A charging vehicle, a charging vehicle hydraulic system and a control method

Abstract

The application discloses a filling vehicle, a hydraulic system of the filling vehicle and a control method. The filling vehicle comprises a chassis, a rotating mechanism, a mounting frame and a missile filling device. The lower end surface of the rotating mechanism is mounted on the chassis. The upper end surface of the rotating mechanism is connected with the mounting frame through a vertical adjusting oil cylinder. The missile filling device is mounted above the mounting frame. A rotating motor is arranged on the rotating mechanism. The rotating motor is connected with the rotating mechanism and is used for driving the rotating mechanism to rotate so as to drive the missile filling device to rotate. The vertical adjusting oil cylinder drives the mounting frame to perform an extension and retraction action so as to drive the missile filling device to perform an up and down lifting motion. The application drives each motor and oil cylinder to act through the hydraulic system, and manual operation and adjustment are not needed, time and labor are saved, and the filling efficiency is high. The application has multiple degrees of freedom, such as an upper-mounted rotation, an upper-mounted vertical adjustment, a filling transverse fine adjustment, a filling swing, a filling quadrant angle adjustment, a filling pitch angle and an axial push missile, and can quickly realize position and posture adjustment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of filling equipment, and particularly discloses a filling vehicle, a hydraulic system of the filling vehicle and a control method. BACKGROUND

[0002] At present, the missile filling is mostly operated in a manual adjustment mode, for example, a patent document with the patent publication number CN205980935U discloses a missile filling device, as shown in the accompanying drawings, the device mainly comprises a hand-shaking driving device 1, a missile pushing mechanism 2, a missile carrying guide rail 3, a support frame 4, a mounting frame 5, a leveling support device 6 and the like. Figure 1 The missile filling device has few degrees of freedom and poor flexibility, and the position adjustment is performed through the hand-shaking driving device, which is time-consuming and laborious and has low efficiency.

[0003] Therefore, the existing missile filling device mainly has the following shortcomings:

[0004] 1) Low operation efficiency. The position adjustment is performed in a manual mode such as the hand-shaking driving device and the manual leveling device, which is time-consuming and laborious and has low efficiency.

[0005] 2) Fixed installation and poor flexibility. The whole device is hoisted and transported to a new filling station when it is needed to be transferred to other stations for filling, which has large work load and poor flexibility.

[0006] 3) Few adjustable degrees of freedom and small adjustment range. The filling device has few adjustable degrees of freedom such as the hand-shaking driving, the leveling support and the missile pushing, and cannot quickly realize the quick centering with the missile launching tube.

[0007] Therefore, how to solve the problems of low operation efficiency, poor flexibility and small filling adjustment range of the existing missile filling scheme is a technical problem to be solved urgently in the development and design of the missile filling device. SUMMARY

[0008] The present application provides a filling vehicle, a hydraulic system of the filling vehicle and a control method, which aims at solving the technical problem of low operation efficiency, poor flexibility and small filling adjustment range of the existing missile filling scheme.

[0009] One aspect of the present application relates to a loading vehicle, comprising a chassis, a rotating mechanism, a mounting frame and a missile loading device, the lower end surface of the rotating mechanism is installed on the chassis, the upper end surface of the rotating mechanism is connected with the mounting frame through a vertical adjusting oil cylinder, the missile loading device is installed above the mounting frame, and a rotating motor is arranged on the rotating mechanism; the rotating motor is connected with the rotating mechanism and is used to drive the rotating mechanism to rotate, so as to drive the missile loading device to rotate; the vertical adjusting oil cylinder drives the mounting frame to perform extension and retraction, so as to drive the missile loading device to perform up and down movement; the missile loading device comprises a missile body, a plurality of adapters are installed on the missile body, the missile body is placed in a missile sliding groove, and the missile body is in contact with the inner surface of the missile sliding groove through the adapters; a rack is installed on the upper end surface of the mounting frame, the rack is matched with a missile pushing motor, the upper end of the missile pushing motor is fixedly connected with a missile pushing mounting frame, a first screw nut mechanism is installed on the missile pushing mounting frame, and the first screw nut mechanism is fixedly connected with a missile pushing frame; when the missile pushing motor is meshed and rolled on the rack, the missile pushing mounting frame, the first screw nut mechanism and the missile pushing frame are driven to move forward, and then the missile body is pushed to slide forward in the missile sliding groove.

[0010] Further, the mounting frame is connected with a second screw nut mechanism through first and second adjusting oil cylinders respectively, a moving block of the second screw nut mechanism forms a rotary pair with a U-shaped sliding block, the U-shaped sliding block is fixedly connected with a quadrant adjusting circular gear and the missile sliding groove at the same time, a driving screw rod of the second screw nut mechanism is connected with a missile pushing transverse adjusting motor, the first and second adjusting oil cylinders are driven to perform extension and retraction, so that the height difference between the first and second adjusting oil cylinders is adjusted to realize the adjustment of the loading pitch angle; the missile pushing transverse adjusting motor drives the second screw nut mechanism to move transversely, so as to drive the U-shaped sliding block, the missile sliding groove and the missile body built in the missile sliding groove to move transversely, so as to adjust the loading yaw angle; the first and second adjusting oil cylinders are respectively installed on the upper end surface of the mounting frame, and the upper end surface of the second adjusting oil cylinder is fixedly connected with the second screw nut mechanism.

[0011] Further, the missile loading device comprises a quadrant adjusting motor, a quadrant gear is installed on the quadrant adjusting motor, and the quadrant gear is meshed with the quadrant adjusting circular gear; the quadrant adjusting motor drives the quadrant adjusting circular gear to rotate, so as to drive the U-shaped sliding block and the missile sliding groove to rotate to adjust the quadrant angle of the missile body; a video acquisition device for detecting the position and posture of a launching barrel is installed at the front end of the mounting frame, and the video acquisition device comprises a left visual camera and a right visual camera, the left visual camera and the right visual camera are respectively installed on the left and right sides of the front end of the mounting frame.

[0012] Another aspect of the present application relates to a filling truck hydraulic system applied to the filling truck, the filling truck hydraulic system comprising a load sensing pump, a center swing, a first electric proportional multi-way valve, a vertical adjusting oil cylinder and a swing motor, a P port of the load sensing pump is connected to a P port and a P' port of the center swing, and then connected to a P port of the first electric proportional multi-way valve, an X port of the load sensing pump is connected to an LS port and an LS' port of the center swing, and then connected to an LS port of the first electric proportional multi-way valve, an A working oil port and a B working oil port of the first electric proportional multi-way valve are connected to the swing motor and the vertical adjusting oil cylinder respectively, the load sensing pump pressurizes hydraulic oil and then pumps the hydraulic oil to the P port and the P' port of the center swing to supply oil to the first electric proportional multi-way valve, the first electric proportional multi-way valve is used to control the swing direction and the swing speed of the swing motor, and control the flow and on-off of the oil path to the vertical adjusting oil cylinder, so as to realize the overall swing and vertical adjustment of the upper loading part of the filling truck.

[0013] Further, the vertical adjusting oil cylinder comprises a first vertical adjusting oil cylinder, a second vertical adjusting oil cylinder, a third vertical adjusting oil cylinder and a fourth vertical adjusting oil cylinder, the first electric proportional multi-way valve is provided with a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet, a fifth electromagnet, a sixth electromagnet, a seventh electromagnet, an eighth electromagnet, a ninth electromagnet and a tenth electromagnet, a first A working oil port A1 and a first B working oil port B1 of the first electric proportional multi-way valve are connected to the swing motor respectively, the first electromagnet and the second electromagnet are used to control the swing direction and the swing speed of the swing motor to realize the overall swing of the upper loading part, a second A working oil port A2 and a second B working oil port B2 of the first electric proportional multi-way valve are connected to the first vertical adjusting oil cylinder respectively, the third electromagnet and the fourth electromagnet are used to control the flow and on-off of the oil path to the first vertical adjusting oil cylinder, a third A working oil port A3 and a third B working oil port B3 of the first electric proportional multi-way valve are connected to the second vertical adjusting oil cylinder respectively, the fifth electromagnet and the sixth electromagnet are used to control the flow and on-off of the oil path to the second vertical adjusting oil cylinder, a fourth A working oil port A4 and a fourth B working oil port B4 of the first electric proportional multi-way valve are connected to the third vertical adjusting oil cylinder respectively, the seventh electromagnet and the eighth electromagnet are used to control the flow and on-off of the oil path to the third vertical adjusting oil cylinder, a fifth A working oil port A5 and a fifth B working oil port B5 of the first electric proportional multi-way valve are connected to the fourth vertical adjusting oil cylinder respectively, the ninth electromagnet and the tenth electromagnet are used to control the flow and on-off of the oil path to the fourth vertical adjusting oil cylinder.

[0014] Further, the filling vehicle hydraulic control system further comprises a first quadrant adjusting motor, a second quadrant adjusting motor, a push-pull horizontal adjusting motor and a second electric proportional multi-way valve, the P port of the load-sensitive pump is connected to the P port of the second electric proportional multi-way valve through the P port and the P' port of the center rotation, the LS port of the second electric proportional multi-way valve is connected to the Y port of the first electric proportional multi-way valve, the P port of the second electric proportional multi-way valve is connected to the P port of the first electric proportional multi-way valve, the T port of the second electric proportional multi-way valve is connected to the T port of the first electric proportional multi-way valve, and the L port of the second electric proportional multi-way valve is connected to the L port of the first electric proportional multi-way valve; the A working oil port and the B working oil port of the second electric proportional multi-way valve are connected to the first quadrant adjusting motor, the second quadrant adjusting motor and the push-pull horizontal adjusting motor respectively; the second electric proportional multi-way valve is used for controlling the rotation direction and the rotation speed of the first quadrant adjusting motor and the second quadrant adjusting motor and controlling the oil flow and the on-off of the push-pull horizontal adjusting motor, so as to realize the quadrant angle adjustment of the missile filling and the horizontal adjustment of the push-pull mechanism.

[0015] Further, the second electric proportional multi-way valve is provided with an eleventh electromagnet, a twelfth electromagnet, a thirteenth electromagnet, a fourteenth electromagnet, a fifteenth electromagnet and a sixteenth electromagnet, the first A working oil port A1 and the first B working oil port B1 of the second electric proportional multi-way valve are connected to the first quadrant adjusting motor respectively, the eleventh electromagnet and the twelfth electromagnet are used for controlling the rotation direction and the rotation speed of the first quadrant adjusting motor, so as to realize the quadrant angle adjustment of the missile filling; the second A working oil port A2 and the second B working oil port B2 of the second electric proportional multi-way valve are connected to the second quadrant adjusting motor respectively, the thirteenth electromagnet and the fourteenth electromagnet are used for controlling the rotation direction and the rotation speed of the second quadrant adjusting motor, so as to realize the quadrant angle adjustment of the missile filling; the third A working oil port A3 and the third B working oil port B3 of the second electric proportional multi-way valve are connected to the push-pull horizontal adjusting motor respectively, the fifteenth electromagnet and the sixteenth electromagnet are used for controlling the oil flow and the on-off of the push-pull horizontal adjusting motor, so as to realize the horizontal adjustment of the push-pull mechanism.

[0016] Further, the filling vehicle hydraulic control system further comprises a first lateral adjusting motor, a second lateral adjusting motor, a third electric proportional multi-way valve, a first adjusting oil cylinder, a second adjusting oil cylinder, a first push-pull motor and a second push-pull motor, the P port of the load-sensitive pump is connected to the P port of the second electric proportional multi-way valve through the P port and the P' port of the center rotation, the Y port of the third electric proportional multi-way valve is connected to the Y port of the first electric proportional multi-way valve, the P port of the third electric proportional multi-way valve is connected to the P port of the second electric proportional multi-way valve, the T port of the third electric proportional multi-way valve is connected to the T port of the second electric proportional multi-way valve, the L port of the third electric proportional multi-way valve is connected to the L port of the second electric proportional multi-way valve, the A working oil port and the B working oil port of the third electric proportional multi-way valve are connected to the first lateral adjusting motor, the second lateral adjusting motor, the first adjusting oil cylinder, the second adjusting oil cylinder, the first push-pull motor and the second push-pull motor respectively, and the third electric proportional multi-way valve is used to control the rotation direction and rotation speed of the first lateral adjusting motor and the second lateral adjusting motor, control the action of the first adjusting oil cylinder and the second adjusting oil cylinder, and control the direction and speed of the action of the first push-pull motor and the second push-pull motor, so as to realize the missile filling swing angle adjustment, the missile filling pitch angle adjustment and the missile filling push-pull action.

[0017] Further, the third electric proportional multi-way valve is provided with a seventeenth electromagnet, an eighteenth electromagnet, a nineteenth electromagnet, a twentieth electromagnet, a twenty-first electromagnet, a twenty-second electromagnet, a twenty-third electromagnet, a twenty-fourth electromagnet, a twenty-fifth electromagnet and a twenty-sixth electromagnet, the first A working oil port A1 and the first B working oil port B1 of the third electric proportional multi-way valve are connected to the first lateral adjusting motor, the seventeenth electromagnet and the eighteenth electromagnet are used to control the rotation direction and rotation speed of the first lateral adjusting motor, so as to drive the screw-nut mechanism and realize the missile filling swing angle adjustment, the second A working oil port A2 and the second B working oil port B2 of the third electric proportional multi-way valve are connected to the second lateral adjusting motor, the nineteenth electromagnet and the twentieth electromagnet are used to control the rotation direction and rotation speed of the second lateral adjusting motor, so as to drive the screw-nut mechanism and realize the missile filling swing angle adjustment, the third A working oil port A3 and the third B working oil port B3 of the third electric proportional multi-way valve are connected to the first adjusting oil cylinder, the twenty-first electromagnet and the twenty-second electromagnet are used to control the action of the first adjusting oil cylinder, so as to realize the missile filling pitch angle adjustment, the fourth A working oil port A4 and the fourth B working oil port B4 of the third electric proportional multi-way valve are connected to the second adjusting oil cylinder, the twenty-third electromagnet and the twenty-fourth electromagnet are used to control the action of the second adjusting oil cylinder, so as to realize the missile filling pitch angle adjustment, the fifth A working oil port A5 and the fifth B working oil port B5 of the third electric proportional multi-way valve are connected to the first push-pull motor, the twenty-fifth electromagnet and the twenty-sixth electromagnet are used to control the direction and speed of the action of the first push-pull motor and the second push-pull motor, so as to realize the missile filling push-pull action.

[0018] The application also relates to a filling vehicle control method applied to the filling vehicle hydraulic control system.

[0019] checking whether the state of the filling vehicle is normal;

[0020] starting the filling vehicle and transferring to a specified location;

[0021] detecting the coordinates of the launching cylinder in the filling vehicle through left and right vision cameras and establishing a filling reference coordinate system with the center of the front end face of the launching cylinder;

[0022] starting the load-sensitive pump to pump oil to the filling vehicle hydraulic control system;

[0023] electrifying the first electromagnet or the second electromagnet on the first electric proportional multi-way valve, and rotating the upper whole to a specified azimuth angle;

[0024] electrifying the third electromagnet or the fourth electromagnet, the fifth electromagnet or the sixth electromagnet, the seventh electromagnet or the eighth electromagnet, and the ninth electromagnet or the tenth electromagnet on the first electric proportional multi-way valve, and adjusting the upper whole to a specified height;

[0025] electrifying the seventeenth electromagnet or the eighteenth electromagnet and the nineteenth electromagnet or the twentieth electromagnet on the third electric proportional multi-way valve, respectively controlling the actions of the first lateral adjusting motor and the second lateral motor, and adjusting the lateral swing of the missile to a specified swing angle;

[0026] electrifying the twenty-first electromagnet or the twenty-second electromagnet and the twenty-third electromagnet or the twenty-fourth electromagnet on the third electric proportional multi-way valve, respectively controlling the actions of the first adjusting oil cylinder and the second adjusting oil cylinder, and adjusting the pitching action of the filling vehicle to a specified pitching angle;

[0027] electrifying the fifteenth electromagnet or the sixteenth electromagnet on the second electric proportional multi-way valve, controlling the action of the lateral adjusting motor of the pusher, and finely adjusting the lateral pusher mechanism to ensure the filling precision;

[0028] electrifying the eleventh electromagnet or the twelfth electromagnet and the thirteenth electromagnet or the fourteenth electromagnet on the second electric proportional multi-way valve, respectively controlling the actions of the first quadrant adjusting motor and the second quadrant adjusting motor, and adjusting the quadrant angle action of the filling vehicle to a specified quadrant position;

[0029] checking whether the filling position is adjusted to the specified position;

[0030] if the filling position is adjusted to the specified position, electrifying the twenty-fifth electromagnet or the twenty-sixth electromagnet on the first electric proportional multi-way valve, respectively controlling the actions of the first pusher motor and the second pusher motor, and pushing the missile body to a specified position;

[0031] Check if the loading operation is complete;

[0032] The operation ends when the loading is completed.

[0033] The beneficial effects achieved by this invention are as follows:

[0034] This invention provides a loading vehicle, a hydraulic system for the loading vehicle, and a control method. The loading vehicle comprises a chassis, a slewing mechanism, a mounting frame, and a missile loading device. The lower end face of the slewing mechanism is mounted on the chassis, and the upper end face of the slewing mechanism is connected to the mounting frame via a vertical adjustment cylinder. The missile loading device is mounted above the mounting frame. A slewing motor is provided on the slewing mechanism. The slewing motor is connected to the slewing mechanism and is used to drive the slewing mechanism to rotate, thereby driving the missile loading device to rotate. The vertical adjustment cylinder drives the mounting frame to extend and retract, thereby driving the missile loading device to move up and down. The loading vehicle, its hydraulic system, and control method provided by this invention drive the various motors and cylinders through a hydraulic system, eliminating the need for manual adjustment, saving time and effort, and achieving high loading efficiency. The missile loading device is mounted on a chassis, and by driving the chassis, rapid relocation is possible. It possesses multiple degrees of freedom, including upper structure rotation, upper structure vertical adjustment, loading lateral fine-tuning, loading swing, loading quadrant angle adjustment, loading pitch angle, and axial missile pushing, enabling rapid position and attitude adjustment. The hydraulic system drives the various motors and cylinders, eliminating the need for manual adjustment, saving time and effort, and achieving high loading efficiency. It employs a load-sensitive system, resulting in low hydraulic system energy consumption. The flexible and efficient control method further enhances its effectiveness. Attached Figure Description

[0035] Figure 1 A schematic diagram of an embodiment of a conventional missile loading device;

[0036] Figure 2 This is a three-dimensional structural diagram of an embodiment of the loading vehicle provided by the present invention;

[0037] Figure 3 for Figure 2 A front structural schematic diagram of an embodiment of the loading vehicle shown;

[0038] Figure 4 for Figure 2 A top view of one embodiment of the loading vehicle shown in the figure;

[0039] Figure 5 for Figure 2 A schematic diagram of the left-side structure of an embodiment of the loading vehicle shown in the figure;

[0040] Figure 6 forFigure 2 Right view structural diagram of one embodiment of the filling vehicle shown in the figure;

[0041] Figure 7 System principle diagram of one embodiment of the hydraulic control system of the filling vehicle provided by the present application;

[0042] Figure 8 For Figure 7 Oil path diagram of one embodiment of the oil supply and return oil path in the hydraulic control system of the filling vehicle shown in the figure;

[0043] Figure 9 For Figure 7 Oil path diagram of one embodiment of the overall rotation and vertical adjustment oil path in the hydraulic control system of the filling vehicle shown in the figure;

[0044] Figure 10 For Figure 7 Oil path diagram of one embodiment of the quadrant adjustment and missile pushing horizontal adjustment oil path in the hydraulic control system of the filling vehicle shown in the figure;

[0045] Figure 11 For Figure 7 Oil path diagram of one embodiment of the swing, pitch and missile pushing adjustment oil path in the hydraulic control system of the filling vehicle shown in the figure.

[0046] Explanation of the reference signs:

[0047] 10, chassis; 20, rotation mechanism; 30, mounting frame; 40, missile loading device; 51, vertical adjustment oil cylinder; 52, rotation motor; 41, missile body; 42, adapter; 43, missile sliding groove; 44, rack; 45, missile pushing motor; 46, missile pushing mounting frame; 47, first screw nut mechanism; 48, missile pushing frame; 311, first adjustment oil cylinder; 312, second adjustment oil cylinder; 313, second screw nut mechanism; 32, U-shaped sliding block; 33, quadrant adjustment circular gear; 34, missile pushing horizontal adjustment motor; 491, quadrant adjustment motor; 492, quadrant gear; 61, left visual camera; 62, right visual camera; 70, counterweight; 80, wheel; 100, load sensitive pump; 210, central rotation; 220, first electric proportional multi-way valve; 52, rotation motor; 231, first vertical adjustment oil cylinder; 232, second vertical adjustment oil cylinder; 233, third vertical adjustment oil cylinder; 234, fourth vertical adjustment oil cylinder; 310, first quadrant adjustment motor; 320, second quadrant adjustment motor; 340, second electric proportional multi-way valve; 410, first horizontal adjustment motor; 420, second horizontal adjustment motor; 430, third electric proportional multi-way valve; 460, first missile pushing motor; 470, second missile pushing motor; 480, first balance valve; 490, second balance valve; 510, hydraulic oil tank; 520, one-way valve; 530, overflow valve; 540, return oil filter element. DETAILED DESCRIPTION

[0048] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings of the specification and specific embodiments.

[0049] As shown in Figures 2 to 4 The first embodiment of the present application proposes a loading vehicle, which comprises a chassis 10, a rotating mechanism 20, a mounting frame 30 and a missile loading device 40. The lower end surface of the rotating mechanism 20 is mounted on the chassis 10, and the upper end surface of the rotating mechanism 20 is connected to the mounting frame 30 through a vertical adjusting oil cylinder 51. The missile loading device 40 is installed above the mounting frame 30, and the rotating mechanism 20 is provided with a rotating motor 52. The rotating motor 52 is connected to the rotating mechanism 20 and is used to drive the rotating mechanism 20 to rotate, so as to drive the missile loading device 40 to rotate. The vertical adjusting oil cylinder 51 drives the mounting frame 30 to perform an extension and retraction action, so as to drive the missile loading device 40 to perform an up and down lifting motion. The missile loading device 40 comprises a missile body 41, a plurality of adapters 42 are mounted on the missile body 41, the missile body 41 is placed in a missile sliding groove 43, and the missile body 41 is in contact with the inner surface of the missile sliding groove 43 through the adapters 42. A rack 44 is mounted on the upper end surface of the mounting frame 30, the rack 44 cooperates with a missile pushing motor 45, the upper end of the missile pushing motor 45 is fixedly connected to a missile pushing mounting frame 46, a first screw nut mechanism 47 is mounted on the missile pushing mounting frame 46, and the first screw nut mechanism 47 is fixedly connected to a missile pushing frame 48. When the missile pushing motor 45 rolls in meshing on the rack 44, the missile pushing motor 45 drives the missile pushing mounting frame 46, the first screw nut mechanism 47 and the missile pushing frame 48 to move forward, and then pushes the missile body 41 to slide forward in the missile sliding groove 43. In this example, the rotating mechanism 20 can adopt an existing rotating column type, a vertical column type or a rotating disc type rotating mechanism. The number of vertical adjusting oil cylinders 51 can be multiple, and multiple vertical adjusting oil cylinders 51 are arranged vertically between the rotating mechanism 20 and the mounting frame 30. The first screw nut mechanism 47 adopts an existing screw nut mechanism, which is driven by the missile pushing motor 45 to move the missile pushing mounting frame 46, the first screw nut mechanism 47 and the missile pushing frame 48 forward, and then pushes the missile body 41 to slide forward in the missile sliding groove 43, so as to improve the degree of automation of loading and improve the work efficiency. The loading vehicle proposed in this embodiment has the functions of rotating and vertically adjusting the upper loading, and can quickly realize position and attitude adjustment.

[0050] Further, see Figures 2 to 6The filling vehicle provided in the embodiment is characterized in that the mounting frame 30 is connected with the second screw-nut mechanism 313 through the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312, the moving block of the second screw-nut mechanism 313 forms a rotary pair with the U-shaped sliding block 32, the U-shaped sliding block 32 is fixedly connected with the quadrant adjusting circular arc gear 33 and the missile sliding groove 43, the driving screw of the second screw-nut mechanism 313 is connected with the missile pushing horizontal adjusting motor 34, the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312 are driven to perform the extension and retraction movement, so as to adjust the height difference between the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312, thereby realizing the adjustment of the filling pitch angle; the missile pushing horizontal adjusting motor 34 drives the second screw-nut mechanism 313 to perform the horizontal movement, so as to drive the U-shaped sliding block 32, the missile sliding groove 43 and the missile body 41 built in the missile sliding groove 43 to perform the horizontal movement, thereby adjusting the filling swing angle; the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312 are respectively arranged on the upper end surface of the mounting frame 30, and the upper end surface of the second adjusting oil cylinder 312 is fixedly connected with the second screw-nut mechanism 313. The filling vehicle provided in the embodiment adopts the existing screw-nut mechanism, the height difference between the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312 is adjusted, thereby realizing the adjustment of the filling pitch angle, the missile pushing horizontal adjusting motor 34 drives the U-shaped sliding block 32, the missile sliding groove 43 and the missile body 41 built in the missile sliding groove 43 to perform the horizontal movement, thereby adjusting the filling swing angle, so that the filling swing and the filling pitch angle have multiple degrees of freedom, and the position and posture can be quickly adjusted.

[0051] Preferably, referring to Figures 2 to 6 The filling vehicle provided in the embodiment is characterized in that the missile filling device 40 comprises the quadrant adjusting motor 491, the quadrant gear 492 is arranged on the quadrant adjusting motor 491, and the quadrant gear 492 is engaged with the quadrant adjusting circular arc gear 33; the quadrant adjusting motor 491 drives the quadrant adjusting circular arc gear 33 to rotate, so as to drive the U-shaped sliding block 32 and the missile sliding groove 43 to rotate, thereby adjusting the quadrant angle of the missile body 41; the video acquisition device for detecting the position and posture of the launching barrel is arranged at the front end of the mounting frame 30, and the video acquisition device comprises the left visual camera 61 and the right visual camera 62, which are respectively arranged at the left side and the right side of the front end of the mounting frame 30. The filling vehicle provided in the embodiment drives the quadrant adjusting circular arc gear 33 to rotate through the quadrant adjusting motor 491, so as to drive the U-shaped sliding block 32 and the missile sliding groove 43 to rotate, thereby adjusting the quadrant angle of the missile body 41, so that the filling vehicle has the function of adjusting the quadrant angle, and the position and posture can be quickly adjusted; the position and posture of the launching barrel are detected through the cooperation of the left visual camera 61 and the right visual camera 62, the degree of automation is high, and the filling precision is high.

[0052] As Figures 6 to 11 indicated, the working principle of the filling vehicle provided in the embodiment is as follows:

[0053] The loading vehicle structure is mainly composed of a chassis 10, a rotating mechanism 20, a counterweight 70, a mounting frame 30, a rack 44, a bullet pushing motor 45, a bullet pushing mounting frame 46, a first screw nut mechanism 47, a bullet pushing frame 48, a bullet sliding groove 43, a first adjusting oil cylinder 311, a missile body 41, an adapter 42, a quadrant adjusting motor 491, a quadrant adjusting circular gear 33, a second adjusting oil cylinder 312, a rotating motor 52, a wheel 80, a vertical adjusting oil cylinder 51, a bullet pushing horizontal adjusting motor 34, the first screw nut mechanism 47, the bullet pushing horizontal adjusting motor 34, a quadrant gear 492, a U-shaped sliding block 32, a left visual camera 61, a right visual camera 62 and the like.

[0054] The lower end surface of the rotating mechanism 20 is mounted on the chassis 10, and the upper end surface of the rotating mechanism 20 is mounted with four vertical adjusting oil cylinders 51, and the other end of the vertical adjusting oil cylinder 51 is connected with the mounting frame 30. The rotating motor 52 drives the rotating mechanism 20 to rotate, thereby driving the whole upper-mounted part to rotate. The vertical adjusting oil cylinder 51 drives the whole upper-mounted part to move up and down through the extension and retraction action.

[0055] The missile body 41 is mounted with multiple adapters 42, and the missile body 41 is placed in the bullet sliding groove 43 and is in contact with the inner surface of the bullet sliding groove 43 through the adapter 42. The upper end surface of the mounting frame 30 is mounted with the rack 44, and the bullet pushing motor 45 is matched with the rack 44. The upper end of the bullet pushing motor 45 is fixedly connected with the bullet pushing mounting frame 46, and the bullet pushing mounting frame 46 is mounted with the first screw nut mechanism 47. Meanwhile, the first screw nut mechanism 47 is fixedly connected with the bullet pushing frame 48. When the bullet pushing motor 45 rolls in meshing with the rack 44, the bullet pushing motor 45 drives the bullet pushing mounting frame 46, the first screw nut mechanism 47 and the bullet pushing frame 48 to move forward, thereby pushing the missile body 41 to slide forward in the bullet sliding groove 43.

[0056] The upper end surface of the mounting frame 30 is mounted with the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312, and the upper end surface of the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312 is fixedly connected with the second screw nut mechanism 313. The moving block of the second screw nut mechanism 313 forms a rotating pair with the U-shaped sliding block 32, and the U-shaped sliding block 32 is fixedly connected with the quadrant adjusting circular gear 33. Meanwhile, the U-shaped sliding block 32 is fixedly connected with the bullet sliding groove 43. The bullet pushing horizontal adjusting motor 34 is connected with the driving screw rod of the second screw nut mechanism 313. The height difference of the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312 is adjusted through the extension and retraction of the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312, so as to realize the adjustment of the loading pitch angle. The bullet pushing horizontal adjusting motor 34 drives the second screw nut mechanism 313 to move horizontally through rotation, thereby driving the U-shaped sliding block 32, the bullet sliding groove 43 and the missile body 41 built in the bullet sliding groove 43 to move horizontally, so as to achieve the purpose of adjusting the loading yaw angle.

[0057] The quadrant adjusting motor 491 is provided with a quadrant gear 492, which is engaged with the quadrant adjusting circular arc gear 33. The quadrant adjusting motor 491 drives the quadrant adjusting circular arc gear 33 to rotate, and drives the U-shaped sliding block 32 and the missile sliding groove 43 to rotate, so as to achieve the purpose of adjusting the quadrant angle of the missile body 41.

[0058] The left visual camera 61 and the right visual camera 62 are installed at the front end of the mounting frame 30, and are used for detecting the position and posture of the launching barrel.

[0059] As shown in Figures 6 to 11 The embodiment also provides a filling vehicle hydraulic system applied to the filling vehicle, and the filling vehicle hydraulic system comprises a load-sensitive pump 100, a center rotation 210, a first electric proportional multi-way valve 220, a vertical adjusting oil cylinder 51 and a rotation motor 52. A P port of the load-sensitive pump 100 is connected to a P port and a P' port of the center rotation 210, and then connected to a P port of the first electric proportional multi-way valve 220. An X port of the load-sensitive pump 100 is connected to an LS port and an LS' port of the center rotation 210, and then connected to an LS port of the first electric proportional multi-way valve 220. An A working oil port and a B working oil port of the first electric proportional multi-way valve 220 are connected to the rotation motor 52 and the vertical adjusting oil cylinder 51 respectively. The load-sensitive pump 100 pumps the hydraulic oil to the P port and the P' port of the center rotation 210 after pressurizing the hydraulic oil, and supplies the oil to the first electric proportional multi-way valve 220. The first electric proportional multi-way valve 220 is used for controlling the rotation direction and the rotation speed of the rotation motor 52, and controlling the flow and on-off of the oil path to the vertical adjusting oil cylinder 51, so as to realize the overall rotation and vertical adjustment of the upper-mounted part of the filling vehicle. The filling vehicle hydraulic control system provided by the embodiment has multiple degrees of freedom such as the rotation of the upper-mounted part and the vertical adjustment of the upper-mounted part, and can quickly realize the position and posture adjustment. The hydraulic system is used for driving the motors and the oil cylinders to act, and manual operation is not needed, so that time and labor are saved, and the filling efficiency is high. The load-sensitive system is adopted, the hydraulic system has low energy consumption, the control mode is flexible, and the efficiency is high.

[0060] Further, referring to Figures 6 to 11The vertical adjusting oil cylinder 51 includes a first vertical adjusting oil cylinder 231, a second vertical adjusting oil cylinder 232, a third vertical adjusting oil cylinder 233 and a fourth vertical adjusting oil cylinder 234. The first proportional multi-way valve 220 is provided with a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet, a fifth electromagnet, a sixth electromagnet, a seventh electromagnet, an eighth electromagnet, a ninth electromagnet and a tenth electromagnet. The first A working oil port A1 and the first B working oil port B1 of the first proportional multi-way valve 220 are respectively connected with the rotary motor 52. The first electromagnet and the second electromagnet are used for controlling the rotary direction and the rotary speed of the rotary motor 52, so as to realize the overall rotation of the upper loading part. The second A working oil port A2 and the second B working oil port B2 of the first proportional multi-way valve 220 are respectively connected with the first vertical adjusting oil cylinder 231. The third electromagnet and the fourth electromagnet are used for controlling the oil path flow and the on-off of the first vertical adjusting oil cylinder 231. The third A working oil port A3 and the third B working oil port B3 of the first proportional multi-way valve 220 are respectively connected with the second vertical adjusting oil cylinder 232. The fifth electromagnet and the sixth electromagnet are used for controlling the oil path flow and the on-off of the second vertical adjusting oil cylinder 232. The fourth A working oil port A4 and the fourth B working oil port B4 of the first proportional multi-way valve 220 are respectively connected with the third vertical adjusting oil cylinder 233. The seventh electromagnet and the eighth electromagnet are used for controlling the oil path flow and the on-off of the third vertical adjusting oil cylinder 233. The fifth A working oil port A5 and the fifth B working oil port B5 of the first proportional multi-way valve 220 are respectively connected with the fourth vertical adjusting oil cylinder 234. The ninth electromagnet and the tenth electromagnet are used for controlling the oil path flow and the on-off of the fourth vertical adjusting oil cylinder 234. The hydraulic control system of the filling vehicle provided in the embodiment is used for vertically adjusting the upper loading part through the four vertical adjusting oil cylinders, and the electromagnets on the first proportional multi-way valve 220 are used for controlling the four vertical adjusting oil cylinders and the rotary motor 52. The filling vehicle has multiple degrees of freedom, such as the rotation of the upper loading part and the vertical adjustment of the upper loading part, and can quickly realize the position and posture adjustment. The hydraulic system is used for driving the motors and the oil cylinders to move, so that the manual operation is not needed, time and labor are saved, and the filling efficiency is high. The load-sensitive system is adopted, the hydraulic system has low energy consumption, the control mode is flexible and the efficiency is high.

[0061] Preferably, see Figures 6 to 11The hydraulic system for the filling vehicle also includes the first quadrant adjusting motor 310, the second quadrant adjusting motor 320, the push-pull horizontal adjusting motor 34 and the second electric proportional multi-way valve 340. The P port of the load-sensitive pump 100 is connected to the P port and the P' port of the center swivel 210, and then connected to the P port of the second electric proportional multi-way valve 340. The LS port of the second electric proportional multi-way valve 340 is connected to the Y port of the first electric proportional multi-way valve 220. The P port of the second electric proportional multi-way valve 340 is connected to the P port of the first electric proportional multi-way valve 220. The T port of the second electric proportional multi-way valve 340 is connected to the T port of the first electric proportional multi-way valve 220. The L port of the second electric proportional multi-way valve 340 is connected to the L port of the first electric proportional multi-way valve 220. The A working oil port and the B working oil port of the second electric proportional multi-way valve 340 are connected to the first quadrant adjusting motor 310, the second quadrant adjusting motor 320 and the push-pull horizontal adjusting motor 34 respectively. The second electric proportional multi-way valve 340 is used to control the rotation direction and the rotation speed of the first quadrant adjusting motor 310 and the second quadrant adjusting motor 320, and to control the oil flow and the on-off of the push-pull horizontal adjusting motor 34, so as to realize the quadrant angle adjustment of the missile filling and the horizontal adjustment of the push-pull mechanism. The hydraulic control system for the filling vehicle provided in the embodiment is used to control the rotation direction and the rotation speed of the first quadrant adjusting motor 310 and the second quadrant adjusting motor 320, and to control the oil flow and the on-off of the push-pull horizontal adjusting motor 34 through the second electric proportional multi-way valve 340, so as to realize the quadrant angle adjustment of the missile filling and the horizontal adjustment of the push-pull mechanism. The system has multiple degrees of freedom such as filling horizontal fine adjustment and filling quadrant angle adjustment, and can quickly realize position and posture adjustment. The hydraulic system is used to drive each motor and oil cylinder to move, and manual operation is not needed, which saves time and effort and improves the filling efficiency. The load-sensitive system is adopted, and the hydraulic system has low energy consumption. The control mode is flexible and efficient.

[0062] Further, referring to Figures 6 to 11The hydraulic system of the loading vehicle provided in the embodiment is provided with the eleventh electromagnet, the twelfth electromagnet, the thirteenth electromagnet, the fourteenth electromagnet, the fifteenth electromagnet and the sixteenth electromagnet on the second electric proportional multi-way valve 340, the first A working oil port A1 and the first B working oil port B1 of the second electric proportional multi-way valve 340 are respectively connected with the first quadrant adjusting motor 310, the eleventh electromagnet and the twelfth electromagnet are used for controlling the rotation direction and the rotation speed of the first quadrant adjusting motor 310, and the quadrant angle adjustment of the missile loading is realized; the second A working oil port A2 and the second B working oil port B2 of the second electric proportional multi-way valve 340 are respectively connected with the second quadrant adjusting motor 320, the thirteenth electromagnet and the fourteenth electromagnet are used for controlling the rotation direction and the rotation speed of the second quadrant adjusting motor 320, and the quadrant angle adjustment of the missile loading is realized; the third A working oil port A3 and the third B working oil port B3 of the second electric proportional multi-way valve 340 are respectively connected with the push missile horizontal adjusting motor 34, the fifteenth electromagnet and the sixteenth electromagnet are used for controlling the oil flow and the on-off of the push missile horizontal adjusting motor 34, and the horizontal adjustment of the push missile mechanism is realized. The hydraulic control system of the loading vehicle provided in the embodiment controls the rotation direction and the rotation speed of the first quadrant adjusting motor 310 and the second quadrant adjusting motor 320 and controls the oil flow and the on-off of the push missile horizontal adjusting motor 34 through the electromagnets arranged on the second electric proportional multi-way valve 340, so as to realize the quadrant angle adjustment of the missile loading and the horizontal adjustment of the push missile mechanism, has multiple degrees of freedom such as loading horizontal fine adjustment and loading quadrant angle adjustment, and can quickly realize position and posture adjustment; the hydraulic system drives each motor and oil cylinder to act, and manual operation adjustment is not needed, time and labor are saved, and the loading efficiency is high; the load-sensitive system is adopted, the hydraulic system has low energy consumption; the control mode is flexible and efficient.

[0063] Preferably, see Figures 6 to 11The filling vehicle hydraulic system provided in the embodiment further comprises a first transverse adjusting motor 410, a second transverse adjusting motor 420, a third electric proportional multi-way valve 430, a first adjusting oil cylinder 311, a second adjusting oil cylinder 312, a first push-pull motor 460, and a second push-pull motor 470. The P port of the load-sensitive pump 100 is connected to the P port and the P' port of the center swivel 210, and then connected to the P port of the second electric proportional multi-way valve 340. The Y port of the third electric proportional multi-way valve 430 is connected to the Y port of the first electric proportional multi-way valve 220. The P port of the third electric proportional multi-way valve 430 is connected to the P port of the second electric proportional multi-way valve 340. The T port of the third electric proportional multi-way valve 430 is connected to the T port of the second electric proportional multi-way valve 340. The L port of the third electric proportional multi-way valve 430 is connected to the L port of the second electric proportional multi-way valve 340. The A working oil port and the B working oil port of the third electric proportional multi-way valve 430 are connected to the first transverse adjusting motor 410, the second transverse adjusting motor 420, the first adjusting oil cylinder 311, the second adjusting oil cylinder 312, the first push-pull motor 460, and the second push-pull motor 470, respectively. The third electric proportional multi-way valve 430 is used to control the rotation direction and rotation speed of the first transverse adjusting motor 410 and the second transverse adjusting motor 420, control the action of the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312, and control the direction and speed of the action of the first push-pull motor 460 and the second push-pull motor 470, so as to realize the missile filling swing angle adjustment, the missile filling pitch angle adjustment, and the missile filling push-pull action. The filling vehicle hydraulic control system provided in the embodiment controls the rotation direction and rotation speed of the first transverse adjusting motor 410 and the second transverse adjusting motor 420, controls the action of the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312, and controls the direction and speed of the action of the first push-pull motor 460 and the second push-pull motor 470 through the third electric proportional multi-way valve 430, so as to realize the missile filling swing angle adjustment, the missile filling pitch angle adjustment, and the missile filling push-pull action. The filling vehicle has multiple degrees of freedom such as filling swing, filling pitch angle, and axial push-pull, and can quickly realize position and attitude adjustment. The hydraulic system is used to drive the action of each motor and oil cylinder, and manual operation is not needed, so time and labor are saved, and the filling efficiency is high. The load-sensitive system is adopted, and the hydraulic system has low energy consumption. The control mode is flexible and efficient.

[0064] Further, referring to Figures 6 to 11The hydraulic system of the loading vehicle provided in the embodiment is provided with a seventeenth electromagnet, an eighteenth electromagnet, a nineteenth electromagnet, a twentieth electromagnet, a twenty-first electromagnet, a twenty-second electromagnet, a twenty-third electromagnet, a twenty-fourth electromagnet, a twenty-fifth electromagnet and a twenty-sixth electromagnet on the third electric proportional multi-way valve 430. The first A working oil port A1 and the first B working oil port B1 of the third electric proportional multi-way valve 430 are respectively connected to the first horizontal adjusting motor 410. The seventeenth electromagnet and the eighteenth electromagnet are used to control the rotation direction and rotation speed of the first horizontal adjusting motor 410, thereby driving the screw nut mechanism to realize the adjustment of the missile loading swing angle. The second A working oil port A2 and the second B working oil port B2 of the third electric proportional multi-way valve 430 are respectively connected to the second horizontal adjusting motor 420. The nineteenth electromagnet and the twentieth electromagnet are used to control the rotation direction and rotation speed of the second horizontal adjusting motor 420, thereby driving the screw nut mechanism to realize the adjustment of the missile loading swing angle. The third A working oil port A3 and the third B working oil port B3 of the third electric proportional multi-way valve 430 are respectively connected to the first adjusting oil cylinder 311. The twenty-first electromagnet and the twenty-second electromagnet are used to control the action of the first adjusting oil cylinder 311 to realize the adjustment of the missile loading pitch angle. The fourth A working oil port A4 and the fourth B working oil port B4 of the third electric proportional multi-way valve 430 are respectively connected to the second adjusting oil cylinder 312. The twenty-third electromagnet and the twenty-fourth electromagnet are used to control the action of the second adjusting oil cylinder 312 to realize the adjustment of the missile loading pitch angle. The fifth A working oil port A5 and the fifth B working oil port B5 of the third electric proportional multi-way valve 430 are respectively connected to the first missile pushing motor 460. The twenty-fifth electromagnet and the twenty-sixth electromagnet are used to control the direction and speed of the action of the first missile pushing motor 460 and the second missile pushing motor 470 to realize the missile loading pushing action. The hydraulic control system of the loading vehicle provided in the embodiment controls the rotation direction and rotation speed of the first horizontal adjusting motor 410 and the second horizontal adjusting motor 420, controls the action of the first adjusting oil cylinder 311 and the second adjusting oil cylinder 312, and controls the direction and speed of the action of the first missile pushing motor 460 and the second missile pushing motor 470 by the multiple electromagnets arranged on the third electric proportional multi-way valve 430, so as to realize the adjustment of the missile loading swing angle, the adjustment of the missile loading pitch angle and the missile loading pushing action. The loading vehicle has multiple degrees of freedom such as loading swing, loading pitch angle and axial missile pushing, and can quickly realize the position and attitude adjustment. The hydraulic system drives the action of each motor and oil cylinder, and manual operation is not needed, so time and labor are saved, and the loading efficiency is high. The load-sensitive system is adopted, and the hydraulic system has low energy consumption. The control mode is flexible and efficient.

[0065] Preferably, see Figures 2 to 6The hydraulic control system of the filling truck also includes a hydraulic oil tank 510, a one-way valve 520, a relief valve 530, and an oil return filter core 540. The hydraulic oil tank 510 is used to store hydraulic oil. The one-way valve 520 is connected between the P port of the center rotation 210 and the P port of the load-sensitive pump 100. The relief valve 530 is connected to the P port of the center rotation 210. The oil return filter core 540 is connected to the T port of the center rotation 210. The hydraulic control system of the filling truck provided in the embodiment is used to flexibly drive various actions of the filling truck. The working principle is as follows.

[0066] As shown in Figures 6 to 11 The hydraulic control system of the filling truck provided in the embodiment is used to flexibly drive various actions of the filling truck. The working principle is as follows.

[0067] The hydraulic system of the filling truck mainly includes the hydraulic oil tank 510, the load-sensitive pump 100, the one-way valve 520, the relief valve 530, the center rotation 210, the third electric proportional multi-way valve 430, the first lateral adjusting motor 410, the second lateral adjusting motor 420, the first balance valve 480, the second balance valve 490, the first adjusting oil cylinder 311, the first electric proportional multi-way valve 220, the rotation motor 52, the vertical adjusting oil cylinder 51, the first quadrant adjusting motor 310, the second quadrant adjusting motor 320, the push-pull lateral adjusting motor 34, the second electric proportional multi-way valve 340, the second adjusting oil cylinder 312, the first push-pull motor 460, the second push-pull motor 470, the oil return filter core 540, and the like.

[0068] The load-sensitive pump 100 pumps the hydraulic oil in the hydraulic oil tank 510 to the one-way valve 520, the P port and the P' port of the center rotation 210 after pressurizing the hydraulic oil. The relief valve 530 is used as a safety valve to prevent system pressure overshoot. The T port and the T' port of the center rotation 210 are oil return ports, and the L port and the L' port are oil discharge ports. The oil return of the third electric proportional multi-way valve 430, the first electric proportional multi-way valve 220, and the second electric proportional multi-way valve 340 flows back to the oil tank through the oil return filter core 540, and the oil discharge directly returns to the hydraulic oil tank 510 through the L port and the L' port of the center rotation 210.

[0069] The pressure oil enters the first electric proportional multi-way valve 220 from the P port, and the flow and direction of the oil passage are controlled by the on-off of the sub-association electromagnet of the first electric proportional multi-way valve 220. The first electromagnet Y11 and the second electromagnet Y12 control the rotation direction and rotation speed of the rotary motor 52 to realize the overall rotation of the upper loading part. The third electromagnet Y13 and the fourth electromagnet Y14 control the flow and on-off of the oil passage to the vertical adjusting oil cylinder 51. The fifth electromagnet Y15 and the sixth electromagnet Y16, the seventh electromagnet Y17 and the eighth electromagnet Y18, the ninth electromagnet Y19 and the tenth electromagnet Y20 control the flow and on-off of the oil passage to the corresponding vertical adjusting oil cylinder 51 in the same way to achieve the purpose of the overall vertical adjustment of the upper loading part. The LS port of the first electric proportional multi-way valve 220 is connected with the load feedback port of the load-sensitive pump 100 through the LS' of the center rotation 210. The Y port of the first electric proportional multi-way valve 220 is connected with the LS port of the second electric proportional multi-way valve 340. The drain L port and the return T port of the first electric proportional multi-way valve 220 are connected with the L port and the T port of the center rotation 210 respectively to flow back to the hydraulic oil tank 510.

[0070] The pressure oil enters the second electric proportional multi-way valve 340 from the P port, and the flow and direction of the oil passage are controlled by the on-off of the sub-association electromagnet of the second electric proportional multi-way valve 340. The eleventh electromagnet Y21 and the twelfth electromagnet Y22, the thirteenth electromagnet Y23 and the fourteenth electromagnet Y24 control the rotation direction and rotation speed of the first quadrant adjusting motor 310 and the second quadrant adjusting motor 320 respectively to realize the quadrant angle adjustment of the missile loading. The fifteenth electromagnet Y25 and the sixteenth electromagnet Y26 control the flow and on-off of the oil passage of the push missile transverse adjusting motor 34 to achieve the purpose of the transverse adjustment of the push missile mechanism. The LS port, the P port, the T port and the L port of the second electric proportional multi-way valve 340 are connected with the Y port, the P port, the T port and the L port of the first electric proportional multi-way valve 220. The Y port of the second electric proportional multi-way valve 340 is connected with the Y port of the third electric proportional multi-way valve 430.

[0071] The pressure oil enters from the P port of the third electric proportional multi-way valve 430, and the flow and direction of the oil passage are controlled by the on-off of the sub-association electromagnet of the third electric proportional multi-way valve 430, the seventeenth electromagnet Y1 and the eighteenth electromagnet Y2, the nineteenth electromagnet Y3 and the twentieth electromagnet Y4 control the rotation direction and rotation speed of the first horizontal adjustment motor 410 and the second horizontal adjustment motor 420 respectively, and then drive the screw nut mechanism to realize the missile loading swing angle adjustment. The twenty-first electromagnet Y5 and the twenty-second electromagnet Y6, the twenty-third electromagnet Y7 and the twenty-fourth electromagnet Y8 control the action of the first adjustment oil cylinder 311 and the second adjustment oil cylinder 312 respectively, the first balance valve 480 and the second balance valve 490 realize the pitch angle adjustment of the missile loading by adjusting the height difference of the two oil cylinders. The twenty-fifth electromagnet Y9 and the twenty-sixth electromagnet Y10 control the direction and speed of the action of the first push missile motor 460 and the second push missile motor 470 to realize the missile loading push action. The Y port, the P port, the T port and the L port of the third electric proportional multi-way valve 430 are connected with the Y port, the P port, the T port and the L port of the second electric proportional multi-way valve 340.

[0072] The application also relates to a loading vehicle control method applied to the above-mentioned loading vehicle hydraulic control system, and the loading vehicle control method comprises the following steps.

[0073] Step S100, checking whether the state of the loading vehicle is normal.

[0074] Step S200, starting the loading vehicle, and transferring to a specified place.

[0075] Step S300, detecting the coordinate position in the launching cylinder by the left vision camera and the right vision camera, and establishing a loading reference coordinate system with the center of the front end face of the launching cylinder.

[0076] Step S400, starting the load-sensitive pump to pump oil to the loading vehicle hydraulic control system.

[0077] Step S500, electrifying the first electromagnet or the second electromagnet on the first electric proportional multi-way valve, and rotating the upper whole to a specified azimuth angle.

[0078] Step S600, electrifying the third electromagnet or the fourth electromagnet, the fifth electromagnet or the sixth electromagnet, the seventh electromagnet or the eighth electromagnet, the ninth electromagnet or the tenth electromagnet on the first electric proportional multi-way valve, and adjusting the upper whole to a specified height.

[0079] Step S700, electrifying the seventeenth electromagnet or the eighteenth electromagnet, and the nineteenth electromagnet or the twentieth electromagnet on the third electric proportional multi-way valve, and controlling the action of the first horizontal adjustment motor and the second horizontal motor respectively, and adjusting the missile horizontal swing action to a specified swing angle.

[0080] Step S800, the twenty-first electromagnet or the twenty-second electromagnet, the twenty-third electromagnet or the twenty-fourth electromagnet on the third electric proportional valve is electrified, respectively controlling the action of the first adjusting oil cylinder and the second adjusting oil cylinder, loading the pitching action and adjusting to the specified pitching angle.

[0081] Step S900, the fifteenth electromagnet or the sixteenth electromagnet on the second electric proportional valve is electrified, controlling the action of the push-pull horizontal adjusting motor, the push-pull mechanism is horizontally fine-tuned, and the loading precision is ensured.

[0082] Step S1000, the eleventh electromagnet or the twelfth electromagnet and the thirteenth electromagnet or the fourteenth electromagnet on the second electric proportional valve are electrified, respectively controlling the action of the first quadrant adjusting motor and the second quadrant adjusting motor, loading the quadrant angle action and adjusting to the specified quadrant position.

[0083] Step S1100, it is checked whether the loading position is adjusted in place.

[0084] Step S1200, if the loading position is adjusted in place, the twenty-fifth electromagnet or the twenty-sixth electromagnet of the first electric proportional valve is electrified, respectively controlling the action of the first push-pull motor and the second push-pull motor, and pushing the missile body to the specified position.

[0085] Step S1300, it is checked whether the loading operation is completed.

[0086] Step S1400, if the loading operation is completed, the operation is ended.

[0087] The filling vehicle, the filling vehicle hydraulic system and the control method provided by the embodiment have the following advantages compared with the prior art: the filling vehicle adopts a chassis, a rotating mechanism, a mounting frame and a missile filling device, the lower end surface of the rotating mechanism is mounted on the chassis, the upper end surface of the rotating mechanism is connected with the mounting frame through a vertical adjusting oil cylinder, the missile filling device is mounted above the mounting frame, and a rotating motor is arranged on the rotating mechanism; the rotating motor is connected with the rotating mechanism and is used to drive the rotating mechanism to rotate so as to drive the missile filling device to rotate; and the vertical adjusting oil cylinder drives the mounting frame to perform an extension and retraction action so as to drive the missile filling device to perform an up and down lifting motion. The filling vehicle, the filling vehicle hydraulic system and the control method provided by the embodiment drive each motor and oil cylinder to act through a hydraulic system, without manual operation and adjustment, time and labor are saved, and the filling efficiency is high; the missile filling device is mounted on the chassis, and the chassis can be driven to move, so that the scene can be quickly changed; the missile filling device has multiple degrees of freedom, such as an upper-mounted rotation, an upper-mounted vertical adjustment, a filling transverse fine adjustment, a filling swing, a filling quadrant angle adjustment, a filling pitch angle and an axial missile pushing, so that the position and attitude can be quickly adjusted; the filling vehicle, the filling vehicle hydraulic system and the control method provided by the embodiment drive each motor and oil cylinder to act through a hydraulic system, without manual operation and adjustment, time and labor are saved, and the filling efficiency is high; a load-sensitive system is adopted, and the hydraulic system has low energy consumption; the missile filling device has multiple degrees of freedom, such as an upper-mounted rotation, an upper-mounted vertical adjustment, a filling transverse fine adjustment, a filling swing, a filling quadrant angle adjustment, a filling pitch angle and an axial missile pushing, so that the position and attitude can be quickly adjusted; and the control mode is flexible and efficient.

[0088] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to encompass within their scope all such variations and modifications as are included within the scope of the application. It should be apparent that those skilled in the art can make modifications and variations to the application without departing from the scope or spirit of the application. Accordingly, it is intended to embrace all such modification and variations as fall within the scope of the appended claims and their equivalents.

Claims

1. A loading vehicle, characterized in that The application relates to a missile loading device, which comprises a chassis (10), a rotating mechanism (20), a mounting frame (30) and a missile loading device (40), wherein the lower end surface of the rotating mechanism (20) is mounted on the chassis (10), the upper end surface of the rotating mechanism (20) is connected with the mounting frame (30) through vertical adjusting oil cylinders (51), a plurality of vertical adjusting oil cylinders are vertically arranged between the rotating mechanism and the mounting frame, the missile loading device (40) is mounted above the mounting frame (30), a rotating motor (52) is arranged on the rotating mechanism (20), the rotating motor (52) is connected with the rotating mechanism (20) and is used for driving the rotating mechanism (20) to rotate, so as to drive the missile loading device (40) to rotate, the vertical adjusting oil cylinders (51) drive the mounting frame (30) to perform extension and retraction actions, so as to drive the missile loading device (40) to perform up and down lifting movements, the missile loading device (40) comprises a missile body (41), a plurality of adapters (42) are mounted on the missile body (41), the missile body (41) is placed in a missile sliding groove (43), the missile body (41) is in contact with the inner surface of the missile sliding groove (43) through the adapters (42), the upper end surface of the mounting frame (30) is provided with a rack (44), the rack (44) is matched with a missile pushing motor (45), the upper end of the missile pushing motor (45) is fixedly connected with a missile pushing mounting frame (46), the missile pushing mounting frame (46) is provided with a first screw nut mechanism (47), the first screw nut mechanism (47) is fixedly connected with a missile pushing frame (48), when the missile pushing motor (45) is engaged and rolled on the rack (44), the missile pushing motor (45) drives the missile pushing mounting frame (46), the first screw nut mechanism (47) and the missile pushing frame (48) to move forward, and then the missile body (41) is pushed to slide forward in the missile sliding groove (43).

2. The loading car of claim 1, wherein, The mounting frame (30) is connected with the second screw nut mechanism (313) through the first adjusting oil cylinder (311) and the second adjusting oil cylinder (312) respectively, the moving block of the second screw nut mechanism (313) forms a rotary pair with the U-shaped slider (32), the U-shaped slider (32) is fixedly connected with the quadrant adjusting circular arc gear (33) and the missile sliding groove (43), the driving screw of the second screw nut mechanism (313) is connected with the missile pushing transverse adjusting motor (34), the first adjusting oil cylinder (311) and the second adjusting oil cylinder (312) are driven to perform extension and retraction movement, so that the height difference of the first adjusting oil cylinder (311) and the second adjusting oil cylinder (312) is adjusted to realize the adjustment of the loading pitch angle; the missile pushing transverse adjusting motor (34) drives the second screw nut mechanism (313) to move transversely, so as to drive the U-shaped slider (32), the missile sliding groove (43) and the missile body (41) built in the missile sliding groove (43) to move transversely, so as to adjust the loading swing angle; the first adjusting oil cylinder (311) and the second adjusting oil cylinder (312) are respectively installed on the upper end surface of the mounting frame (30), and the upper end surface of the second adjusting oil cylinder (312) is fixedly connected with the second screw nut mechanism (313).

3. The loading car of claim 2, wherein, The missile loading device (40) comprises a quadrant adjusting motor (491), the quadrant adjusting motor (491) is provided with a quadrant gear (492), and the quadrant gear (492) is engaged with the quadrant adjusting circular arc gear (33); the quadrant adjusting motor (491) drives the quadrant adjusting circular arc gear (33) to rotate, so as to drive the U-shaped slider (32) and the missile sliding groove (43) to rotate to adjust the quadrant angle of the missile body (41); the front end of the mounting frame (30) is provided with a video acquisition device for detecting the position and posture of the launching barrel, the video acquisition device comprises a left visual camera (61) and a right visual camera (62), and the left visual camera (61) and the right visual camera (62) are respectively installed on the left and right sides of the front end of the mounting frame (30).

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