Equipment and method for automatic vertical assembly of rocket storage tank cylinder section wall plate

Abstract

The invention provides equipment and a method for automatically and vertically assembling a rocket storage tank cylinder section wall plate. The equipment comprises a working machine head integrated with a friction stir welding machine head and a laser scanning locator, a back supporting assembly, a pressing claw clamping system, a workbench provided with an arc sliding groove and a driving roller, and an auxiliary sliding groove. An arc sliding groove, a driving rolling wheel, an auxiliary sliding groove and a pressing claw system are matched with one another, automatic assembly of the long-cylinder-section wall plate on the workbench can be efficiently completed, and the long-cylinder-section wall plates with different diameters and lengths are compatible; in the assembling process of the long cylinder section wall plate and in the two stages after assembling is completed, the laser scanning positioning instrument detects and discriminates assembling process parameters, and the assembling precision is improved. According to the longitudinal seam welding machine, the long cylinder section wall plates can be automatically assembled quickly and accurately, the assembling precision after assembling is detected, and longitudinal seam welding of the four long cylinder section wall plates is completed with high quality and high efficiency.

Description

Technical Field

[0001] The present invention belongs to the fields of automatic assembly and geometric dimension detection, and specifically relates to a device and method for automatically vertically assembling the barrel wall panels of a rocket storage tank. Background Art

[0002] The storage tank is the main structure of the rocket, with a length of about 2 / 3 of the total rocket length and accounting for 80% of the dry weight of the rocket structure. The propellant required for launch is stored therein, and at the same time, it also bears the internal pressure and axial pressure of the rocket body structure.

[0003] Welding is the main connection method for the rocket structure. During the rocket flight, the rocket storage tank has to withstand various pressures, and the weld quality and quantity directly affect the reliability of the rocket structure. Traditional rockets can only reach the required storage tank length through welding of multiple short barrel segments less than 2 meters in length. The shorter the length of the barrel segments that make up the storage tank, the more welds there are, and the greater the potential safety hazards. After adopting 7-meter-class long barrel segments, the number of barrel segments can be greatly reduced, thereby significantly reducing the number of circumferential welds between barrel segments, greatly improving the manufacturing accuracy, load-bearing performance and product reliability of the storage tank, and reducing the research and development cost by more than 20%. Foreign rockets such as H-2B, Delta-4, and Vulcan have all adopted long barrel segment storage tanks with a length exceeding 4 meters, and good results have been achieved in terms of product quality, research and development efficiency, and cost. This technology conforms to the development trend of aerospace product research and development and is an effective way to cope with high-density launch missions and ensure success with high quality.

[0004] The barrel wall panels of the storage tank are mainly composed of four welded plates, and the welds are straight welds. Before the application of friction stir welding technology, all the welds of the storage tank were welded by fusion welding process, resulting in many weld defects, large welding deformation, and long production cycle. Friction stir welding is a solid-phase welding method in which a high-speed rotating stirring head penetrates into the workpiece and moves along the welding direction, generating frictional heat at the contact part between the stirring head and the workpiece, causing the surrounding metal to form a plastic softening layer. The softened metal fills the cavity formed behind the stirring pin under the action of the rotation of the stirring head, and realizes material connection under the stirring and extrusion action of the shoulder and the stirring pin of the stirring head. The rapid development of friction stir welding benefits from its green manufacturing mode, high-quality welded joints and highly reliable welding process. Friction stir welding eliminates defects such as cracks and pores that often appear in the fusion welding process. Under the stirring and forging action of the stirring head, the weld zone has a finer grain structure than the base metal and is widely used in the longitudinal seam welding of the wall panels of aluminum alloy rocket storage tanks.

[0005] In the invention patent with the publication number of CN119566694A, a welding system for the external stringers of the stainless steel rocket storage tank barrel segment is disclosed. However, this welding system can only ensure that the welding positions of shorter barrel segments do not shift, has a limited scope of application, and its stability in complex environments needs to be improved.

[0006] In addition, since the long cylinder section wall panels are thin-walled and large-size structures, manual clamping has low practical operability and is difficult to perform, and the assembly efficiency is low, and a large number of assembly operators are required. The stirring needle used in stir friction welding has a small effective area, and high requirements are placed on the assembly accuracy of the long cylinder section wall panels. When the assembly method is unreasonable, it is difficult to meet the assembly accuracy required for stir friction welding of the long cylinder section wall panels, and welding cannot be performed or the welding quality is poor.

[0007] Therefore, it is urgent to invent a device and method for automatic vertical assembly of rocket tank barrel section wall panels to solve the above problems. Summary of the invention

[0008] In view of the defects in the prior art, the object of the present invention is to provide an apparatus and method for automatic vertical assembly of rocket tank barrel section wall panels.

[0009] The equipment for automatic vertical assembly of rocket tank barrel section wall panels provided by the present invention comprises: a working machine head 1, a back support assembly 2, a piano key pressure claw clamping system 3, a workbench 4 and an auxiliary sliding groove 5;

[0010] The back support assembly 2 is arranged on the workbench 4, and one end is connected to the auxiliary sliding groove 5 to achieve matching installation of the barrel section wall panel; the other end of the back support assembly 2 is respectively connected to the working head 1 and the key pressure claw clamping system 3 to achieve welding and fastening of the barrel section wall panel.

[0011] Preferably, the working machine head 1 is provided with a friction stir welding machine head 11 and a laser scanning locator 12;

[0012] The back support assembly 2 is fixed on the foundation, and includes: a welding pad 21 and a mounting platform 22; the welding pad 21 is arranged at one end of the back support assembly 2, and the welding pad 21 is arranged opposite to the working machine head 1; a plurality of mounting platforms 22 are arranged circumferentially around the back support assembly 2;

[0013] The piano key pressure claw clamping system 3 comprises: a plurality of servo motors 31, hydraulic telescopic arms 32 and pressure claws 33; the pressure claws 33 are controlled by the hydraulic telescopic arms 32 and the servo motors 31, the servo motors 31 accurately control the telescopic position of the pressure claws 33, the hydraulic telescopic arms 32 control the pressure claws 33 to press the cylinder section wall obliquely and sideways, and keep them symmetrically distributed in two rows on the left and right relative to the welding pad 21;

[0014] The workbench 4 is provided with a wall plate chute 41 corresponding to the diameter of the welding barrel section, the wall plate chute 41 includes multiple arc chute 411, and a driving roller 42 is provided between the arc chute 411. The arc chute 411 matches the diameter of the wall plate of the barrel section to be welded;

[0015] The auxiliary sliding groove 5 includes a connecting rod 51, an inner arc plate 52, and an outer arc plate 53, and the connecting rod 51, the inner arc plate 52, and the outer arc plate 53 are connected in sequence.

[0016] Preferably, the working head 1 can move along the three axes of space XYZ to meet the welding requirements of cylinder section wall plates with different diameters and different heights and have the ability to adapt to the offset of the welds to be welded.

[0017] Preferably, an auxiliary sliding groove 5 is correspondingly arranged on the mounting platform 22. The auxiliary sliding groove 5 can move up and down along the back support assembly 2, and its vertical position is adjusted before assembly according to the length of the cylinder section wall plate.

[0018] Preferably, both ends of the connecting rod 51 are respectively connected to the mounting platform 22 and the inner arc plate 52; the outer arc plate 53 is installed on the inner arc plate 52, so that when the cylinder section wall plate is assembled vertically, its upper end will not turn outwards due to its own weight, ensuring the perpendicularity of the cylinder section wall plate and the assembly accuracy of the weld.

[0019] Preferably, according to the diameter of the cylinder section to be welded, the relative structural positions of the servo motor 31, the hydraulic telescopic arm 32, and the clamping jaws 33 are automatically adjusted to ensure that the relative positions of the clamping jaws 33, the cylinder section wall plate, and the welding backing plate 21 remain unchanged, that is, there is a welding space between the clamping jaws 33, and the pressing force of the clamping jaws 33 acts on the welding backing plate 21, and the number of clamping jaws 33 required in the vertical direction is determined according to the height of the cylinder section to be welded.

[0020] Preferably, the workbench 4 has the ability to move back and forth relative to the welding backing plate 21 to meet the welding requirements of cylinder section wall plates with different diameters; the outer surface of the welding backing plate 21 matches the inner surface of the cylinder section wall plate, and the welding backing plate 21 is detachable.

[0021] Preferably, an adaptive pressure strip 331 is installed in front of the clamping jaws 33, and the pressing surface has anti-slip lines. The width of the pressure strip 331 is 40 - 50 cm, and the pressure strip 331 is preferably made of copper.

[0022] Preferably, the roller surface of the driving roller 42 is equipped with rubber, which can avoid damaging the end face of the cylinder section wall plate and can better drive the cylinder section wall plate to slide; the rubber material is preferably cis-butadiene rubber.

[0023] A method for an automatic vertical assembly device for rocket tank cylinder section wall plates provided by the present invention includes the following steps:

[0024] Step 1: Lifting holes are opened on the end face of the first cylinder section wall panel 100, and it is lifted and installed by a crane. The lower end face of the cylinder section wall panel is first installed into the wall panel chute 41. Driving rollers 42 are arranged between the arc chutes 411. The driving rollers 42 can adjust their vertical positions relative to the bottom of the arc chute 411, so that the lower end face of the cylinder section wall panel contacts the driving rollers 42 or the bottom of the arc chute 411 according to requirements. Before installing the lower end face of the cylinder section wall panel, the driving rollers 42 are raised. After the lower end face is confirmed to be installed into the arc chute 411, the upper end face of the cylinder section wall panel is installed into the auxiliary sliding groove 5. The auxiliary sliding groove 5 can move up and down along the back support assembly 2, and its vertical position is adjusted before assembly according to the length of the cylinder section wall panel.

[0025] Step 2: Driven by multiple driving rollers 42, the first cylinder section wall panel 100 slowly moves in the circumferential direction until the edge to be welded coincides with the center of the welding backing plate 21. The laser scanning locator 12 on the working head 1 makes a laser marking on the center of the welding backing plate 21. When the edge to be welded of the first cylinder section wall panel 100 touches the laser signal, it is fed back to the driving roller motor and the equipment stops working. The driving rollers 42 slowly descend until the lower end face of the first cylinder section wall panel 100 is in full contact with the lower arc chute 411. The two clamping jaws 33 at the uppermost and lowermost positions in the piano key clamping jaw system 3 clamp and fasten the welding edge of the first cylinder section wall panel 100. The laser scanning locator 12 detects the overall deviation between the welding edge of the first cylinder section wall panel 100 and the center of the welding backing plate 21. After meeting the requirements, the clamping jaws 33 clamp and fasten the welding edge of the first cylinder section wall panel 100 one by one from bottom to top.

[0026] Step 3: After the assembly of the first cylinder section wall panel 100 is completed, the assembly of the second cylinder section wall panel 200 is carried out according to Steps 1 - 2. It should be noted that under the action of the driving rollers 42, the second cylinder section wall panel 200 slowly moves in the circumferential direction until the edge to be welded is closely attached to the welding edge of the first cylinder section wall panel 100. Subsequently, the clamping jaws 33 fasten and assemble the second cylinder section wall panel 200 according to the clamping and fastening sequence in Step 2. After all the clamping jaws 33 are tightened, the laser scanning locator 12 scans and detects the assembly process parameters of the weld seam to be welded between the two cylinder section wall panels, including the weld seam gap, left - right step difference, and weld seam misalignment. If the assembly process parameters of the weld seam exceed the tolerance, the clamping jaws 33 of the second cylinder section wall panel 200 are loosened and reassembled and inspected again.

[0027] Step 4: After the weld seam assembly between the two cylinder section wall panels is completed, the friction stir welding head 11 welds the weld seam in sequence from bottom to top for pre - welding and formal welding. After welding is completed, the piano key clamping jaw system 3 clamps and fastens for more than two hours before loosening. The above completes the welding of the first weld seam.

[0028] Step 5: Raise the driving roller 42, make the lower end faces of the two cylinder section wall plates contact with the driving roller 42, and the two welded cylinder section wall plates move slowly along the circumferential direction under the action of the driving roller 42;

[0029] Repeat Step 2 to complete the clamping of the other side to-be-welded edge of the two-cylinder-section wall plate assembly, and repeat Steps 3 and 4 to complete the clamping and welding of the to-be-welded edge of the third cylinder section wall plate and the previous two-cylinder-section wall plate assembly.

[0030] Repeat Step 5 to complete the clamping and welding of the fourth cylinder section wall plate and the previous three-cylinder-section wall plate assembly.

[0031] Step 6: After completing the assembly of the four cylinder section wall plates and the welding of the four weld seams, complete the welding and assembly work of this cylinder section, and lift the cylinder section out by the overhead crane through the lifting holes on the upper side of the cylinder section wall plate.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. Through the mutual cooperation among the arc chute, the driving roller, the auxiliary sliding chute and the claw system, the present invention can quickly and accurately complete the automatic assembly of the longer cylinder section wall plates on the workbench according to the required requirements.

[0034] 2. The present invention has high assembly efficiency. Compared with the traditional cylinder section assembly mode, the number of operators required in the assembly process is reduced.

[0035] 3. The equipment of the present invention has strong compatibility. According to the diameter and length of the to-be-welded cylinder section, adjust the specifications of the corresponding arc chute and auxiliary sliding chute, and at the same time adjust the spatial cooperation positions of the workbench, the column and the working head, and the longitudinal seam friction stir welding of the cylinder section wall plates with different diameters and lengths can be completed.

[0036] 4. The present invention has high assembly precision. Adopt segmented claw clamping, and at the two stages during the assembly process of the cylinder section wall plates and after the assembly is completed, the laser scanning locator respectively detects and discriminates the assembly process parameters, further improving the assembly precision and ensuring the quality of the longitudinal seam friction stir welding of the subsequent longer cylinder section wall plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objects and advantages of the present invention will become more obvious:

[0038] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0039] Figure 2 is a top view structural schematic diagram of the present invention;

[0040] Figure 3 is a partial enlarged structural schematic diagram of the assembly of the cylinder section wall plates of the present invention;

[0041] Figure 4 This is a schematic cross-sectional structure diagram of the auxiliary sliding groove of the present invention;

[0042] Figure 5 This is a schematic top view structure diagram of the auxiliary sliding groove of the present invention.

[0043] As shown in the figure:

[0044] Specific embodiments

[0045] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0046] In this embodiment, the full-process automatic assembly of the cylindrical section wall plate is taken as an example for illustration. Among them, the diameter of the cylindrical section is 3800 mm, the length is 6900 mm, the theoretical outer circumference is 11938 mm, and it is formed by welding four cylindrical section wall plates of the same specification. The longitudinal seams between the four cylindrical section wall plates are welded by friction stir welding. The central angle of a single wall plate is 90°, and the theoretical outer arc length is 2984.5 mm.

[0047] As Figure 1 shown, the present invention mainly consists of a working head 1, a back support assembly 2, a key jaw clamping system 3, a workbench 4, and an auxiliary sliding groove 5, which is compatible with the longitudinal seam welding of cylindrical section wall plates with a length of less than 7500 mm. Other components such as the foundation structure part and the load-bearing structure part that do not play a key role in the present invention do not appear in the drawings.

[0048] Furthermore, the working head 1 can move along the three axes of space XYZ to meet the welding requirements of cylindrical section wall plates with different diameters and different heights and have the ability to adapt to the offset of the welds to be welded. The workbench 4 has the ability to move back and forth relative to the welding backing plate 21 to meet the welding requirements of cylindrical section wall plates with different diameters.

[0049] Furthermore, before assembling the cylindrical section wall plate, the equipment is adjusted according to the diameter of the cylindrical section to be welded this time, which is 3800 mm. First, select the corresponding arc-shaped sliding grooves 411 and auxiliary sliding grooves 5 for tooling installation. According to the diameters of the existing model storage tank cylindrical sections: 3350 mm, 3800 mm, and 5000 mm, installation grooves for the corresponding arc-shaped sliding grooves 411 are preset on the workbench surface.

[0050] Further, except for the arc-shaped sliding grooves 411 on the left and right sides of the welding backing plate 21, the arc lengths of the remaining arc-shaped sliding grooves 411 are the same and the specifications are the same. Without considering the width of the driving rollers 42 between the arc-shaped sliding grooves 411, the corresponding central angle of the arc-shaped sliding grooves 411 is approximately 30°. All the arc-shaped sliding grooves 411 are installed in the arc-shaped sliding groove installation grooves on the workbench surface. At the same time, the relative position relationship between the workbench 4 and the welding backing plate 21 is adjusted so that the welding backing plate 21 and the arc-shaped sliding grooves 411 are both located on the φ3800 distribution circle to meet the subsequent requirements for the assembly and welding of the cylinder section wall plates.

[0051] Further, driving rollers 42 are arranged between the arc-shaped sliding grooves 411. The driving rollers 42 can adjust the up and down positions relative to the bottom of the arc-shaped sliding grooves 411, so that the lower end surface of the cylinder section wall plate contacts the rollers or the bottom of the arc-shaped sliding grooves 411 according to requirements. Before the assembly of the lower end surface of the cylinder section wall plate, the driving rollers 42 are raised so that the lower end surface of the cylinder section wall plate contacts the roller surface. At the same time, the servo motor 31 and the hydraulic telescopic arm 32 of the working head 1 and the piano key clamping system 3 are moved to ensure that there is enough safety distance from the welding backing plate 21.

[0052] Further, the auxiliary sliding groove 5 includes a connecting rod 51, an inner arc plate 52 and an outer arc plate 53. First, the connecting rod 51 is fixedly installed with the inner arc plate 52, and the outer arc plate 53 is not installed temporarily; the four installation platforms 22 evenly distributed along the circumference of the back support assembly 2 are lowered to a suitable height, and the connecting rod 51 of the auxiliary sliding groove 5 is fixedly installed with the installation platforms 22. After the installation is completed, according to the length of the cylinder section to be welded this time being 6900 mm, the installation platforms 22 are raised to about 7000 mm.

[0053] Further, according to the combination sequence of the cylinder section wall plates, starting from the I reference, the four cylinder section wall plates are sequentially numbered as the first cylinder section wall plate 100, the second cylinder section wall plate 200... in the counterclockwise direction. The cylinder section wall plates are horizontally placed on the arc-shaped wall plate trolley. Two φ14 lifting holes are opened at 50 mm from the upper and lower end surfaces of each cylinder section wall plate, respectively located at the 30° and 60° central angles of the cylinder section wall plate. The lifting tool passes through the lifting holes of the first cylinder section wall plate 100, and the first cylinder section wall plate 100 is vertically lifted by the overhead crane and slowly transferred to directly above the equipment. The overhead crane is controlled to slowly lower the cylinder section wall plate. First, the lower end surface of the first cylinder section wall plate 100 is installed into the left arc-shaped sliding groove 411 of the welding backing plate 21. Subsequently, after the lower end surface is confirmed to be installed into the arc-shaped sliding groove 411, the upper end surface of the cylinder section wall plate is installed into the auxiliary sliding groove 5. The operator completes the fixed installation between the outer arc plate 53 and the inner arc plate 52 through the aerial work platform to ensure that the cylinder section wall plate will not turn outwards at the upper end due to its own weight under the vertical assembly method, affecting the welding seam assembly accuracy.

[0054] Further, the first cylindrical section wall panel 100 is driven by a plurality of driving rollers 42 to slowly move along the circumferential direction towards the center of the welding backing plate 21 at a moving rate not greater than 1000 mm / min until the edge to be welded coincides with the center of the welding backing plate 21. The laser scanning locator 12 on the working head 1 makes a laser marking on the center of the welding backing plate 21. When the edge to be welded of the first cylindrical section wall panel 100 touches the laser signal, it is fed back to the driving roller motor, and the driving rollers 42 stop working, and the first cylindrical section wall panel 100 stops moving. The driving rollers 42 slowly descend until the lower end face of the first cylindrical section wall panel 100 is in full contact with the lower arc chute 411.

[0055] Further, the roller surface of the driving roller 42 is equipped with a rubber layer, which can avoid damaging the end face of the cylindrical section wall panel while better driving the sliding of the cylindrical section wall panel. Under the action of the self-weight of the cylindrical section wall panel, the friction force generated between the lower end face and the rubber layer of the roller surface is greater than the resistance during the sliding of the cylindrical section wall panel, and there is no relative sliding between the cylindrical section wall panel and the driving roller 42; the rubber material is preferably cis-butadiene rubber.

[0056] Further, the vertical direction of the key-type jaw clamping system 3 includes multiple groups of servo motors 31, hydraulic telescopic arms 32, and jaws 33, which are symmetrically distributed in two columns on the left and right relative to the welding backing plate 21. A pressure bar 331 is installed in front of the jaw 33 to avoid damaging the fixed clamping part of the cylindrical section wall panel. The length, width, and height of the pressure bar 331 are 500 mm × 50 mm × 10 mm. There are a total of 15 groups of servo motors 31, hydraulic telescopic arms 32, and jaws 33 in the vertical direction, and they are numbered. The jaws 33 on the left side of the welding backing plate 21 are numbered A1, A2... A15 from bottom to top in sequence, and the jaws 33 on the right side of the welding backing plate 21 are numbered B1, B2... B15 from bottom to top in sequence. The equipment can maximally accommodate the longitudinal seam welding of a 7500 mm cylindrical section wall panel.

[0057] Further, the A1 jaw and the A13 jaw are operated to clamp and fasten the welding edge of the first cylindrical section wall panel 100 in sequence. The laser scanning locator 12 detects the overall deviation between the welding edge of the first cylindrical section wall panel 100 and the center of the welding backing plate 21. After meeting the requirements, the jaws 33 clamp and fasten the welding edge of the first cylindrical section wall panel 100 one by one from A2 to A12 from bottom to top, and the acting force of each jaw 33 is 10 KN.

[0058] Further, after the assembly of the first cylinder section wall panel 100 is completed, the assembly of the second cylinder section wall panel 200 is carried out according to the above steps. It should be noted that the second cylinder section wall panel 200 is installed into the arc chute 411 on the right side of the welding backing plate 21 and the auxiliary sliding groove 5. Under the action of the driving roller 42, the second cylinder section wall panel 200 slowly moves along the circumferential direction until the edge to be welded is closely attached to the welding edge of the first cylinder section wall panel 100. Subsequently, the right-side clamping jaws 33 of the welding backing plate 21 tighten and assemble the second cylinder section wall panel 200 according to the above clamping and fastening sequence. After all the clamping jaws B1 - B13 are tightened, the laser scanning locator 12 scans and detects the assembly process parameters of the weld seam to be welded between the two cylinder section wall panels, including the weld seam gap, left and right step differences, and weld seam misalignment. If the assembly process parameters of the weld seam exceed the tolerance, all the clamping jaws 33 of the second cylinder section wall panel 200 are loosened, and the assembly and inspection are carried out again.

[0059] Further, after the weld seam assembly between the first cylinder section wall panel 100 and the second cylinder section wall panel 200 is completed, the friction stir welding head 11 pre-welds and then formally welds the weld seam from bottom to top. After the welding is completed, the key clamping jaw clamping system 3 clamps and fastens for more than two hours before loosening, and the welding of the first weld seam is completed above.

[0060] Further, the above steps are repeated to successively complete the assembly of the subsequent two cylinder section wall panels and the welding of 3 longitudinal seams of the cylinder section wall panels. After the welding and assembly work of this cylinder section is completed, the operator removes all the outer arc plates 53 of the auxiliary sliding groove 5 and hoists the cylinder section out by the overhead crane.

[0061] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0062] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An equipment for the automatic vertical assembly of the barrel wall panel of a rocket storage tank, characterized in that It comprises: a working machine head (1), a back support assembly (2), a key pressing claw clamping system (3), a workbench (4) and an auxiliary sliding groove (5); A back support assembly (2) is arranged on a workbench (4), one end of which is connected to an auxiliary sliding groove (5) to achieve matching installation of the barrel section wall panel; the other end of the back support assembly (2) is respectively connected to a working machine head (1) and a piano key pressure claw clamping system (3) to achieve welding and fastening of the barrel section wall panel.

2. The equipment for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 1, wherein, The working machine head (1) is provided with a friction stir welding machine head (11) and a laser scanning locator (12); The back support assembly (2) is fixed on the foundation, and comprises: a welding pad (21) and a mounting platform (22); the welding pad (21) is arranged at one end of the back support assembly (2), and the welding pad (21) is arranged directly opposite to the working machine head (1); a plurality of mounting platforms (22) are circumferentially arranged around the back support assembly (2); The piano key pressure claw clamping system (3) comprises: a plurality of servo motors (31), hydraulic telescopic arms (32) and pressure claws (33); the pressure claws (33) are controlled by the hydraulic telescopic arms (32) and the servo motors (31) in a linkage manner, the servo motors (31) accurately control the telescopic position of the pressure claws (33), and the hydraulic telescopic arms (32) control the pressure claws (33) to press the cylinder section wall plate obliquely and laterally, and keep them symmetrically distributed in two rows on the left and right relative to the welding pad (21); A wall plate slide groove (41) corresponding to the diameter of the welding barrel section is arranged on the workbench (4), the wall plate slide groove (41) comprises a plurality of circular arc slide grooves (411), a driving roller (42) is arranged between the circular arc slide grooves (411), and the circular arc slide grooves (411) match the diameter of the wall plate of the barrel section to be welded; The auxiliary sliding groove (5) comprises a connecting rod (51), an inner circular arc plate (52) and an outer circular arc plate (53), and the connecting rod (51), the inner circular arc plate (52) and the outer circular arc plate (53) are connected in sequence.

3. The equipment for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 1, characterized in that, The working machine head (1) can move along the three axes of XYZ in space to meet the welding requirements of cylinder wall panels with different diameters and heights and has the ability to adapt to the offset of the weld to be welded.

4. The equipment for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 2, wherein, An auxiliary sliding groove (5) is correspondingly arranged on the installation platform (22), and the auxiliary sliding groove (5) can move up and down along the back support assembly (2), and its vertical position can be adjusted before assembly according to the length of the barrel section wall plate.

5. The equipment for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 2, characterized in that, The two ends of the connecting rod (51) are respectively connected to the mounting platform (22) and the inner arc plate (52); the outer arc plate (53) is mounted on the inner arc plate (52), so that the upper end of the cylinder section wall panel will not be turned outward due to its own weight in a vertical assembly mode, thereby ensuring the verticality of the cylinder section wall panel and the assembly accuracy of the weld.

6. The equipment for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 5, characterized in that, According to the diameter of the barrel section to be welded, the relative structural positions of the servo motor (31), the hydraulic telescopic arm (32) and the pressure claw (33) are automatically adjusted to ensure that the relative positions of the pressure claw (33), the barrel section wall plate and the welding pad (21) remain unchanged, that is, welding space is reserved between the pressure claws (33), and the pressing force of the pressure claws (33) acts on the welding pad (21), and the number of the pressure claws (33) required in the vertical direction is determined according to the height of the barrel section to be welded.

7. The equipment for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 2, characterized in that, The workbench (4) is capable of moving back and forth relative to the welding backing plate (21) to meet the welding requirements of cylinder section wall plates with different diameters; the outer surface of the welding backing plate (21) matches the inner surface of the cylinder section wall plate, and the welding backing plate (21) is detachable.

8. The device for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 2, characterized in that, An adaptive pressure bar (331) is installed in front of the clamping jaw (33), and the pressing surface has anti-slip lines. The width of the pressure bar (331) is 40 - 50 cm, and the pressure bar (331) is made of copper.

9. The equipment for automatic vertical assembly of the barrel wall panel of a rocket storage tank according to claim 2, characterized in that, The roller surface of the driving roller (42) is equipped with rubber, which can avoid damaging the end face of the cylinder section wall plate and can better drive the cylinder section wall plate to slide; the rubber material is cis-butadiene rubber.

10. A method for assembling using the automatic vertical assembly equipment for the barrel wall panel of a rocket storage tank described in any one of claims 1 to 9, characterized in that, It includes the following steps: Step 1: Lifting holes are opened on the end face of the first cylinder section wall plate (100), and it is lifted and installed by a crane. The lower end face of the cylinder section wall plate is first installed into the wall plate chute (41), and driving rollers (42) are arranged between the arc chutes (411). The driving rollers (42) can adjust the vertical position relative to the bottom of the arc chute (411), and according to the requirements, the lower end face of the cylinder section wall plate is made to contact the driving rollers (42) or the bottom of the arc chute (411); before installing the lower end face of the cylinder section wall plate, the driving rollers (42) are raised. After the lower end face is confirmed to be installed into the arc chute (411), the upper end face of the cylinder section wall plate is installed into the auxiliary sliding groove (5), and the auxiliary sliding groove (5) can move up and down along the back support assembly (2). According to the length of the cylinder section wall plate, its vertical position is adjusted before assembly. Step 2: The first cylinder section wall plate (100) slowly moves along the circumferential direction driven by multiple driving rollers (42) until the welding edge coincides with the center of the welding backing plate (21). The laser scanning locator (12) on the working head (1) makes a laser marking on the center of the welding backing plate (21). When the welding edge of the first cylinder section wall plate (100) touches the laser signal, it is fed back to the driving roller motor, and the equipment stops working. The driving rollers (42) slowly descend until the lower end face of the first cylinder section wall plate (100) is in full contact with the lower arc chute (411); the two clamping jaws (33) at the uppermost and lowermost positions in the piano key clamping jaw clamping system (3) clamp and fasten the welding edge of the first cylinder section wall plate (100). The laser scanning locator (12) detects the overall deviation between the welding edge of the first cylinder section wall plate (100) and the center of the welding backing plate (21). After meeting the requirements, the clamping jaws (33) clamp and fasten the welding edge of the first cylinder section wall plate (100) one by one from bottom to top; Step 3: After the assembly of the first cylinder section wall panel (100) is completed, the assembly of the second cylinder section wall panel (200) is carried out according to Steps 1 - 2. It should be noted that under the action of the driving rollers (42), the second cylinder section wall panel (200) slowly moves along the circumferential direction until the welding edge to be welded is in close contact with the welding edge of the first cylinder section wall panel (100); subsequently, the clamping jaws (33) carry out the fastening assembly on the second cylinder section wall panel (200) according to the clamping and fastening sequence in Step 2. After all the clamping jaws (33) are tightened, the laser scanning locator (12) scans and detects the assembly process parameters of the weld seam to be welded between the two cylinder section wall panels, including the weld seam gap, left - right step difference, and weld seam misalignment. If the assembly process parameters of the weld seam exceed the tolerance, the clamping jaws (33) of the second cylinder section wall panel (200) are loosened, and the assembly and inspection are carried out again; Step 4: After the assembly of the weld seam between the two cylinder section wall panels is completed, the friction stir welding head (11) pre - welds and then formally welds the weld seam from bottom to top; after the welding is completed, the key - type clamping jaw clamping system (3) clamps and fastens for more than two hours and then loosens. The above completes the welding of the first weld seam; Step 5: The driving rollers (42) rise, and the lower end surfaces of the two cylinder section wall panels come into contact with the driving rollers (42). The two welded cylinder section wall panels slowly move along the circumferential direction under the action of the driving rollers (42); Repeat Step 2 to complete the clamping of the welding edge on the other side of the combined body of the two cylinder section wall panels, and repeat Steps 3 and 4 to complete the clamping and welding of the welding edge of the third cylinder section wall panel and the combined body of the first two cylinder section wall panels. Repeat Step 5 to complete the clamping and welding of the fourth cylinder section wall panel and the combined body of the first three cylinder section wall panels. Step 6: After the assembly of the four cylinder section wall panels and the welding of the four weld seams are completed, the welding and assembly work of this cylinder section is completed, and the cylinder section is lifted out by a crane through the lifting hole on the upper side of the cylinder section wall panel.

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