63 and the other end equipped with a first locking engagement structure 711, including several arc-shaped and interconnected slot structures 712. In this embodiment, the slot structure 712 is a long strip-shaped bayonet, with its length direction aligned with that of the stringer 9, suitable for accommodating and limiting the stringer 9. The fixture pressing structure 72 is correspondingly disposed on the slot structure 712, clamping and limiting the stringer 9 with the arc-shaped slot structure 62. Preferably, the fixture pressing structure 72 is a cylinder component, which can effectively prevent oil contamination of the part surface. This fixture structure 71 can clamp and limit multiple stringers 9 simultaneously, and together with the clamping assembly 64, multiple stringers 9 can be clamped at once, resulting in higher welding processing efficiency.

[0077] The welding unit includes: welding gantry 2 and welding head 3.

[0078] The welding gantry 2 is set on the working guide rail 11 and includes a crossbeam and two columns. A welding motion structure is set on the crossbeam and a first transmission mechanism 21 is set under the columns. The first transmission mechanism 21 is slidably connected to the working guide rail 11. The welding head 3 is connected to the welding motion structure and is suitable for moving within a spatial range under the action of the welding motion structure, and is suitable for friction welding of the stringers 9 and the skin 8.

[0079] As a possible implementation method, the welding gantry 2 can be arranged in a platform shape.

[0080] The welding motion structure includes: a first horizontal motion component 22 and a first lifting motion component 23.

[0081] The first horizontal motion component 22 includes a first support 221, a first guide 222, and a first horizontal drive 223. The first guide 222 is arranged horizontally on the crossbeam of the welding gantry 2. The first support 221 is specifically a sliding ram structure, which limits and slides with the first guide 222. The first support 221 is adapted to reciprocate along the first guide 222 under the action of the first horizontal drive 223.

[0082] The first lifting motion assembly 23 includes a second support platform 231, a second guide member 232, and a first lifting drive member. The second guide member 232 is vertically disposed on the first support platform 221. A welding head 3 is connected to the second support platform 231. The second support platform 231 and the second guide member 232 are slidably connected. The second support platform 231 is adapted to reciprocate along the second guide member 232 under the action of the first lifting drive member. In this embodiment, the first horizontal drive member 223 and the first lifting drive member are specifically an electric drive screw structure or a motor combined with a gear and rack structure.

[0083] The welding head 3 includes: head body 31, head body 32 and welding end 33.

[0084] The machine head body 31 is provided with a first shaft 311 and a second shaft 312, which are staggered. The first shaft 311 is rotatably connected to the second support 231. In this embodiment, preferably, the first shaft 311 is arranged vertically and the second shaft 312 is arranged horizontally, with the two arranged perpendicularly. The machine head body 31 is located at the lower end of the second support 231. As an alternative implementation, the first shaft 311 or the second shaft 312 can also be extended or retracted along the length direction.

[0085] In this embodiment, the machine head split 32 is arranged horizontally adjacent to the machine head body 31, and the machine head split 32 is rotatably connected to the second shaft 312. The welding end 33 is located at the lower end of the machine head split 32, and the welding end 33 can perform friction welding on the surfaces to be welded. The machine head split 32 has a built-in swing shaft, which is horizontally arranged and perpendicular to the second shaft 312 in the horizontal direction. The swing shaft and the second shaft 312 are movably connected to each other, and the machine head split 32 can rotate or swing laterally relative to the machine head body 31 under the action of the second shaft 312 and the swing shaft, respectively.

[0086] The machine head body 32 can also be equipped with a swing limit structure and a swing bushing. The swing limit structure can be a gear set, or a snap-fit ​​protrusion or snap-fit ​​groove on the swing shaft or swing bushing. As a changeable implementation method, the rotating knob can also be connected to the swing shaft through mechanical transmission instead of being electrically connected to the swing drive component, thereby driving the rotation angle of the welding end 33.

[0087] In this embodiment, the welding head 3 includes a first shaft 311, a second shaft 312, and a swing shaft, each independently controlled, and driven by three independent motor drives. A rotary knob electrically connected to the motor drive controlling the swing shaft is also provided on the outer wall of the head body 32. The user can control the rotation angle of the welding end 33 relative to the head body 31 by controlling the stroke of the rotary knob. Alternatively, the rotary knob may not be electrically connected to the swing drive, but may be mechanically connected to the swing shaft to drive the rotation angle of the welding end 33.

[0088] The welding head is configured with an interlocking first shaft 311, a second shaft 312, and a swing shaft. This configuration allows the welding end 33 to move in at least three degrees of freedom. Combined with the welding motion structure that drives the welding head 3 to move in the horizontal and vertical directions, it achieves five-axis linkage processing capability. It can adapt to the preset welding positions of the pre-positioned stringers 9 and skin 8 on the clamping fixture at different positions or angles. While improving the accuracy of friction welding, it further expands the applicability of the welding unit.

[0089] As an alternative implementation, the second shaft 312 can also be mounted on the head section 32.

[0090] As another alternative implementation, the swing shaft may not be movably connected to the second shaft 312, but may be movably connected to the welding end 33.

[0091] The welding end 33 includes: an end base, a stirring needle bushing 333, and a friction part.

[0092] The end base is connected to the machine head body 32, and the end base is adapted to adjust the tilt angle between itself and the machine head body 31 under the action of the swing shaft on the machine head body 32. Furthermore, a shoulder sleeve 334 is provided at the end of the end base away from the machine head body 32, and the shoulder sleeve 334 has a cavity inside;

[0093] The stirring needle bushing 333 is located inside the end base, and one end is connected to the end drive component 335. The end drive component 335 is located in the cavity of the shoulder bushing 334, or communicates with the cavity of the shoulder bushing 334. Specifically, the end drive component 335 is the main body of the retraction shaft assembly, specifically a motor, which is suitable for driving the stirring needle bushing 333 to rotate along its own axis. The other end of the stirring needle bushing 333 extends toward the shoulder bushing 334, and a telescopic drive component is provided thereon. Specifically, the telescopic drive component can be an air pump or a motor.

[0094] The friction part includes a stirring needle 332 and a limiting shoulder 331.

[0095] The limiting shoulder 331 is cylindrical, with one end located inside the shoulder sleeve 334 and fitted together with it. Specifically, the limiting shoulder 331 is a shoulder structure comprising several stepped shafts. The shoulder structure abuts against the outer end of the shoulder sleeve 334. The limiting shoulder 331 and the shoulder sleeve 334 are movably connected and can rotate relative to each other under the action of external force.

[0096] Furthermore, the limiting shoulder 331, located away from the head assembly 32, has a shaft opening at its other end. One end of the cylindrical stirring pin 332 is coaxially connected to the stirring pin sleeve 333, suitable for telescopic movement relative to the stirring pin sleeve 333 under the drive of the telescopic drive component. It can also rotate synchronously with the stirring pin sleeve 333 under the drive of the end drive component 335. The other end of the stirring pin 332 passes through the shaft opening and is connected to it, enabling it to generate heat through friction with the surface to be welded and weld the surface to be welded to the adjacent interface. The stirring pin 332 has a rotational speed range of 100 to 1500 rpm and a main shaft torque ≥430 Nm, enabling long-term stable welding of commonly used aerospace aluminum alloys with thicknesses from 3 mm to 25 mm.

[0097] By setting up a stirring needle bushing 333 with an end drive 335 and a telescopic drive, and a stirring needle 332 connected to the stirring needle bushing 333, the stirring needle 332 can rotate axially under the action of the end drive 335. When it contacts the surface to be welded, it can generate high-temperature friction to achieve welding. On the other hand, under the action of the telescopic drive, it can link and limit the shoulder 331, and move telescopically relative to the shoulder bushing 334. This setting makes the stirring needle 332 part of the retraction shaft assembly, which is convenient to drive the stirring needle 332 to retract at the end of the weld track during the friction welding process, thereby realizing keyless welding.

[0098] The milling unit includes: a milling gantry 4 and a milling cutter head 5.

[0099] The milling gantry 4 is mounted on the working guide rail 11 and also includes two pillars and a crossbeam. The milling gantry 4 is equipped with a milling motion structure and a second transmission mechanism 41, which is slidably connected to the working guide rail 11. The milling cutter head 5 is connected to the milling motion structure and is suitable for moving within a spatial range under the action of the milling motion structure, and is suitable for milling the skin 8.

[0100] The milling motion structure includes: a second horizontal motion component 42 and a second lifting motion component 43.

[0101] The second horizontal motion component 42 includes a third support 421, a third guide 422, and a second horizontal drive 423. The third guide 422 is in the shape of a sliding bolster and is arranged horizontally on the crossbeam of the milling gantry 4. The third support 421 is slidably connected to the third guide 422. The third support 421 is adapted to reciprocate along the third guide 422 under the action of the second horizontal drive 423.

[0102] The second lifting motion assembly 43 includes a fourth support 431, a fourth guide member 432, and a second lifting drive member 433. The fourth guide member 432 is vertically disposed on the fourth support 431. A milling cutter head 5 is connected to the fourth support 431. The fourth support 431 and the fourth guide member 432 are movably connected, and the fourth support 431 is adapted to reciprocate along the fourth guide member 432 under the action of the second lifting drive member 433. In this embodiment, the second horizontal drive member 423 and the second lifting drive member 433 are specifically an electric drive screw structure or a motor-driven gear and rack structure.

[0103] The milling head 5 includes a head body 51 and a head split 52. A third shaft 511 is mounted on the head body 51, with its length direction vertically aligned and rotatably connected to a fourth support 431. A fourth shaft 521 and a tool body 522 are mounted on the head split 52. The fourth shaft 521 is rotatably connected to the head split 52, and the third shaft 511 and fourth shaft 521 are staggered, preferably vertically aligned. The tool body 522 is suitable for milling the skin 8. In this embodiment, the milling head 5 is an AC double-swivel high-speed milling head, and the head split 52 adopts a universal interface design. Specifically, the fourth shaft 521 has a rotational speed range of 100 to 24000 rpm and a rated torque of 55 Nm, suitable for high-precision, high-speed, and continuous milling of commonly used aerospace aluminum alloys.

[0104] The cylindrical wall panel processing system also includes a controller, which is a PLC in this embodiment, but can also be a PC or a microcontroller or other controllers. The controller is electrically connected to the welding unit, the beveling unit and the clamping fixture respectively.

[0105] This embodiment also provides a method for processing cylindrical section wall panels, including:

[0106] A skin 8 is set at the upper limit of the clamping fixture. Specifically, the metal plate needs to be rolled into an arc-shaped skin 8 first. The metal plate can be made of alloy plates such as aluminum-copper, aluminum-lithium, or aluminum-magnesium. Then, the specific model of the clamping fixture is selected according to the curvature of the skin 8, and the base 61 of the corresponding model of the clamping fixture is set on the worktable 1. In this embodiment, the base 61 and the worktable 1 are detachably connected by a screw structure. After the base 61 is installed, the skin 8 is set on the arc groove structure 62 of the clamping fixture. Further, one end of the positioning skin 8 is engaged by the limiting block 642, the side pressing structure 643 is opened to position and limit the side of the skin 8, and the adsorption structure 641 is opened to adsorb and position the skin 8, so as to achieve a tight fit between the skin 8 and the arc groove structure 62.

[0107] In addition, a stringer 9 is installed in the slot structure 712 of the clamp structure 7, and the clamp structure 7 and the bearing base 6 are kept in an open and flipped state.

[0108] Under the action of the second transmission mechanism 41, the milling unit moves along the working guide rail 11 to a position adjacent to the clamping fixture. The second lifting motion component 43 and the second horizontal motion component 42 are adjusted to bring the milling cutter head 5 close to the skin 8 on the clamping fixture. Then, the third shaft 511 and the fourth shaft 521 on the milling cutter head 5 are adjusted to rotate so that the tool body 522 is flush with the preset milling baseline 611 on one side of the arc groove structure 62 of the clamping fixture that carries the skin 8. In this embodiment, the preset milling baseline 611 is the line connecting the two circumferential ends of the arc groove structure 62 and the top of the base 61.

[0109] The second lifting motion component 43 and the second horizontal motion component 42 are then adjusted to move the tool body 522 of the milling unit along the preset milling baseline 611 to mill the side allowance of the skin 8. Simultaneously, during milling, the controller acquires the travel stroke of the tool body 522 and controls each side pressing structure 643 to sequentially transition from the limiting state to the yielding state, thus avoiding the tool body 522 and preventing tool damage. After the beveling on one side is completed, the tool body 522 of the milling unit is moved to the other side of the arc groove structure 62 and aligned flush with the preset milling baseline 611 on that side. The milling process is then repeated, and the milling unit is driven to reset after the beveling is completed.

[0110] After milling is completed, the control fixture structure 7 rotates along the connector 63, so that the fixture structure 7 is fastened to the bearing base 6, and the first locking fit structure 711 and the first locking structure 621 are locked. The fixture pressing structure 72 is opened, so that the stringer 9 and the skin 8 are tightly abutted, and the preset weld 91 on the stringer 9 is exposed.

[0111] The control welding unit moves to a position adjacent to the clamping fixture under the drive of the first transmission mechanism 21. The first horizontal movement component 22 and the first lifting movement component 23 are adjusted so that the welding end 33 of the welding head 3 moves to a position adjacent to the welding surface of a stringer 9 on the skin 8, and the welding end 33 is rotated to a preset tilt angle. In this embodiment, the initial preset tilt angle is 2.5 degrees, and the welding sequence of the stringer 9 is adjusted as needed.

[0112] Furthermore, after the welding end 33 rotates to the preset tilt angle, the welding end 33 of the welding unit needs to be manually driven to move along the preset weld seam 91 for welding teaching, so as to control the movement trajectory of the welding end 33 to coincide with the preset weld seam 91 on the surface to be welded. As an alternative implementation, an external sensor connected to the controller can also be used to identify the preset weld seam 91, start the welding end 33, and perform friction welding on the stringer 9 and the skin 8.

[0113] After one stringer 9 is adjusted, the first horizontal motion component 22 and the first lifting motion component 23 are adjusted to control the welding end 33 to move to be adjacent to the welding surface of another stringer 9 on the skin 8, and drive the welding end 33 to rotate to the position of another stringer, and repeat the welding teaching and friction welding.

[0114] After all the stringers 9 on the skin 8 are welded, the welding unit is driven to reset.

[0115] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A cylindrical section wall panel processing system, characterized in that, include: Workbench (1), on which a work guide rail (11) is provided; A welding unit is provided on the working guide rail (11), and a first transmission mechanism (21) is provided on it. The welding unit is adapted to move along the working guide rail (11) under the action of the first transmission mechanism (21) and is adapted to friction weld the stringer (9) and the skin (8). A milling unit is provided on the working guide rail (11), and a second transmission mechanism (41) is provided on it. The milling unit is adapted to move along the working guide rail (11) under the action of the second transmission mechanism (41) and is adapted to mill the skin (8). A clamping fixture is disposed on the worktable (1) adjacent to the working guide rail (11) between the welding unit and the milling unit, and is suitable for limiting the stringer (9) and the skin (8); the clamping fixture includes: A support base (6) is disposed on the workbench (1) and is adapted to support the skin (8). A first locking structure (621) is disposed on the support base (6). The support base (6) includes a base (61), an arc groove structure (62), a connector (63), and a clamping assembly (64). The base (61) is detachably connected to the workbench (1) and is disposed adjacent to the work guide rail (11). The arc groove structure (62) is disposed on the base (61) and the first locking structure (621) is disposed on the arc groove structure (62). The connector (63) is disposed on the arc groove structure (62). The clamping assembly (64) is disposed on the arc groove structure (62) and is adapted to limit the skin (8). The clamp structure (7) is movably connected to the connector (63) of the bearing base (6) and is adapted to support the stringer (9). The clamp structure (7) has an open flipped state with respect to the bearing base (6) and a snap-fit ​​state that rotates toward the bearing base (6). The clamp structure (7) is provided with a first locking engagement structure (711). When the clamp structure (7) is in the snap-fit ​​state, the first locking engagement structure (711) has a limiting connection with the first locking structure (621) and makes the skin (8) and the stringer (9) mutually... The clamping structure (7) includes a clamp body (71) and several clamp pressing structures (72); the clamp body (71) is movably connected to the connector (63), and is provided with the first locking engagement structure (711), including several slot structures (712) arranged in an arc and connected to each other, the slot structure (712) being adapted to accommodate the limiting stringer (9); the several clamp pressing structures (72) are correspondingly arranged on the slot structure (712), and clamp and limit the stringer (9) with the arc groove structure (62).

2. The cylindrical section wall panel processing system according to claim 1, characterized in that, The extension direction of the arc groove structure (62) is perpendicular to the working guide rail (11).

3. The cylindrical section wall panel processing system according to claim 1, characterized in that, The connector (63) is hinged to the clamp structure (7), and the connector (63) and the first locking structure (621) are respectively spaced apart along the two ends of the arc groove structure (62).

4. The cylindrical section wall panel processing system according to claim 1, characterized in that, The clamping assembly (64) includes: Several adsorption structures (641) are distributed within the arc groove structure (62) and are suitable for adsorbing the skin (8). Several limiting blocks (642) are provided protruding along the inner wall of the arc groove structure (62) and are arranged linearly along the circumference of the arc groove structure (62), suitable for abutting against the end of the skin (8); Several side pressing structures (643) are arranged along the lateral outer edge of the arc groove structure (62), and are communicatively connected to the milling unit. They have a limiting state of the lateral edge of the clamping limiting skin (8) and a yielding state of moving away from the skin (8) and disengaging from the clamping limiting skin (8).

5. The cylindrical section wall panel processing system according to any one of claims 1-4, characterized in that, The welding unit includes: The welding gantry (2) is set on the working guide rail (11), and a welding motion structure and the first transmission mechanism (21) are provided on it. The first transmission mechanism (21) is movably connected to the working guide rail (11). The welding head (3) is connected to the welding motion structure and is adapted to move within a spatial range under the action of the welding motion structure, and is adapted to perform friction welding on the stringers (9) and the skin (8).

6. The cylindrical section wall panel processing system according to claim 5, characterized in that, The welding motion structure includes: The first horizontal motion assembly (22) includes a first support (221), a first guide (222) and a first horizontal drive (223). The first guide (222) is arranged horizontally on the welding gantry (2). The first support (221) is movably connected to the first guide (222). The first support (221) is adapted to reciprocate along the first guide (222) under the action of the first horizontal drive (223). The first lifting motion assembly (23) includes a second platform (231), a second guide (232) and a first lifting drive. The second guide (232) is vertically disposed on the first platform (221). The welding head (3) is connected to the second platform (231). The second platform (231) is movably connected to the second guide (232). The second platform (231) is adapted to reciprocate along the second guide (232) under the action of the first lifting drive.

7. The cylindrical section wall panel processing system according to claim 6, characterized in that, The welding head (3) includes: The machine head body (31) is provided with a first shaft (311) and a second shaft (312). The first shaft (311) is rotatably connected to the second support (231), and the first shaft (311) and the second shaft (312) are alternately arranged. The machine head split body (32) is movably connected to the second shaft body (312). The machine head split body (32) is provided with a welding end (33). The welding end (33) is suitable for friction welding of the surface to be welded. The machine head split body (32) has a built-in swing shaft. The swing shaft is staggered with the second shaft body (312) and movably connected to each other. The welding end (33) is suitable for adjusting the tilt angle under the action of the first shaft body (311), the second shaft body (312) and the swing shaft.

8. The cylindrical section wall panel processing system according to claim 7, characterized in that, The welding end (33) includes: The end base is connected to the machine head split (32) and is adapted to adjust the tilt angle under the action of the machine head split (32). The end of the end base away from the machine head split (32) is provided with a shoulder bushing (334). A stirring needle bushing (333) is disposed inside the end base. One end is connected to an end drive (335) and is adapted to drive the stirring needle bushing (333) to rotate along its own axis. The other end extends toward the shoulder bushing (334) and is provided with a telescopic drive. The friction part includes a stirring needle (332) and a limiting shoulder (331). One end of the limiting shoulder (331) is disposed inside the shoulder sleeve (334) and is movably connected to the shoulder sleeve (334). The other end of the shoulder (331) away from the head split (32) is provided with a shaft opening. One end of the stirring needle (332) is coaxially connected to the stirring needle sleeve (333) and is adapted to perform telescopic movement relative to the stirring needle sleeve (333) under the drive of the telescopic drive member. The other end of the stirring needle (332) passes through the shaft opening and is connected to the shaft opening. It has a working state of generating heat by friction with the surface to be welded and welding the surface to be welded to the adjacent interface.

9. The cylindrical section wall panel processing system according to any one of claims 1-4 and 6-8, characterized in that, The milling unit includes: A milling gantry (4) is mounted on the working guide rail (11), on which a milling motion structure and a second transmission mechanism (41) are mounted. The second transmission mechanism (41) is movably connected to the working guide rail (11). The milling cutter head (5) is connected to the milling motion structure and is adapted to move within a spatial range under the action of the milling motion structure, and is adapted to mill the skin (8).

10. The cylindrical section wall panel processing system according to claim 9, characterized in that, The milling motion structure includes: The second horizontal motion assembly (42) includes a third support (421), a third guide (422), and a second horizontal drive (423). The third guide (422) is arranged horizontally on the milling gantry (4). The third support (421) is movably connected to the third guide (422). The third support (421) is adapted to reciprocate along the third guide (422) under the action of the second horizontal drive (423). The second lifting motion assembly (43) includes a fourth support (431), a fourth guide (432), and a second lifting drive (433). The fourth guide (432) is vertically disposed on the fourth support (431). The milling cutter head (5) is connected to the fourth support (431). The fourth support (431) is movably connected to the fourth guide (432). The fourth support (431) is adapted to reciprocate along the fourth guide (432) under the action of the second lifting drive (433).

11. The cylindrical section wall panel processing system according to claim 10, characterized in that, The milling head (5) includes: The cutter head body (51) is provided with a third shaft (511), which is rotatably connected to the fourth support (431); The cutting head is divided into two parts (52), on which a fourth shaft (521) and a cutting tool body (522) are provided. The fourth shaft (521) is rotatably connected to the cutting head divided part (52), and the third shaft (511) is alternately arranged with the fourth shaft (521). The cutting tool body (522) is suitable for milling skin (8).

12. The cylindrical section wall panel processing system according to claim 1, characterized in that, Also includes: The controller is communicatively connected to the welding unit, the beveling unit, and the clamping fixture, respectively.

13. A method for processing cylindrical section wall panels, characterized in that, The cylindrical section wall panel processing system applied to any one of claims 1-12, the cylindrical section wall panel processing method comprising: S1. Set a skin (8) at the upper limit of the clamping fixture. S2. The skin (8) is milled by the milling unit to remove excess skin (8); S3. Several stringers (9) are set at several preset positions on the skin (8) to correspond to the limit settings. S4. Friction welding of the skin (8) and stringers (9) is performed by welding units.

14. The method for processing cylindrical section wall panels according to claim 13, characterized in that, Step S2 includes: S21. Drive the milling unit to move to a position adjacent to the clamping fixture; S22. Adjust the tool body (522) of the milling unit so that it is flush with the preset milling baseline (611) on one side of the arc groove structure (62) of the clamping fixture that carries the skin (8); S23. Adjust the tool body (522) of the milling unit to move along the preset milling baseline (611) to mill the side allowance of the skin (8); S24. Adjust the tool body (522) of the milling unit to the other side of the arc groove structure (62) and set it flush with its preset milling baseline (611). After executing step S23, drive the milling unit to reset.

15. The method for processing cylindrical section wall panels according to claim 14, characterized in that, Step S23 also includes: S231. Obtain the travel of the tool body (522), control each side pressing structure (643) to switch from the limit state to the yield state in sequence, and avoid the tool body (522).

16. The method for processing cylindrical section wall panels according to any one of claims 13-15, characterized in that, Step S3 includes: S31. Drive the welding unit to move to a position adjacent to the clamping fixture; S32. Adjust the welding end (33) of the welding unit to be adjacent to the welding surface of a stringer (9) on the skin (8), and drive the welding end (33) to rotate to the preset tilt angle; S33. Adjust the movement trajectory of the welding end (33) to coincide with the preset weld (91) on the surface to be welded, and perform friction welding on the stringer (9) and the skin (8); S34. Adjust the welding end (33) to be adjacent to the welding surface of another stringer (9) on the skin (8), drive the welding end (33) to another preset tilt angle, and execute step S33; S35. After all the stringers (9) on the skin (8) are welded, drive the welding unit to reset.

17. The method for processing cylindrical section wall panels according to claim 16, characterized in that, Step S33 is followed by: S331. Remove the burrs and other excess material from both sides of the pre-set weld (91).

18. The method for processing cylindrical section wall panels according to claim 16, characterized in that, Step S33 also includes S330. Manually drive the welding end (33) of the welding unit to move along the preset weld seam (91) to perform welding teaching.

19. The method for processing cylindrical section wall panels according to any one of claims 13-15 and 17-18, characterized in that, Step S1 includes: S11. Bending the metal sheet into an arc-shaped skin (8). S12. Set the skin (8) on the arc groove structure (62) of the clamping fixture; S13. Start the clamping assembly (64) to clamp and limit the skin (8).

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