Automatic reducing turnover device for rocket storage tank and working method of automatic reducing turnover device

Abstract

The invention provides a rocket storage tank automatic reducing turnover device which comprises a base support, a lifting mechanism, a turnover mechanism and a storage tank hoop, the lifting mechanism is installed on one side of the base support, one end of the turnover mechanism is installed on the top of the base support, the storage tank hoop is installed at the other end of the turnover mechanism, and the storage tank hoop is installed on the base support. The lifting mechanism and the storage box hoop are arranged on the same side of the base support. The storage box is hoisted on the lifting mechanism through the storage box hoop, the lifting mechanism drives the storage box to ascend and descend, the storage box hoop fixes the storage box, and the turnover mechanism drives the storage box hoop to conduct turnover motion. The horizontal displacement of the turnover mechanism is adjusted by arranging the linear module, and by combining the clamping groove wedge-shaped block, the adaptation of storage boxes with different heights and with the diameters ranging from 3300 mm to 4000 mm can be achieved.

Description

Technical Field

[0001] This invention relates to the field of rocket propellant tank assembly and maintenance technology, specifically to an automatic diameter-changing and flipping device for rocket propellant tanks with diameters ranging from 3300mm to 4000mm, used to automate the flipping operation during the assembly, inspection, and maintenance of rocket propellant tanks. Background Technology

[0002] In the aerospace manufacturing field, the flipping of rocket propellant tanks is a key process in the assembly, cleaning, and testing process.

[0003] Existing patent document CN217070028U discloses a flipping fixture for cleaning the inner wall of a large-capacity spherical tank. It includes a large-capacity spherical tank, a connecting rod, two support seats, a base, and a rotating mechanism. The two support seats are fixed to the base. A rotating mechanism is installed on the upper end of each of the two support seats. One end of the connecting rod is connected to the rotating mechanism, and the other end is connected to the nozzle of the large-capacity spherical tank to be cleaned via a connecting part. A cleaning fluid channel is provided at the end of the connecting rod connected to the nozzle, and the cleaning fluid channel communicates with the inner cavity of the large-capacity spherical tank.

[0004] Existing patent document CN202994436U discloses a test device for the overturning of a rocket diaphragm propellant tank. This device includes an upper ring, long bolts, connecting bolts, a rotating shaft, a support, a lower ring, a base frame, directional casters, swivel casters, a stop pin, an upper hemisphere, a lower hemisphere, and positioning bolts. The upper and lower hemispheres simulate the outer shell of a rocket propellant tank. The propellant tank diaphragm is clamped between the upper and lower hemispheres by bolts. The upper and lower hemispheres are connected to the rotating shaft on the base frame via the upper ring, long bolts, and lower ring. The stop pin is installed on the rotating shaft. The directional casters and swivel casters are installed at the bottom of the base frame.

[0005] Traditional methods often rely on manual operation or fixed flipping equipment, which has the following problems:

[0006] 1) Poor adaptability: Existing devices are usually designed for tanks of a single diameter and cannot be adapted to different models of tanks, resulting in low equipment utilization; 2) Insufficient precision: Manual adjustment introduces errors and is prone to overturning. The lack of automated feedback control makes it difficult to meet the requirements of high-precision operation; 3) Low efficiency: Manual installation and disassembly of tank clamps and repeated adjustment of position and angle are time-consuming and labor-intensive.

[0007] Therefore, there is an urgent need for an automatic diameter-changing and reversing device that is compatible with multiple diameters, has high precision, and is easy to operate. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automatic diameter-changing and tilting device for rocket propellant tanks and its operating method.

[0009] According to the present invention, an automatic variable diameter tilting device for rocket propellant tanks includes a base support, a lifting mechanism, a tilting mechanism, and a propellant tank clamp. The lifting mechanism is installed on one side of the base support, one end of the tilting mechanism is installed on the top of the base support, and the other end of the tilting mechanism is installed with a propellant tank clamp. The lifting mechanism and the propellant tank clamp are located on the same side of the base support.

[0010] The tank clamp suspends the tank on the lifting mechanism, the lifting mechanism drives the tank to rise and fall, the tank clamp fixes the tank, and the flipping mechanism drives the tank clamp to flip.

[0011] Preferably, the height of the base support is matched with the height of the storage tank;

[0012] The base support includes two base supports, which are symmetrically arranged.

[0013] The spacing between the two base supports matches the diameter of the storage tank.

[0014] Preferably, the lifting mechanism includes a ball screw, a lifting support platform, and a lifting servo motor. The ball screw is fixed to the inner side of the base bracket, and the lifting support platform is fixed to the ball screw.

[0015] The lifting servo motor drives the ball screw, which in turn drives the lifting support platform to rise and fall.

[0016] Preferably, the lifting support platform is provided with an adjustable storage tank support block, and the storage tank support block is provided with a limiting step surface.

[0017] Preferably, the flipping mechanism includes a flipping transmission assembly, a flipping servo motor, and a linear module;

[0018] One end of the flip transmission assembly is connected to the tank clamp, and the other end of the flip transmission assembly is connected to the flip servo motor. The flip servo motor drives the flip transmission assembly to perform a flipping motion.

[0019] The linear module is mounted on the flip transmission assembly, and the linear module drives the flip transmission assembly to perform reciprocating linear motion.

[0020] Preferably, the tilting transmission assembly includes a telescopic shaft and a sleeve, one end of the telescopic shaft is connected to the tank clamp, and the other end of the telescopic shaft extends into the sleeve and is slidably connected to the sleeve.

[0021] The linear module is mounted on the telescopic shaft, and the linear module drives the telescopic shaft to move linearly back and forth within the sleeve.

[0022] Preferably, the telescopic shaft is connected to the tank clamp via a slotted wedge block;

[0023] The front end shape of the slot wedge block matches the curvature of the storage tank.

[0024] Preferably, the flipping mechanism further includes a vision module, which includes a vision module bracket, an electric cylinder, and an industrial vision camera;

[0025] The vision module bracket is mounted on the flip transmission assembly, the electric cylinder is mounted on the vision module bracket, the industrial vision camera is mounted on the end of the electric cylinder push rod and the lens is oriented towards the storage tank. The industrial vision camera adjusts the viewing distance through the electric cylinder and takes pictures to detect the position of the storage tank clamp and feeds the feedback to the control system.

[0026] The vision module comprises two sets, which are distributed on both sides of the flip transmission assembly.

[0027] Preferably, the tank clamp includes two half-rings and two lifting lugs, the two half-rings are detachably connected, and the two lifting lugs are fixed on the opposite side after the two half-rings are connected.

[0028] The present invention also provides a method for operating an automatic diameter-changing and tilting device for rocket propellant tanks, comprising the following steps:

[0029] Step S1: Hoist the tank onto the tank support block of the lifting support platform using the lifting lugs on both sides of the tank clamp. Input the tank diameter information on the operation control panel and replace the matching slot wedge block.

[0030] Step S2: Start the automatic tilting program of the storage tank. Then the lifting support platform in the lifting mechanism rises. The industrial vision camera of the tilting mechanism is controlled by the electric cylinder to approach the storage tank. When the storage tank clamp reaches the visual target position, the vision module identifies the position of the storage tank clamp and sends back a signal to complete the lifting of the storage tank.

[0031] Step S3: The linear module of the flipping mechanism controls the wedge-shaped insertion of the slot into the tank clamp, the lifting support platform descends back to zero, the flipping servo motor drives the tank to rotate, and when the tank clamp reaches the visual target position again, the vision module identifies the position of the tank clamp and feeds back a signal to complete the flipping action.

[0032] Step S4: After flipping, control the lifting support platform to rise to the target position. The lifting support platform supports the lower frame of the storage tank. The slot wedge block is withdrawn and returns to zero. The lifting mechanism controls the storage tank to descend.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. This invention adjusts the horizontal displacement of the flipping mechanism by setting a linear module, and combined with a slot wedge block, it can adapt to storage tanks with diameters ranging from 3300mm to 4000mm and different heights.

[0035] 2. The present invention sets up a flipping transmission assembly including a telescopic shaft and a sleeve, and drives the telescopic shaft to move linearly relative to the sleeve through a linear module, so as to adjust the distance between the two sets of flipping mechanisms, thereby matching storage tanks of different diameters;

[0036] 3. The present invention provides a slotted wedge block at one end of the flipping mechanism. The slotted wedge block can be replaced to match the curvature of storage tanks with different diameters.

[0037] 4. The present invention sets a storage tank support block in the lifting mechanism to pre-position the storage tank, and the industrial vision camera and control system work together to provide real-time feedback of the storage tank clamp position signal to ensure the accurate target position of the lifting and flipping movement of the storage tank.

[0038] 5. This invention, by incorporating a vision module in conjunction with a control system, reduces manual operation steps and enables automatic identification and control of both lifting and tilting positions;

[0039] 6. The flipping device set up in this invention, together with the control system, has high flipping efficiency, saves the time of installing and fixing the storage tank, and the high degree of automation makes the flipping process compact. Attached Figure Description

[0040] 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:

[0041] Figure 1 This is a three-dimensional structural diagram illustrating the assembly of the flipping device, which is the main feature of this invention.

[0042] Figure 2 This is a three-dimensional structural diagram of one side of the flipping device, which is the main feature of this invention.

[0043] Figure 3 This is a three-dimensional structural diagram illustrating the lifting mechanism of the present invention.

[0044] Figure 4 This is a three-dimensional structural diagram illustrating the main flipping mechanism of the present invention;

[0045] Figure 5 This is a cross-sectional view and a partially enlarged view of the flipping mechanism, which are the main features of this invention.

[0046] Figure 6 This is a three-dimensional structural diagram of the storage tank clamp, which is the main feature of this invention.

[0047] As shown in the figure:

[0048] Base bracket 1, tilting transmission assembly 31, linear module 35

[0049] Lifting mechanism 2, Sleeve 311, Vision module 36

[0050] Lifting support platform 21, sleeve bearing seat 312, vision module bracket 361

[0051] Storage tank support block 22, telescopic shaft 313, electric cylinder 362

[0052] Guide rail slider 23, telescopic shaft bearing seat 314, industrial vision camera 363

[0053] 24 ball screw, 315 linear bearing housing, 4 storage tank clamps

[0054] Reducer 25, Slotted wedge block 316, Semi-ring 41

[0055] 26 lifting servo motors, 32 tilting servo motors, 42 fastening components

[0056] Lifting brake 27, right angle reducer 33, lifting lug 43

[0057] Tilting mechanism 3, Coupling 34, Storage tank 5 Detailed Implementation

[0058] 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 protection scope of the present invention.

[0059] like Figures 1 to 6 As shown, an automatic diameter-changing and tilting device for rocket propellant tanks according to the present invention includes a base support 1, a lifting mechanism 2, a tilting mechanism 3, and a propellant tank clamp 4. The lifting mechanism 2 is installed on one side of the base support 1, one end of the tilting mechanism 3 is installed on the top of the base support 1, and the other end of the tilting mechanism 3 is installed with the propellant tank clamp 4. The lifting mechanism 2 and the propellant tank clamp 4 are located on the same side of the base support 1. The propellant tank clamp 4 suspends the propellant tank 5 on the lifting mechanism 2. The lifting mechanism 2 drives the propellant tank 5 to rise and fall, the propellant tank clamp 4 fixes the propellant tank, and the tilting mechanism 3 drives the propellant tank clamp 4 to tilt.

[0060] Specifically, there are two symmetrically arranged base supports 1, two sets of lifting mechanisms 2, the two sets of lifting mechanisms 2 are symmetrically arranged inside the two base supports 1, two sets of tilting mechanisms 3 are symmetrically arranged on the top of the two base supports 1, and a storage tank clamp 4 is installed between the two sets of tilting mechanisms 3.

[0061] like Figure 2As shown, the base support 1 is welded from hollow rectangular steel, with anchor bolt holes at the bottom. Its vertical height matches the height of the storage tank 5, providing stable support for the entire device. Two sets of base supports 1 are symmetrically arranged and fixed to the ground. The top is used to support the tilting mechanism 3, and the inner side is used to install the lifting mechanism 2.

[0062] like Figure 3 As shown, the lifting mechanism 2 is symmetrically installed inside the two sets of base brackets 1, including a lifting support platform 21, a storage tank support block 22, a guide rail slider 23, a ball screw 24, a reducer 25, a lifting servo motor 26, and a lifting brake 27. The ball screw 24 is fixed inside the base bracket 1, and the lifting support platform 21 is fixed on the ball screw (24). The rear side of the lifting support platform 21 is connected to the nuts of the guide rail slider 23 and the ball screw 24. The lifting servo motor 26 drives the ball screw 24 and drives the lifting support platform 21 to rise and fall. The lifting servo motor 26 is directly connected to the reducer 25 to drive the ball screw 24 and drive the lifting support platform 21 to rise and fall. The lifting support platform 21 is provided with multiple sets of adjustable storage tank support blocks 22. The lifting support platform 21 is provided with multiple mounting threaded holes for the storage tank support blocks 22, which can be adjusted according to the diameter of the storage tank and fixed by screws. The storage tank support block 22 is covered with wool felt to protect the storage tank 5. The storage tank support block 22 is provided with a limit step surface to achieve storage tank positioning. In case of emergency, the movement of the ball screw 24 can be stopped by the lifting brake 27.

[0063] like Figure 4 and Figure 5 As shown, the flipping mechanism 3 is symmetrically mounted on the top of two sets of base supports 1, including a flipping transmission assembly 31, a flipping servo motor 32, a right-angle reducer 33, a coupling 34, a linear module 35, and a vision module 36. One end of the flipping transmission assembly 31 is connected to the tank clamp 4, and the other end of the flipping transmission assembly 31 is connected to the flipping servo motor 32 through the coupling 34. The flipping servo motor 32 is directly connected to the right-angle reducer 33 and drives the flipping transmission assembly 31 to perform a flipping motion. The linear module 35 is mounted on the flipping transmission assembly 31 and drives the flipping transmission assembly 31 to perform a reciprocating linear motion. The vision module 36 is mounted on the flipping transmission assembly 31 and captures and detects the position of the tank clamp 4 and feeds it back to the control system.

[0064] The flipping transmission assembly 31 includes a sleeve 311, a sleeve bearing seat 312, a telescopic shaft 313, a telescopic shaft bearing seat 314, a linear bearing seat 315, and a slotted wedge block 316. The telescopic shaft 313 has a hollow structure. The front end of the telescopic shaft 313 is connected to the slotted wedge block 316. Preferably, the middle part of the telescopic shaft 313 is connected to the linear module 35 through two telescopic shaft bearing seats 314. The rear end of the telescopic shaft 313 is connected to the linear bearing seat 315 and installed inside the sleeve 311. To prevent relative rotation between the telescopic shaft 313 and the sleeve 311, a key can be provided on the outer wall of the rear end of the telescopic shaft 313, and a keyway can be provided on the inner wall of the sleeve 311. The relative rotation between the telescopic shaft 313 and the sleeve 311 is restricted by the cooperation of the key and the keyway. The linear module 35 drives the telescopic shaft 313 to move back and forth within the sleeve 311 to engage the slotted wedge block 316 into the tank clamp 4 of tanks with different diameters. The telescopic shaft 313 is connected to the storage tank clamp 4 via the slotted wedge block 316. The slotted wedge block 316 is quickly fixed to the front end of the telescopic shaft 313 by screws and threaded pins. Its width is about one-third of the storage tank radius. The front end of the slotted wedge block 316 is an arc shape that matches the outer diameter of the storage tank 5. It can be replaced with a suitable size according to different storage tank diameters. It can fit completely with the inner side of the channel steel of the storage tank clamp 4. The two sets of slotted wedge blocks 316 on the opposite side can quickly achieve complete positioning of the storage tank 5 to ensure the stability of the storage tank 5's flipping action.

[0065] The vision module 36 includes a vision module bracket 361, an electric cylinder 362, and an industrial vision camera 363. There are four sets of vision modules 36, each distributed on either side of two sets of tilting transmission components 31. Two sets of vision modules 36 are mounted on each set of tilting transmission components 31, with the two sets of vision modules 36 positioned on either side of each set of tilting transmission components 31. The industrial vision camera 363 is mounted at the end of the push rod of the electric cylinder 362, with its lens facing the storage tank. The electric cylinder 362 is mounted on the vision module bracket 361. The industrial vision camera 363 adjusts its viewing distance by moving back and forth with the electric cylinder 362, capturing real-time images of the storage tank clamp 4 and feeding the data back to the control system.

[0066] like Figure 6 As shown, the storage tank clamp 4 includes two semi-rings 41, two sets of fastening components 42, and two lifting lugs 43. The semi-rings 41 are formed by bending "U-shaped" channel steel and the inner side is pasted with wool felt. The two semi-rings 41 are quickly disassembled and connected by a custom nut in the middle of the fastening components 42. The two lifting lugs 43 are welded to the opposite side after the two semi-rings 41 are connected and are used for crane lifting.

[0067] Furthermore, the spacing between the two base supports 1 and the extension stroke of the two sets of tilting transmission components 31 are matched with the diameter of the storage tank 5, and the height dimensions and vertical stroke of the two sets of lifting mechanisms 2 are matched with the height of the storage tank 5, so as to be suitable for the tilting of various rocket storage tanks 5 in the range of diameter from 3300mm to 4000mm.

[0068] Furthermore, the position of the moving target of the industrial vision camera 363 is linearly related to the diameter of the storage tank, and the position of the telescopic target of the telescopic shaft 313 is linearly related to the diameter of the storage tank 5. All of these positions are automatically calculated by the control system after the storage tank 5 model is manually selected.

[0069] Furthermore, the vision module 36 monitors and identifies the image features of the semi-ring 41 in the tank clamp 4 to provide feedback on whether its actual position has reached the target height position for lifting and the target angle position for flipping, which is used to control the lifting and flipping actions of the tank 5 to stop when they are in place.

[0070] To address the problems of poor adaptability, low precision, and cumbersome operation in existing technologies, this invention provides an automatic diameter-changing and flipping device for rocket propellant tanks. Through visual positioning, adjustable propellant tank clamps 4, and modular drive mechanisms, it achieves high-precision flipping of the propellant tank 5 ± 180° and is compatible with propellant tanks 5 of various diameter specifications.

[0071] Compared with the prior art, the present invention has the following advantages:

[0072] (1) Multi-model adaptation: By adjusting the horizontal displacement of the flipping mechanism through the linear module 35 and combining it with the slot wedge block, it can adapt to storage tanks with diameters ranging from 3300mm to 4000mm and different heights.

[0073] (2) High-precision position control: The storage tank 5 is pre-positioned by four storage tank support blocks 22, and the industrial vision camera 363 works in conjunction with the control system to provide real-time feedback of the position signal of the storage tank clamp 4, ensuring that the target position of the lifting and flipping movement of the storage tank 5 is accurate.

[0074] (3) Fewer manual operation steps: The lifting and tilting positions of the storage tank 5 are automatically identified and controlled.

[0075] (4) High turnover efficiency: It saves the time of installing and fixing the storage tank 5, and the high degree of automation makes the turnover process compact.

[0076] The present invention also provides a method for operating an automatic diameter-changing and tilting device for rocket propellant tanks, comprising the following steps:

[0077] Step S1: Start the device and return each mechanism to zero. Use the lifting lugs 43 on both sides of the tank clamp 4 to lift the tank 5 onto the tank support block 22 of the lifting support platform 21. Input the diameter of the tank 5 and replace the matching slot wedge block 316 on the operation control panel.

[0078] Step S2: Start the automatic tilting program of the storage tank. Then the lifting support platform 21 in the lifting mechanism 2 rises. The four industrial vision cameras 363 of the tilting mechanism 3 are controlled by the electric cylinder 362 to approach the storage tank 5. When the storage tank clamp 4 reaches the visual target position, the vision module 36 identifies the position and feeds back the signal to complete the lifting of the storage tank 5.

[0079] Step S3: The linear module 35 of the two-sided flipping mechanism 3 controls the slot wedge block 316 to embed into the tank clamp 4, the lifting support platform 21 descends back to zero, the two-sided flipping servo motor 32 drives the tank 5 to rotate, when the tank clamp 4 reaches the visual target position again, the vision module 36 identifies the position and feeds back a signal to complete the flipping action.

[0080] Step S4: After flipping, the lifting mechanism 2 switches to manual mode and manually controls the lifting support platform 21 to rise to the target position, stably supporting the lower frame of the storage tank 5. The slot wedge block 316 is withdrawn and returns to zero. The lifting mechanism 2 controls the storage tank 5 to descend.

[0081] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0082] 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.

[0083] 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 automatic diameter-changing and tilting device for a rocket propellant tank, characterized in that, It includes a base support (1), a lifting mechanism (2), a tilting mechanism (3), and a storage tank clamp (4). The lifting mechanism (2) is installed on one side of the base support (1), one end of the tilting mechanism (3) is installed on the top of the base support (1), and the other end of the tilting mechanism (3) is installed with the storage tank clamp (4). The lifting mechanism (2) and the storage tank clamp (4) are located on the same side of the base support (1). The storage tank clamp (4) hoists the storage tank (5) onto the lifting mechanism (2). The lifting mechanism (2) drives the storage tank (5) to rise and fall. The storage tank clamp (4) fixes the storage tank. The flipping mechanism (3) drives the storage tank clamp (4) to flip.

2. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 1, characterized in that, The height of the base support (1) is matched with the height of the storage tank; The base support (1) includes two base supports (1) arranged symmetrically. The spacing between the two base supports (1) matches the diameter of the storage tank (5).

3. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 1, characterized in that, The lifting mechanism includes a ball screw (24), a lifting support platform (21), and a lifting servo motor (26). The ball screw (24) is fixed on the inner side of the base bracket (1), and the lifting support platform (21) is fixed on the ball screw (24). The lifting servo motor (26) drives the ball screw (24), which in turn drives the lifting support platform (21) to rise and fall.

4. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 3, characterized in that, The lifting support platform (21) is provided with an adjustable storage tank support block (22), and the storage tank support block (22) is provided with a limiting step surface.

5. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 1, characterized in that, The flipping mechanism (3) includes a flipping transmission assembly (31), a flipping servo motor (32), and a linear module (35); One end of the flip transmission assembly (31) is connected to the storage tank clamp (4), and the other end of the flip transmission assembly (31) is connected to the flip servo motor (32). The flip servo motor (32) drives the flip transmission assembly (31) to perform a flipping motion. The linear module (35) is mounted on the flip transmission assembly (31), and the linear module (35) drives the flip transmission assembly (31) to perform reciprocating linear motion.

6. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 5, characterized in that, The flipping transmission assembly (31) includes a telescopic shaft (313) and a sleeve (311). One end of the telescopic shaft (313) is connected to the tank clamp (4), and the other end of the telescopic shaft (313) extends into the sleeve (311) and is slidably connected to the sleeve (311). The linear module (35) is mounted on the telescopic shaft (313), and the linear module (35) drives the telescopic shaft (313) to move linearly back and forth within the sleeve (311).

7. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 6, characterized in that, The telescopic shaft (313) is connected to the tank clamp (4) via a slotted wedge block (316); The front end shape of the slot wedge block (316) matches the curvature of the storage tank.

8. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 5, characterized in that, The flipping mechanism (3) also includes a vision module (36), which includes a vision module bracket (361), an electric cylinder (362), and an industrial vision camera (363). The vision module bracket (361) is mounted on the flip transmission assembly (31), the electric cylinder (362) is mounted on the vision module bracket (361), the industrial vision camera (363) is mounted on the end of the push rod of the electric cylinder (362) and the lens is oriented towards the storage tank. The industrial vision camera (363) adjusts the viewing distance through the electric cylinder (362) and takes pictures to detect the position of the storage tank clamp (4) and feeds it back to the control system. The vision module (36) comprises two sets, which are distributed on both sides of the flip transmission assembly (31).

9. The automatic diameter-changing and tilting device for rocket propellant tanks as described in claim 1, characterized in that, The storage tank clamp (4) includes two half rings (41) and two lifting lugs (43). The two half rings (41) are detachably connected, and the two lifting lugs (43) are fixed on the opposite side after the two half rings (41) are connected.

10. A method for operating an automatic diameter-changing and tilting device for a rocket propellant tank, characterized in that, The automatic diameter-changing and tilting device for rocket propellant tanks according to any one of claims 1 to 9 includes the following steps: Step S1: Hoist the tank (5) onto the tank support block (22) of the lifting support platform (21) using the lifting lugs (43) on both sides of the tank clamp (4). Input the diameter of the tank (5) on the operation control panel and replace the matching slot wedge block (316). Step S2: Start the automatic tilting program of the storage tank. Then the lifting support platform (21) in the lifting mechanism (2) rises. The industrial vision camera (363) of the tilting mechanism (3) is controlled by the electric cylinder (362) to approach the storage tank. When the storage tank clamp (4) reaches the visual target position, the vision module (36) identifies the position of the storage tank clamp (4) and feeds back the signal to complete the lifting of the storage tank (5). Step S3: The linear module (35) of the flipping mechanism (3) controls the slot wedge block (316) to embed into the tank clamp (4), the lifting support platform (21) descends back to zero, the flipping servo motor (32) drives the tank (5) to rotate, when the tank clamp (4) reaches the visual target position again, the vision module (36) identifies the position of the tank clamp (4) and feeds back a signal to complete the flipping action; Step S4: After flipping, control the lifting support platform (21) to rise to the target position. The lifting support platform (21) supports the lower frame of the storage tank (5). The slot wedge block (316) is withdrawn and returns to zero. The lifting mechanism (2) controls the storage tank (5) to descend.

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