Automatic shape correcting system and method for ribbed wall plate of carrier rocket storage tank

Abstract

The invention provides a carrier rocket storage tank ribbed wallboard automatic shape correction system and method, the system comprises an on-line digital measuring device, an arc base automatic feeding device and a mechanical shape correction device, and the mechanical shape correction device comprises a gantry support and a combined pressure head; the arc base automatic feeding device penetrates through the gantry support, the online digital measuring device is arranged on the outer side of the gantry support, and the combined pressing heads are oppositely arranged on the two sides of the shape correcting station, can move in the vertical direction, can move in the horizontal direction, can rotate around a horizontal shaft and are used for applying loads to the side portions of the ribbed wallboards. Compared with a manual measurement error mode, an online digital measurement modeling scheme is adopted, errors of all positions of the overall breadth of the wallboard can be visually displayed, follow-up automatic shape correction is easier to achieve, the ribbed wallboard is corrected through the combined pressure head, the deformation control capacity of the wallboard in the correction process is improved, and the correction precision is improved. The adaptability to ribbed wallboards with different sizes and structures is high, and the shape correcting effect is good.

Description

Technical Field

[0001] This invention relates to the field of metal plastic forming technology, specifically to an automated forming system and method for reinforced wall panels of launch vehicle propellant tanks. Background Technology

[0002] As a key load-bearing component of launch vehicles, the manufacturing precision of the reinforced tank wall panels significantly impacts the service performance and reliability of the launch vehicle. Currently, most tank wall panel manufacturing processes involve first rolling a flat slab into shape, and then milling the curved slab to obtain a grid-reinforced structure. After rolling, the residual stress within the panel is relatively high. The milling process, accompanied by material removal, releases a significant amount of this residual stress. However, the wall panels, which initially met the surface precision requirements after rolling, undergo secondary deformation, necessitating subsequent reshaping to ensure their external precision meets the standards.

[0003] Currently, the inspection and calibration of reinforced wall panels in storage tanks are mainly carried out manually. Operators use pre-made arc and straight clamps to attach to the outer surface of the reinforced wall panel and use a plug gauge to measure the maximum gap between the outer surfaces of the arc or straight clamps. If the gap exceeds the design requirements, calibration is required. The existing calibration methods mostly use manual hammering. Workers use an aluminum hammer to repeatedly hammer the areas with excessive gaps and continuously check with clamps until the required accuracy is achieved. The entire process is under human intervention, which requires a high level of experience from skilled personnel, is labor-intensive, has low calibration efficiency, causes serious noise pollution at the work site, and results in poor quality consistency of the reinforced wall panels after calibration. Some high-ribbed models of wall panels have high deformation resistance and cannot even be calibrated by manual hammering. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automated alignment system and method for reinforced wall panels of launch vehicle propellant tanks.

[0005] The automated alignment system for reinforced wall panels of a launch vehicle propellant tank provided by the present invention includes an online digital measuring device, an automatic feeding device for an arc base, and a mechanical alignment device. The mechanical alignment device includes a gantry support and a pair of combined pressure heads installed inside the gantry support.

[0006] The automatic feeding device for the arc base passes through the gantry support and is used to transport the ribbed wall panel from the inspection station to the straightening station. The straightening station is located outside the gantry support, and the straightening station is located inside the gantry support.

[0007] The online digital measurement device is installed on the outside of the gantry support and is used to perform online digital measurement of the entire width of the stiffened wall panel located at the inspection station;

[0008] The combined pressure head is positioned opposite each other on both sides of the forming station and is configured to move vertically, move horizontally, and rotate about a horizontal axis to apply load to the side of the ribbed wall panel located at the forming station.

[0009] Preferably, the online digital measurement device includes a laser scanner and a tripod;

[0010] The laser scanner is mounted and fixed on a tripod, which is located on the outside of the gantry support. During online measurement, the stiffened wall panel moves to the testing station.

[0011] Preferably, the automatic feeding device for the arc-shaped base includes an arc-shaped base platform and an electric roller;

[0012] The bottom of the arc-shaped base platform is equipped with an electric roller arranged in a horizontal direction, and the two sides of the arc-shaped base platform are equipped with electric rollers arranged in a vertical direction. The electric rollers are used to control the motion of the ribbed wall panel placed on the arc-shaped base platform.

[0013] Preferably, the mechanical alignment device further includes a vertical drive mechanism, a horizontal drive mechanism, a joint module, and a control console;

[0014] The vertical drive mechanism is mounted on the column of the gantry bracket, the horizontal drive mechanism is mounted on the vertical drive mechanism, and the combined pressure head is mounted on the horizontal drive mechanism via a joint module. The vertical drive mechanism is used to drive the combined pressure head to move vertically up and down, the horizontal drive mechanism is used to drive the combined pressure head to move horizontally, and the joint module is used to drive the combined pressure head to rotate around a horizontal axis.

[0015] Preferably, the vertical drive mechanism includes a slide table, a ball screw, a linear guide, a bearing housing, and a motor;

[0016] The linear guide is installed on the column of the gantry bracket, the bearing seat is installed at both ends of the ball screw and fixes the ball screw to the linear guide, the motor is installed at the end of the ball screw, and the slide is installed outside the ball screw and slidably installed on the linear guide.

[0017] The horizontal drive mechanism includes a hydraulic cylinder and a hydraulic workstation. The hydraulic cylinder is fixedly mounted on the slide table, and the combined pressure head is fixed to the end of the piston rod of the hydraulic cylinder through a joint module. The hydraulic workstation is installed outside the gantry bracket and is used to drive the hydraulic cylinder to move the combined pressure head in the horizontal direction.

[0018] Preferably, the combined pressure head includes a T-shaped pressure head and a U-shaped support head, and the joint module includes a first joint portion and a second joint portion;

[0019] The T-shaped pressure head and the U-shaped support head are both mounted on the first joint, the first joint is mounted on the second joint, and the second joint is mounted on the horizontal drive mechanism to drive the first joint to rotate around the horizontal direction. The first joint is used to drive the combined pressure head to switch between the first angle and the second angle.

[0020] When the combined pressure head rotates to the first angle, the T-shaped pressure head acts on the side of the ribbed wall panel; when the combined pressure head rotates to the second angle, the U-shaped support head acts on the side of the ribbed wall panel.

[0021] The automated alignment method for stiffened wall panels of launch vehicle propellant tanks according to the present invention, employing the aforementioned automated alignment system for stiffened wall panels of launch vehicle propellant tanks, includes the following steps:

[0022] Step 1: Perform online digital measurement of the overall dimensions of the original reinforced wall panel;

[0023] Step 2: Evaluate the error between the original stiffened wall panel model obtained from online measurement and the ideal stiffened wall panel digital model, and analyze the error deformation of each region of the stiffened wall panel.

[0024] Step 3: Based on the model of the stiffened panel and the error deformation of each area of ​​the stiffened panel, select the load application direction and magnitude parameters from the calibration database to generate calibration process parameters and loading path;

[0025] Step 4: Based on the straightening process parameters and loading path, run the automatic feeding device for the arc base and the mechanical straightening device to mechanically straighten the deformed parts of the original ribbed wall panel;

[0026] Step 5: Perform a second online digital measurement on the rectified stiffened wall panel and analyze the error deformation of each area of ​​the rectified stiffened wall panel. If the error deformation is within the preset range, the rectification is completed. If the error deformation is outside the preset range, proceed to the next step.

[0027] Preferably, in step 2, if a local position of the original stiffened panel model is concave inward relative to the ideal digital model and does not reach the ideal curvature, it is determined that the position is too straight and positive correction is required.

[0028] If a local part of the original stiffened panel model protrudes outward relative to the ideal digital model, exceeding the ideal curvature, it is determined that this part is over-bending and requires reverse correction.

[0029] Preferably, in step 3, the selection criterion for the load application direction is:

[0030] For local areas that are too straight and do not reach the ideal curvature, choose a load application direction from the inside to the outside; for local areas that are too curved and exceed the ideal curvature, choose a load application direction from the outside to the inside.

[0031] The selection criteria for load magnitude parameters are as follows: based on the drawing number of the stiffened wall panel in the calibration database, retrieve the geometric dimensions, material parameters, stiffener structure type, calibration load, and error clearance relationship of the stiffened wall panel, and calculate the load magnitude parameters that need to be applied at this location;

[0032] The loading path is as follows: first, the mesh reinforcement area in the middle of the reinforced wall panel is shaped, and then the welded edge areas on both sides of the reinforced wall panel are shaped.

[0033] Preferably, in step 4, the stiffened panel is mechanically shaped using the three-point bending principle;

[0034] Based on the selected load application direction, control the combined pressure head on the target side to switch to the U-shaped support head to support one side of the stiffened wall panel, and control the combined pressure head on the other side to switch to the T-shaped pressure head to apply a load of preset size and direction to the other side of the stiffened wall panel.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. This invention adopts an online digital measurement and modeling scheme. Compared with the traditional manual template measurement method for the error of the reinforced wall panel of the storage tank, it can intuitively display the error magnitude at each position of the overall panel, making it easier to achieve automated correction in the future.

[0037] 2. This invention can automatically generate a deformation correction process plan for reinforced wall panels based on a database, and drive a mechanical correction device to achieve fully automatic correction of the entire reinforced wall panel. Compared with traditional correction methods, it solves the problems of high manpower and high labor intensity.

[0038] 3. This invention corrects stiffened wall panels by using a three-point bending static loading method, which helps to improve the deformation control of the wall panels during the correction process. It is highly adaptable to stiffened wall panels of different sizes and structures, has a good correction effect, and solves the noise pollution problem of traditional hammering correction. Attached Figure Description

[0039] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0040] Figure 1 This is a schematic diagram of the structure of the ribbed wall panel in the calibration system detection station of the present invention;

[0041] Figure 2This is a schematic diagram of the structure of the ribbed wall panel in the straightening station of the straightening system in this invention;

[0042] Figure 3 This is a schematic diagram of the combined pressure head in this invention;

[0043] Figure 4 This is a schematic diagram illustrating the principle of the combined pressure head correcting the shape of the central mesh reinforcement area of ​​the ribbed wall panel in this invention;

[0044] Figure 5 This is a schematic diagram illustrating the principle of the combined pressure head for correcting the shape of the welded edge areas on both sides of the ribbed wall panel in this invention;

[0045] Figure 6 This is a schematic diagram of the automated calibration process in this invention.

[0046] The diagram shows:

[0047] Ribbed wall panel 1, combined pressure head 10

[0048] Laser scanner 2, slide 11

[0049] Tripod 3, Ball Screw 12

[0050] Arc-shaped base platform 4, linear guide rail 13

[0051] Electric roller 5, bearing housing 14

[0052] Roller seat 6, Joint module 15

[0053] Gantry support 7 motors 16

[0054] Hydraulic cylinder 8, control console 17

[0055] Hydraulic workstation 9 Detailed Implementation

[0056] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0057] This invention discloses an automated straightening system and method for stiffened wall panels of launch vehicle propellant tanks. It adopts an online digital measurement and modeling scheme, which can intuitively display the error magnitude at various positions on the overall panel surface compared to manual measurement error methods. This makes it easier to achieve automated straightening subsequently. By using combined pressure heads to correct the stiffened wall panels, it helps to improve the deformation control capability of the wall panels during the correction process. It has strong adaptability to stiffened wall panels of different sizes and structures and has good straightening effect.

[0058] The automated alignment system for reinforced wall panels of a launch vehicle propellant tank provided by the present invention, such as... Figure 1 , Figure 2 As shown, it includes an online digital measuring device, an automatic feeding device for an arc-shaped base, and a mechanical straightening device. The mechanical straightening device includes a gantry support 7 and a pair of combined pressure heads 10 installed inside the gantry support 7. The automatic feeding device for the arc-shaped base passes through the gantry support 7 and is used to transport the ribbed wall panel 1 from the inspection station to the straightening station. The straightening station is located outside the gantry support 7 and inside the gantry support 7.

[0059] In a preferred embodiment, the automatic feeding device for the arc-shaped base includes an arc-shaped base platform 4 and an electric roller 5. The bottom of the arc-shaped base platform 4 is equipped with an electric roller 5 arranged in a horizontal direction, and the two sides of the arc-shaped base platform 4 are equipped with electric rollers 5 arranged in a vertical direction. The electric rollers 5 are used to control the motion of the ribbed wall panel 1 placed on the arc-shaped base platform 4. Specifically, the electric roller 5 is driven by a motor to control the motion of the ribbed wall panel 1 placed on it. According to the instruction, the ribbed wall panel 1 is automatically moved to the detection station or the calibration station. At the detection station, a part of the ribbed wall panel 1 is supported by the roller seat 6 and adjusted so that the whole of the ribbed wall panel 1 is within the measurement area of ​​the online digital measurement device. At the calibration station, the wall panel can be automatically adjusted according to the error location until the area is within the coverage area of ​​the vertically moving calibration combination pressure head 10.

[0060] The online digital measurement device is located on the outside of the gantry support 7 and is used to perform online digital measurement of the entire area of ​​the ribbed wall panel 1 located at the inspection station. In a preferred embodiment, the online digital measurement device includes a laser scanner 2 and a tripod 3. The laser scanner 2 is mounted and fixed on the tripod 3, and the tripod 3 is located on the outside of the gantry support 7. Figure 2 As shown, during online measurement, the reinforced wall panel 1 is moved to the testing station.

[0061] The combined pressure head 10 is arranged opposite to each other on both sides of the straightening station and is configured to be able to move vertically, move horizontally, and rotate about a horizontal axis, for applying load to the side of the ribbed wall panel 1 located at the straightening station.

[0062] In a preferred embodiment, the mechanical alignment device further includes a vertical drive mechanism, a horizontal drive mechanism, a joint module 15, and a control console 17; the vertical drive mechanism is mounted on the column of the gantry bracket 7, the horizontal drive mechanism is mounted on the vertical drive mechanism, and the combined pressure head 10 is mounted on the horizontal drive mechanism via the joint module 15. The vertical drive mechanism is used to drive the combined pressure head 10 to move vertically up and down, the horizontal drive mechanism is used to drive the combined pressure head 10 to move horizontally, and the joint module 15 is used to drive the combined pressure head 10 to rotate around a horizontal axis.

[0063] In more preferred embodiments, the mechanical alignment device includes a gantry support 7, a hydraulic cylinder 8, a hydraulic workstation 9, a combined pressure head 10, a slide table 11, a ball screw 12, a linear guide rail 13, a bearing seat 14, a joint module 15, a motor 16, and a control console 17. The ball screw 12 is equipped with bearing seats 14 at both ends and is fixed on the linear guide rail 13. Together with the slide table 11 and the motor 16, it forms a vertical drive mechanism mounted on the support back plate of the gantry support 7. The hydraulic cylinder 8 is fixed on the slide table 11 and can move up and down with the slide table 11. The combined pressure head 10 is fixed to the piston rod end of the hydraulic cylinder 8 through the joint module 15. The hydraulic cylinder 8 and the hydraulic workstation 9 together form a horizontal drive mechanism.

[0064] Among them, such as Figure 4 As shown, the combined pressure head 10 is designed with a T-shaped pressure head and a U-shaped support head structure. Different functions can be achieved by rotating the joint module 15. The joint module 15 includes a first joint and a second joint. Both the T-shaped pressure head and the U-shaped support head are mounted on the first joint, which is mounted on the second joint. The second joint is mounted on a horizontal drive mechanism to drive the first joint to rotate horizontally. The first joint is used to switch the combined pressure head 10 between a first angle and a second angle. When the combined pressure head 10 rotates to the first angle, the T-shaped pressure head acts on the side of the ribbed wall panel 1; when the combined pressure head 10 rotates to the second angle, the U-shaped support head acts on the side of the ribbed wall panel 1. Figures 5-6 As shown, according to the error direction of the reinforced wall panel, a T-shaped pressure head structure is selected on one side of the combined pressure head 10, and a U-shaped support structure is selected on the other side. It can also be axially rotated according to the position of the ribs in the area to be corrected to adapt to the change in the position of the ribs.

[0065] The automated alignment method for stiffened wall panels of launch vehicle propellant tanks according to the present invention, employing the aforementioned automated alignment system for stiffened wall panels of launch vehicle propellant tanks, includes the following steps:

[0066] Step 1: Perform online digital measurement of the entire area of ​​the original stiffened wall panel. Specifically, place the stiffened wall panel at the testing station, such as... Figure 1As shown, the overall area of ​​the original stiffened wall panel 1 is digitally measured online using laser scanner 2, and the data is processed in the computer of console 17 to achieve reverse modeling, thus obtaining the actual three-dimensional model of the stiffened wall panel 1.

[0067] Step 2: Evaluate the error between the original stiffened panel model obtained from online measurement and the ideal stiffened panel digital model. Analyze the error deformation of each region of the stiffened panel. Specifically, if a local position of the original stiffened panel model is concave inward relative to the ideal digital model and does not reach the ideal curvature, it is determined that the position is too straight and requires positive correction; if a local position of the original stiffened panel model is convex outward relative to the ideal digital model and exceeds the ideal curvature, it is determined that the position is too curved and requires reverse correction.

[0068] Step 3: Based on the model of the stiffened panel and the error deformation of each area of ​​the stiffened panel, select the load application direction and magnitude parameters from the calibration database to generate calibration process parameters and loading paths. Specifically, the selection criteria for the load application direction are as follows:

[0069] For local areas that are too straight and do not reach the ideal curvature, choose a load application direction from the inside to the outside; for local areas that are too curved and exceed the ideal curvature, choose a load application direction from the outside to the inside.

[0070] The selection criteria for load magnitude parameters are as follows: based on the drawing number of the stiffened wall panel in the calibration database, retrieve the geometric dimensions, material parameters, stiffener structure type, calibration load, and error clearance relationship of the stiffened wall panel, and calculate the load magnitude parameters that need to be applied at this location;

[0071] The loading path is as follows: first, the mesh reinforcement area in the middle of the reinforced wall panel is shaped, and then the welded edge areas on both sides of the reinforced wall panel are shaped.

[0072] Step 4: Based on the straightening process parameters and loading path, the automatic feeding device and mechanical straightening device of the arc base are operated to mechanically straighten the deformed parts of the original ribbed wall panel. Specifically, according to the relevant process parameters and loading path, the control console 17 first drives the electric roller 5 on the arc base platform 4 to move the ribbed wall panel 1 to the straightening station, such as... Figure 2 As shown, based on the position of the deformed area on the ribbed wall panel 1, the electric roller 5 is driven again until the area is within the coverage area of ​​the straightening pressure head 10. The drive motor 16 controls the ball screw 12 to rotate, causing the slide table 11 with the fixed oil cylinder 8 to move to the deformed area. The type of the combined pressure head 10 is adjusted according to the generated straightening process parameters. Then, the piston rod of the oil cylinder 8 extends to apply a load to perform three-point bending straightening of the area. After the piston rod retracts, the straightening of the area is completed. The above steps are repeated until all deformed areas are straightened.

[0073] The three-point bending correction specifically includes: according to the selected load application direction, controlling the combined pressure head 10 on the target side to switch to a U-shaped support head to support one side of the stiffened wall panel, and controlling the combined pressure head 10 on the other side to switch to a T-shaped pressure head to apply a load of preset size and direction to the other side of the stiffened wall panel.

[0074] Step 5: Perform a second online digital measurement on the rectified stiffened wall panel and analyze the error deformation of each area of ​​the rectified stiffened wall panel. If the error deformation is within the preset range, the rectification is completed. If the error deformation is outside the preset range, proceed to step 3.

[0075] This invention can effectively correct errors at any position on the surface of the stiffened wall panel, solve the problem of insufficient or excessive local deformation of the stiffened wall panel, greatly improve the accuracy, quality and efficiency of the correction, and realize the automated correction of the stiffened wall panel of the storage tank.

[0076] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 this application.

[0077] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An automated alignment system for reinforced wall panels of a launch vehicle propellant tank, characterized in that, It includes an online digital measuring device, an automatic feeding device for an arc base, and a mechanical straightening device. The mechanical straightening device includes a gantry support (7) and a pair of combined pressure heads (10) installed inside the gantry support (7). The automatic feeding device for the arc base passes through the gantry bracket (7) and is used to transport the ribbed wall panel (1) from the inspection station to the straightening station. The straightening station is located outside the gantry bracket (7) and inside the gantry bracket (7). The online digital measurement device is set on the outside of the gantry support (7) and is used to perform online digital measurement of the entire width of the stiffened wall panel (1) located at the inspection station; The combined pressure head (10) is arranged opposite to each other on both sides of the straightening station and is configured to be able to move in the vertical direction, move in the horizontal direction and rotate about the horizontal axis, for applying load to the side of the stiffened wall panel (1) located at the straightening station.

2. The automated alignment system for reinforced wall panels of a launch vehicle propellant tank according to claim 1, characterized in that, The online digital measurement device includes a laser scanner (2) and a tripod (3); The laser scanner (2) is mounted and fixed on a tripod (3), which is set on the outside of the gantry support (7). When performing online measurement, the stiffened wall panel (1) moves to the detection station.

3. The automated alignment system for reinforced wall panels of a launch vehicle propellant tank according to claim 1, characterized in that, The automatic feeding device for the arc base includes an arc base platform (4) and an electric roller (5); The bottom of the arc base platform (4) is equipped with an electric roller (5) arranged in the horizontal direction, and the two sides of the arc base platform (4) are equipped with electric rollers (5) arranged in the vertical direction. The electric rollers (5) are used to control the motion of the ribbed wall panel (1) placed on the arc base platform (4).

4. The automated alignment system for reinforced wall panels of a launch vehicle propellant tank according to claim 1, characterized in that, The mechanical alignment device also includes a vertical drive mechanism, a horizontal drive mechanism, a joint module (15), and a control console (17); The vertical drive mechanism is installed on the column of the gantry bracket (7), the horizontal drive mechanism is installed on the vertical drive mechanism, and the combined pressure head (10) is installed on the horizontal drive mechanism through the joint module (15). The vertical drive mechanism is used to drive the combined pressure head (10) to move vertically, the horizontal drive mechanism is used to drive the combined pressure head (10) to move horizontally, and the joint module (15) is used to drive the combined pressure head (10) to rotate around the horizontal axis.

5. The automated alignment system for reinforced wall panels of a launch vehicle propellant tank according to claim 4, characterized in that, The vertical drive mechanism includes a slide table (11), a ball screw (12), a linear guide (13), a bearing seat (14), and a motor (17); The linear guide (13) is installed on the column of the gantry bracket (7), the bearing seat (14) is installed on both ends of the ball screw (12) and the ball screw (12) is fixed on the linear guide (13), the motor (16) is installed on the end of the ball screw (12), and the slide (11) is installed outside the ball screw (12) and is slidably installed on the linear guide (13); The horizontal drive mechanism includes a hydraulic cylinder (8) and a hydraulic workstation (9). The hydraulic cylinder (8) is fixedly mounted on a slide table (11). The combined pressure head (10) is fixed to the end of the piston rod of the hydraulic cylinder (8) through a joint module (15). The hydraulic workstation (9) is installed outside the gantry bracket (7) and is used to drive the hydraulic cylinder (8) to move the combined pressure head (10) in the horizontal direction.

6. The automated alignment system for reinforced wall panels of a launch vehicle propellant tank according to claim 4, characterized in that, The combined pressure head (10) includes a T-shaped pressure head and a U-shaped support head, and the joint module (15) includes a first joint and a second joint. The T-shaped pressure head and the U-shaped support head are both mounted on the first joint, the first joint is mounted on the second joint, and the second joint is mounted on the horizontal drive mechanism to drive the first joint to rotate around the horizontal direction. The first joint is used to drive the combined pressure head (10) to switch between the first angle and the second angle. When the combined pressure head (10) rotates to the first angle, the T-shaped pressure head acts on the side of the ribbed wall panel (1), and when the combined pressure head (10) rotates to the second angle, the U-shaped support head acts on the side of the ribbed wall panel (1).

7. An automated method for straightening the reinforced wall panel of a launch vehicle propellant tank, characterized in that, The automated alignment system for reinforced wall panels of launch vehicle propellant tanks according to any one of claims 1-7 includes the following steps: Step 1: Perform online digital measurement of the overall dimensions of the original reinforced wall panel; Step 2: Evaluate the error between the original stiffened wall panel model obtained from online measurement and the ideal stiffened wall panel digital model, and analyze the error deformation of each region of the stiffened wall panel. Step 3: Based on the model of the stiffened panel and the error deformation of each area of ​​the stiffened panel, select the load application direction and magnitude parameters from the calibration database to generate calibration process parameters and loading path; Step 4: Based on the straightening process parameters and loading path, run the automatic feeding device for the arc base and the mechanical straightening device to mechanically straighten the deformed parts of the original ribbed wall panel; Step 5: Perform a second online digital measurement on the rectified stiffened wall panel and analyze the error deformation of each area of ​​the rectified stiffened wall panel. If the error deformation is within the preset range, the rectification is completed. If the error deformation is outside the preset range, proceed to step 3.

8. The automated alignment method for the reinforced wall panel of a launch vehicle propellant tank according to claim 7, characterized in that, In step 2, if a local position of the original stiffened panel model is concave inward relative to the ideal digital model and does not reach the ideal curvature, it is determined that the position is too straight and positive correction is required. If a local part of the original stiffened panel model protrudes outward relative to the ideal digital model, exceeding the ideal curvature, it is determined that this part is over-bending and requires reverse correction.

9. The automated alignment method for the reinforced wall panel of a launch vehicle propellant tank according to claim 7, characterized in that, In step 3, the selection criterion for the load application direction is: For local areas that are too straight and do not reach the ideal curvature, choose a load application direction from the inside to the outside; for local areas that are too curved and exceed the ideal curvature, choose a load application direction from the outside to the inside. The selection criteria for load magnitude parameters are as follows: based on the drawing number of the stiffened wall panel in the calibration database, retrieve the geometric dimensions, material parameters, stiffener structure type, calibration load, and error clearance relationship of the stiffened wall panel, and calculate the load magnitude parameters that need to be applied at this location; The loading path is as follows: first, the mesh reinforcement area in the middle of the reinforced wall panel is shaped, and then the welded edge areas on both sides of the reinforced wall panel are shaped.

10. The automated alignment method for the reinforced wall panel of a launch vehicle propellant tank according to claim 7, characterized in that, In step 4, the three-point bending principle is used to mechanically straighten the stiffened wall panel; According to the selected load application direction, control the combined pressure head (10) on the target side to switch to the U-shaped support head to support one side of the stiffened wall panel, and control the combined pressure head (10) on the other side to switch to the T-shaped pressure head to apply a load of preset size and direction to the other side of the stiffened wall panel.

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