Fully automated filling robot

Abstract

The application discloses a full-automatic filling robot, which comprises a horizontal moving assembly, a horizontal rotating assembly fixedly installed on the horizontal moving assembly, a vertical rotating assembly fixedly connected with the horizontal rotating assembly, a clamp swinging assembly installed on a swing arm of the vertical rotating assembly, a clamp assembly connected with the vertical rotating assembly and the clamp swinging assembly, and a control system connected with the horizontal moving assembly, the horizontal rotating assembly, the vertical rotating assembly, the clamp swinging assembly and the clamp assembly. The full-automatic filling robot adopts three degrees of freedom to complete the grabbing of the two cylinders in the two cylindrical material bins, and the three axes are linked, so that the motion is simple, the filling beat of the whole machine is high, the filling period is short, and the filling efficiency and capacity of the whole equipment are improved. The problems of slow filling beat and low filling efficiency in the prior art are solved.

Description

Technical Field

[0001] This invention belongs to the field of cylindrical filling technology and relates to a fully automated filling robot. Background Technology

[0002] The existing large-caliber cylindrical automatic loading technology has become one of the key technologies for unmanned systems and a critical bottleneck in the development of unmanned artillery technology in my country. The cylindrical automatic loading system directly affects the firing rate, layout, size, mass, power source power configuration, and firing accuracy of self-propelled artillery weapon systems. The key technologies for cylindrical automatic loading include the overall loading system technology, the smoothness of the cylinder's movement within the components, the overlap of component movements, rapid positioning under high torque and variable load, low-voltage high-current drive technology, and the mutual influence of multiple mechanism motion power sources.

[0003] Existing methods for filling large-diameter cylinders typically employ semi-automatic or fully automatic specialized machines. These machines are designed for applications with large product weight, limited internal space, stringent overall system weight requirements, and high filling efficiency demands. Therefore, high filling speed and reliability are required for automated filling systems. Current 7-DOF filling robots, based on standard 6-DOF robots, offer increased flexibility and more degrees of freedom. While the individual motors effectively avoid interference and collisions between the filling mechanism and other mechanisms within the filling space, the slow loading cycle results in low overall efficiency and significant weight. Furthermore, they cannot achieve automated cylinder replenishment and are unsuitable for the demands of modern filling environments.

[0004] Existing loading robots are basically based on operator supervision or interactive operation. Although this reduces the physical labor intensity of operators to a certain extent, it has not completely eliminated human intervention and achieved unmanned, fully automated loading. Therefore, it is urgent to study an automatic loading technology, which will also effectively promote the rapid development of my country's modern unmanned technology system. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automated loading robot that solves the problems of slow loading cycle and low loading efficiency in the prior art.

[0006] The technical solution adopted in this invention is a fully automatic loading robot, including a lateral movement component, a horizontal rotation component fixedly installed on the lateral movement component, a vertical rotation component fixedly connected to the horizontal rotation component, a gripper swing component installed on the swing arm of the vertical rotation component, a gripper component connected to the vertical rotation component and the gripper swing component, and the lateral movement component, the horizontal rotation component, the vertical rotation component, the gripper swing component, and the gripper component are all connected to a control system.

[0007] The invention is further characterized in that,

[0008] The lateral movement assembly includes a lateral movement base, lateral movement guide rails on both sides of the lateral movement base along its length, lateral movement sliders slidably connected on the lateral movement guide rails, a lateral movement slide plate fixed between the two lateral movement sliders, lateral movement mechanical limit mounting plates installed at both ends of the lateral movement guide rails, and lateral movement mechanical limit buffer blocks set on the lateral movement mechanical limit mounting plates; a lateral movement sensor mounting plate is set on the lateral movement slide plate, a lateral movement front limit sensor and a lateral movement rear limit sensor are installed on the lateral movement sensor mounting plate, and a lateral movement front limit sensing element is installed on the lateral movement base.

[0009] A transverse transmission screw is installed parallel to one side of the transverse guide rail. A movable support mounting block is installed at one end of the transverse transmission screw, connecting to the movable support of the transverse component screw. A fixed support mounting block is installed at the other end of the transverse transmission screw, connecting to the fixed support of the transverse component screw. A transverse reducer mounting plate is installed on one side of the fixed support mounting block, and a transverse reducer is fixedly mounted on the mounting plate. The transverse reducer is connected to the transverse motor and its drive shaft. The drive shaft is connected to a diaphragm coupling. The transverse transmission screw passes through the fixed support mounting block and connects to the diaphragm coupling. A screw nut is fitted onto the transverse transmission screw. A screw nut adapter plate is fixedly connected to the screw nut, which is then fixedly connected to the screw nut mounting plate. The screw nut mounting plate is fixedly installed on one side of the transverse base. Both the screw nut adapter plate and the screw nut mounting plate are connected to one side of the transverse slide plate.

[0010] The horizontal rotation assembly includes a horizontal assembly elevation seat, which is mounted on a transverse sliding plate. A horizontal assembly reducer mounting base is mounted on the horizontal assembly elevation seat. A reducer mounting plate is mounted on the horizontal assembly reducer mounting base. A horizontal assembly reducer is mounted on the reducer mounting plate. The horizontal assembly reducer is connected to the horizontal assembly drive motor. The output flange of the horizontal assembly reducer is fixedly connected to the vertical rotation reducer mounting base.

[0011] The vertical rotary reducer mounting base is used to fix the horizontal zero-point sensor mounting plate, the right limit sensor mounting plate, and the left limit sensor mounting plate with screws. The horizontal zero-point sensor mounting plate is used to fix the horizontal zero-point sensor with upper and lower nuts; the right limit sensor mounting plate is used to fix the right limit sensor with upper and lower nuts; and the left limit sensor mounting plate is used to fix the left limit sensor with upper and lower nuts.

[0012] The vertical rotation assembly includes a vertical commutator, which is mounted on a vertical rotation reducer mounting base. A vertical rotation drive motor is fixedly connected to the vertical commutator. The output shaft of the vertical rotation drive motor meshes with the vertical rotation reducer via gears. The output flange of the vertical rotation reducer is connected to a vertical rotation arm via screws. A vertical rotation lower limit sensor mounting plate and a vertical rotation upper limit sensor mounting plate are mounted on the vertical rotation arm via screws. A vertical rotation lower limit sensor and a vertical rotation zero-position sensor are mounted on the vertical rotation lower limit sensor mounting plate. A vertical rotation upper limit sensor and a vertical rotation lower limit sensor are mounted on the vertical rotation upper limit sensor mounting plate. A vertical rotation upper mechanical limit block and a vertical rotation lower mechanical limit block are mounted on the vertical rotation reducer via screws.

[0013] The clamp swing assembly includes a clamp swing cylinder tail end mounting seat, which is mounted on the upper end of the vertical rotating arm. A clamp swing cylinder tail end rotating shaft is provided on the clamp swing cylinder tail end mounting seat, which is connected to the tail of the clamp swing cylinder. The head of the clamp swing cylinder telescopic rod is connected to the head rotating shaft of the clamp swing cylinder, which is connected to the base plate of the base support. Two clamp rotating shaft mounting seats are installed on both sides of the end of the vertical rotating arm, and the clamp rotating shaft is rotatably connected in the two clamp rotating shaft mounting seats.

[0014] The clamp assembly includes a base support, a base plate riveted to the back of the base support, and a lower and upper clamping jaws on the front of the base support. A clamp reducer mounting plate is installed above the base plate, and a clamping jaw drive reducer is fixedly installed on the clamp reducer mounting plate. The clamping jaw drive reducer is fixedly connected to a clamping jaw drive motor by screws. The output shaft of the clamping jaw drive reducer is connected to the top of a long drive shaft through a clamp reducer drive shaft coupling. A long drive shaft rotating copper sleeve mounting bracket is fixedly installed in the middle of the base plate, and a short drive shaft rotating copper sleeve mounting bracket is installed below the base plate. A long drive shaft rotating copper sleeve is fixedly installed on the long drive shaft rotating copper sleeve mounting bracket, and a short drive shaft rotating copper sleeve is fixedly installed on the short drive shaft rotating copper sleeve mounting bracket. The long drive shaft is sleeved inside the long drive shaft rotating copper sleeve, and the bottom of the long drive shaft is fixedly connected to the short drive shaft through a short drive shaft coupling.

[0015] The upper and lower parts of the long drive shaft are both fixed to the clamp drive rods via flat keys. Pin holes are provided at both ends of the clamp drive rods. A left jaw drive rod is located above one end of the clamp drive rod, and a right jaw drive rod is located below one end of the clamp drive rod. Pin holes are provided at both ends of both the right and left jaw drive rods, and jaw connecting pins are installed within these pin holes. Snap rings are provided above and below the jaw connecting pins for limiting their movement. The left and right jaw drive rods are connected to the upper and lower jaw slides located at the upper and lower parts of the long drive shaft, respectively, via the jaw connecting pins. The base plate is horizontal. Two gripper guide rails are provided, and the gripper sliders are slidably connected to the gripper guide rails. The gripper sliders are respectively connected to the upper gripper slide and the lower gripper slide. The upper gripper slide and the lower gripper slide are respectively equipped with upper and lower grippers. The base plate of the support is fixedly installed with a clamping status sensor plate by screws. The lower gripper slide is fixedly installed with a clamping sensor mounting plate. The clamping status sensor plate is equipped with a clamping sensor and a clamping open sensor. The base plate of the support is fixedly installed with a simulated cylinder sensor mounting plate and a simulated cylinder sensor mounting plate pad. The simulated cylinder sensor is installed on the simulated cylinder sensor mounting plate pad.

[0016] A manual unlocking device is provided between the clamp assembly and the vertical rotation assembly. The manual unlocking device includes a clamp rotation locking base. Two clamp rotation locking bases are fixedly installed on both sides of the vertical rotation arm. A clamp rotation locking pin rotating copper sleeve is installed on the clamp rotation locking pin rotating copper sleeve. A clamp rotation locking pin mounting plate is installed on the clamp rotation locking pin rotating copper sleeve. Two clamp rotation locking pins are fixedly installed on the upper and lower clamp rotation locking pin mounting plates respectively. The clamp rotation locking pin mounting plates are connected to the outer tension bearing plate of the clamp. The inner side of the outer tension bearing plate of the clamp is a semi-circular groove pressure plate structure, and the outer side is a shaft structure. The outer tension bearing plate of the clamp forms a rotating pair with the clamp rotation locking base through the clamp rotation locking pin rotating copper sleeve. Two clamp inner pressure bearing plates are symmetrically installed on the inner side of the vertical rotation arm. The two clamp inner pressure bearing plates are semi-circular groove shaped.

[0017] The beneficial effects of this invention are that the fully automated loading robot of this invention has the following advantages:

[0018] 1. The fully automated loading robot enables the fully automated loading of cylindrical parts inside a certain type of vehicle, achieving completely unmanned operation, reducing the labor intensity of operators, reducing the number of personnel accompanying the vehicle, and improving the overall loading efficiency and capacity of the equipment.

[0019] 2. A fully automated loading robot can automatically grasp the cylindrical material in the left and right hoppers of a certain type of vehicle and automatically fill it through the loading port; at the same time, the overall height of the loading robot is basically the same as the height of the tallest cylinder being filled, so the overall size is small and occupies little space.

[0020] 3. In the present invention, the automatic extension and retraction mechanism of the clamp automatically extends the clamp out of the hatch of a certain type of vehicle in the cylinder replenishment mode, automatically receives the cylinder from the hatch, and automatically replenishes the cylinder into the cylinder hopper inside the vehicle.

[0021] 4. In this invention, each degree of freedom is equipped with an interface for interaction between the human operator and the automated loading robot in emergency situations. When the cylinder has a large mass, and a single operator cannot manually transfer the cylinder, if the power supply system or signal transmission of a certain type of vehicle malfunctions, manual operation of each degree of freedom can be achieved through the human-machine interface to complete the semi-automatic loading of the cylinder. When the cylinder has a small mass, and the operator can manually transfer the cylinder, if the power supply system or signal transmission of a certain type of vehicle malfunctions, the fully automated loading robot can retract to the standby position through human-machine interaction, providing the necessary loading space for manual loading.

[0022] 5. This invention uses three degrees of freedom to grasp the cylinders in the left and right cylindrical hoppers, and the three axes are linked, making the operation simple, the machine has a high loading cycle, a short loading period, and high efficiency. Attached Figure Description

[0023] Figure 1 This is a front view of the three-dimensional structure of the fully automated loading robot of the present invention for simulated assembly;

[0024] Figure 2 This is a top perspective view of the three-dimensional structure of the fully automated loading robot of the present invention for simulated assembly.

[0025] Figure 3 This is a three-dimensional isometric drawing of the fully automated loading robot of the present invention for simulated assembly.

[0026] Figure 4 This is a front view of the three-dimensional structure of the fully automated loading robot of the present invention;

[0027] Figure 5 This is a top view of the three-dimensional structure of the fully automated loading robot of the present invention;

[0028] Figure 6 This is a top view of the transverse component of the present invention;

[0029] Figure 7 This is a front view of the transverse component of the present invention;

[0030] Figure 8 This is a front view of the horizontal rotating component of the present invention;

[0031] Figure 9 This is a top view of the horizontal rotation component of the present invention;

[0032] Figure 10This is a cross-sectional view of the horizontal rotating component of the present invention;

[0033] Figure 11 This is a front view of the vertical rotation component of the present invention;

[0034] Figure 12 This is a left view of the vertical rotation component of the present invention;

[0035] Figure 13(a) is a right view of the clamp assembly of the present invention;

[0036] Figure 13(b) is a front view of the clamp assembly of the present invention;

[0037] Figure 13(c) is an isometric view of the clamp assembly of the present invention;

[0038] Figure 14 This is a top view of the clamp unlocking device of the present invention;

[0039] Figure 15 This is a flowchart of the control system of the present invention.

[0040] In the diagram, 1. Simulated inner cavity mounting base, 2. Simulated inner cavity bottom plate, 3. Right cylindrical hopper, 4. Simulated filling inner cavity top cover, 5. Simulated filling port, 6. Main body of the fully automatic filling robot, 7. Simulated large-diameter cylinder, 8. Simulated inner chamber boundary, 9. Right cylindrical hopper, 10. Simulated filling inner cavity top cover hatch, 11. Lateral movement assembly, 12. Horizontal rotation assembly, 13. Vertical rotation assembly, 14. Fixture swing assembly, 15. Fixture assembly, 16. Right cylindrical hopper material outlet, 17. Left cylindrical hopper material outlet, 18. Lateral movement assembly lead screw movable support seat, 19. Lead screw movable support seat mounting block, 20. Lateral movement transmission lead screw, 21. Lateral movement base, 22. Lateral movement front limit sensor plate, 23. Lead screw screw. 24. Female adapter plate; 25. Leadscrew nut mounting plate; 26. Leadscrew nut; 27. Lateral movement sensor mounting plate; 28. Front lateral movement limit sensor; 29. ​​Lateral movement guide rail; 30. Rear lateral movement limit sensor; 31. Lateral movement mechanical limit mounting plate; 32. Lateral movement mechanical limit buffer block; 33. Lateral movement component leadscrew fixed support seat; 34. Leadscrew fixed support seat mounting block; 35. Lateral movement reducer drive shaft; 36. Diaphragm coupling; 37. Lateral movement reducer mounting plate; 38. Lateral movement reducer; 39. Lateral movement motor; 40. Cable tray; 41. Lateral movement cable chain mounting plate; 42. Lateral movement slide plate; 43. Lateral movement cable chain movable end mounting plate; 44. Vertical motor commutator; 45. Horizontal component heightening seat; 46. Horizontal... Component reducer mounting base, 48. Horizontal component drive motor, 49. Reducer mounting plate, 50. Horizontal component zero point sensing block, 51. Right mechanical limit block, 52. Horizontal zero point sensor, 53. Horizontal zero point sensor mounting plate, 54. Vertical rotation reducer mounting base, 55. Cable fixing plate, 56. Right limit sensor, 57. Right limit sensor mounting plate, 58. Left mechanical limit block, 59. Left limit sensor mounting plate, 60. Left limit sensor, 61. Horizontal component reducer, 62. Base plate, 63. Vertical rotation drive motor, 64. Vertical rotation lower limit sensor mounting plate, 65. Vertical rotation reducer, 66. Vertical rotation arm, 67. Fixture rotation shaft, 68. Fixture rotation shaft mounting base, 6 9. Clamp rotation locking base; 70. Clamp rotation locking pin; 71. Clamp rotation locking pin rotating copper sleeve; 72. Clamp swing electric cylinder; 73. Clamp swing electric cylinder tail end mounting seat; 74. Clamp swing electric cylinder tail end rotating shaft; 75. Clamp swing electric cylinder head rotating shaft; 76. Vertical rotation upper limit sensor; 77. Vertical rotation lower limit sensor; 78. Vertical rotation zero position sensor; 79. Vertical rotation upper limit sensor mounting plate; 80. Vertical rotation handwheel; 81. Vertical rotation upper mechanical limit block; 82. Vertical rotation lower mechanical limit block; 83. Clamp rotation locking pin mounting plate; 84. Base support; 85. Lower gripper; 86. Upper gripper; 87. Gripper drive motor; 88. Gripper drive reducer; 89.90. Fixture reducer mounting plate; 91. Fixture reducer drive shaft coupling; 92. Long drive shaft rotating copper sleeve mounting support; 93. Upper jaw slide; 94. Jaw slider; 95. Jaw guide rail; 96. Long drive shaft; 97. Short drive shaft coupling; 98. Fixture clamping sensor; 99. Short drive shaft; 100. Fixture sensor mounting plate; 101. Lower jaw slide; 102. Short drive shaft rotating copper sleeve mounting support; 103. Fixture opening sensor; 104. Long drive shaft... 105. Rotating copper sleeve of the moving shaft; 106. Clamp drive linkage; 107. Right jaw drive linkage; 108. Left jaw drive linkage; 109. Clamp linkage hinge pin; 110. Clamp status sensor; 111. Simulated cylinder sensor; 112. Simulated cylinder sensor mounting plate; 113. Simulated cylinder sensor mounting plate pad; 114. Flat key; 115. Clamp rotation locking pin mounting plate; 116. Clamp outer tension bearing plate; 117. Clamp inner pressure bearing plate; 118. Clamp locking shaft. Detailed Implementation

[0041] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0042] Example 1

[0043] This invention provides a fully automated loading robot that simulates the assembly structure, such as... Figure 1 As shown, a simulated inner cavity base plate 2 is installed on the simulated inner cavity mounting base 1. A right cylindrical hopper 3 and a left cylindrical hopper 9 are respectively located on both sides of the simulated inner cavity base plate 2, serving as the positions for picking up and placing simulated cylinders. A fully automatic loading robot body 6 is positioned between the right cylindrical hopper 3 and the left cylindrical hopper 9. Figure 2 As shown, the right cylindrical hopper 3 and the left cylindrical hopper 9 are respectively equipped with a right cylindrical hopper inlet 16 and a left cylindrical hopper inlet 17. The simulated inner cavity bottom plate 2 is bolted to the simulated inner cavity mounting base 1, and the simulated inner cavity mounting base 1 is fixed to the ground with anchor bolts. Figure 3 As shown, a simulated turret top cover 4 is installed on the top of the right cylindrical hopper 3 and the left cylindrical hopper 9. A simulated loading port 5 is set at the bottom of the simulated turret top cover 4, forming a loading simulation chamber inside the simulated loading port 5. A simulated loading hatch 10 is opened on the simulated turret top cover 4. The periphery of the right cylindrical hopper 3 and the left cylindrical hopper 9 forms the simulated inner chamber boundary 8, reducing the overall height of the fully automatic loading robot body. This ensures that there is no interference in the height direction when the robot picks up and puts in the simulated large-diameter cylinder 7, reducing the storage height of the simulated large-diameter cylinder 7 in a certain type of vehicle, and reducing the overall height dimension of the loading space.

[0044] like Figure 4 and Figure 5As shown, the main body 6 of the fully automatic loading robot includes a lateral movement component 11, a horizontal rotation component 12, a vertical rotation component 13, a gripper swing component 14, a gripper assembly 15, and a control system. The lateral movement component 11 is installed on the top surface of a certain type of vehicle chassis to realize the forward and backward movement of the loading robot. The horizontal rotation component 12 is fixedly installed on the lateral movement component 11, the vertical rotation component 13 is fixedly connected to the horizontal rotation component 12, the gripper swing component 14 is installed on the swing arm of the vertical rotation component 13, and the gripper assembly 15 is installed on the vertical rotation component 13 and the gripper swing component 14. The gripper assembly 15 holds a simulated large-diameter cylinder 7. The lateral movement component 11, the horizontal rotation component 12, the vertical rotation component 13, the gripper swing component 14, and the gripper assembly 15 are all connected to the control system.

[0045] Example 2

[0046] like Figure 6 As shown, the transverse movement assembly 11 includes a transverse movement base 21, which is disposed on the simulated inner cavity bottom plate 2. The transverse movement base 21 is located between the right cylindrical hopper 3 and the left cylindrical hopper 9. Transverse movement guide rails 28 are provided on both sides of the transverse movement base 21 along its length. Transverse movement sliders 45 are slidably connected to the transverse movement guide rails 28. A transverse movement slide plate 42 is fixed between the two transverse movement sliders 45. The transverse movement slide plate 42 is installed on the transverse movement sliders 45 by screws. By sliding the transverse movement sliders 45 on the transverse movement guide rails 28, the transverse movement slide plate 42 is guided and slid on the transverse movement base 21. The guiding method can also be changed to a dovetail groove type or a guide method with a smooth rod and a copper sleeve; both ends of the transverse guide rail 28 are equipped with transverse mechanical limit mounting plates 30, and transverse mechanical limit buffer blocks 31 are set on the transverse mechanical limit mounting plates 30 to ensure that the transverse slider 45 does not slide out of the stroke; a transverse sensor mounting plate 26 is set on the transverse slide plate 42, and a transverse front limit sensor 27 and a transverse rear limit sensor 29 are installed on the transverse sensor mounting plate 26. A transverse front limit sensing plate 22 is installed on the transverse base 21 to realize the zeroing of the position of the transverse component 11 and the real-time feedback of the front and rear limit positions;

[0047] A transverse transmission screw 20 is arranged parallel to one side of the transverse guide rail 28. A movable support mounting block 19 is provided at one end of the transverse transmission screw 20, which is connected to the transverse component screw movable support 18. A fixed support mounting block 33 is provided at the other end of the transverse transmission screw 20, which is connected to the transverse component screw fixed support 32. Both the transverse component screw movable support 18 and the transverse component screw fixed support 32 contain bearings or copper sleeves. The transverse transmission screw 20 is fixedly connected between the movable support mounting block 19 and the fixed support mounting block 33. The transverse transmission screw 20 is mounted on the simulated inner cavity base plate 2 through the transverse component screw movable support 18, the movable support mounting block 19, the transverse component screw fixed support 32, and the fixed support mounting block 33.

[0048] A transverse reducer mounting plate 36 is provided on one side of the screw fixing support mounting block 33. A transverse reducer 37 is fixedly mounted on the transverse reducer mounting plate 36. The transverse reducer 37 is connected to the transverse motor 38. The transverse motor 38 and the transverse reducer 37 are connected by screws and keyed transmission to achieve installation and torque transmission. The transverse reducer 37 is connected to the transverse reducer drive shaft 34, which is connected to a diaphragm coupling 35. The transverse transmission screw 20 passes through the screw fixing support mounting block 33 and is connected to the diaphragm coupling 35. Through the transverse reducer drive shaft 34 and the diaphragm coupling 35, torque and speed are transmitted to the transverse transmission screw 20 to achieve transverse transmission. When lever 20 rotates, a screw nut 25 is sleeved on the transverse transmission screw 20, thereby realizing the forward and backward movement of the screw nut 25. The screw nut 25 is fixedly connected to a screw nut adapter plate 23, which is fixedly connected to a screw nut mounting plate 24. The screw nut mounting plate 24 is fixedly installed on one side of the transverse base 21. Both the screw nut adapter plate 23 and the screw nut mounting plate 24 are connected to one side of the transverse slide plate 42. The transverse cable chain movable end mounting plate 43 is fixedly installed on the transverse slide plate 42. The transverse cable chain movable end mounting plate 43 is used to drive the cable chain to move back and forth during the movement of the transverse slide plate 42, thereby realizing the automatic forward and backward movement of the transverse slide plate 42 driven by the transverse motor 38. Figure 7 As shown, the transverse reducer 37 is a type of reducer with input at both ends and output at one end. After manually releasing the transverse motor brake, the transverse transmission screw 20 can be rotated by the transverse handwheel, thereby realizing the manual forward and backward movement of the transverse slide plate 42.

[0049] The horizontal rotation component 12 is mounted on the horizontal sliding plate 42 of the horizontal movement component 11, and performs interpolation linear motion with the horizontal movement component 11 to realize the linear movement of the fully automatic loading robot body 6 into and out of the right cylindrical hopper 3 and the left cylindrical hopper 9 to retrieve or place cylinders; such as Figure 8As shown, the horizontal rotation assembly 12 includes a horizontal assembly elevation seat 46, which is mounted on the transverse sliding plate 42. A horizontal assembly reducer mounting base 47 is mounted on the horizontal assembly elevation seat 46. Figure 10 As shown, a reducer mounting plate 49 is installed on the horizontal component reducer mounting base 47, and a horizontal component reducer 61 is installed on the reducer mounting plate 49. The horizontal component reducer 61 is connected to the horizontal component drive motor 48, and the output flange of the horizontal component reducer 61 is fixedly connected to the vertical rotation reducer mounting base 54. The output shaft of the horizontal component drive motor 48 and the input hole of the horizontal component reducer 61 are connected by a key to realize torque transmission, thereby realizing the function of the horizontal component drive motor 48 driving the vertical rotation reducer mounting base 54 to rotate.

[0050] like Figure 9 As shown, the vertical rotary reducer mounting base 54 is fixedly mounted with a horizontal zero-point sensor mounting plate 53, a right limit sensor mounting plate 57, and a left limit sensor mounting plate 59 by screws. The horizontal zero-point sensor mounting plate 53 is fixedly mounted with a horizontal zero-point sensor 52 by upper and lower nuts, and the mounting height of the horizontal zero-point sensor 52 can be adjusted. The right limit sensor mounting plate 57 is fixedly mounted with a right limit sensor 56 by upper and lower nuts, and the mounting height of the right limit sensor 56 can be adjusted. The left limit sensor mounting plate 59 is fixedly mounted with a left limit sensor 60 by upper and lower nuts, and the mounting height of the left limit sensor 60 can be adjusted.

[0051] The vertical rotation component 13, in conjunction with the horizontal movement component 11 and the horizontal rotation component 12, transforms the cylinder from a vertical to a horizontal state within a confined space, and places the head of the simulated large-diameter cylinder 7 into the simulated loading port 5; as Figure 11 and Figure 12As shown, the vertical rotation assembly 13 includes a vertical commutator 45, which is mounted on a vertical rotation reducer mounting base 54. A vertical rotation drive motor 63 is fixedly connected to the vertical commutator 45. The output shaft of the vertical rotation drive motor 63 meshes with the vertical rotation reducer 65 through gears to achieve torque transmission. The output flange of the vertical rotation reducer 65 is connected to the vertical rotation arm 66 by screws, thereby realizing the vertical rotation arm 66 swinging in the vertical direction. The vertical commutator 45 has the characteristics of input at both ends and output at one end. After manually releasing the brake of the vertical rotation drive motor 63, the vertical rotation arm 66 can swing up and down by the vertical rotation handwheel 80. A vertical rotation lower limit sensor mounting plate 64 and a vertical rotation upper limit sensor mounting plate 79 are mounted on the vertical rotation arm 66 by screws. A vertical rotation lower limit sensor 77 and a vertical rotation zero position sensor 78 are mounted on the vertical rotation lower limit sensor mounting plate 64. A vertical rotation upper limit sensor 76 is installed on the vertical rotation upper limit sensor mounting plate 79, and a vertical rotation upper mechanical limit block 81 and a vertical rotation lower mechanical limit block 82 are installed on the vertical rotation reducer 65 by screws to determine the vertical rotation limit position.

[0052] The clamp swing assembly 14, in conjunction with the vertical rotation assembly 13 and the lateral movement assembly 11, enables the simulated large-diameter cylinder 7 to be received from the simulated filling cavity top cover hatch 10, clamped by the clamp assembly 15, and then returned to the right cylindrical hopper 3 or the left cylindrical hopper 9 through the linkage of each axis, thus completing the automatic replenishment of the simulated large-diameter cylinder 7. The clamp assembly 15 is fixedly connected to the clamp swing assembly 14, and a single drive motor is used to synchronously control the upper and lower sets of grippers. At the same time, the grippers have a self-locking function to prevent the simulated large-diameter cylinder 7 from sliding out of the clamp assembly 15 during high-speed operation of a certain type of vehicle or high-speed operation of the automatic filling robot.

[0053] The clamp swing assembly 14 includes a clamp swing electric cylinder tail end mounting seat 73, which is mounted on the upper end of the vertical rotating arm 66. The clamp swing electric cylinder tail end mounting seat 73 is provided with a clamp swing electric cylinder tail end rotating shaft 74, which is connected to the tail of the clamp swing electric cylinder 72 to realize the rotation pair (with embedded copper sleeve) connection. The telescopic rod head of the clamp swing electric cylinder 72 is connected to the clamp swing electric cylinder head rotating shaft 75, which is connected to the base plate 62 to realize the rotation pair (with embedded copper sleeve) connection. Two clamp rotation shaft mounting seats 68 are installed on both sides of the end of the vertical rotating arm 66. The clamp rotation shaft 67 is rotatably connected to the two clamp rotation shaft mounting seats 68. The clamp rotation shaft mounting seats 68 are hinged to the base plate 62 through the clamp rotation shaft 67 (with embedded copper sleeve), so that the clamp assembly 15 can rotate around the axis of the clamp rotation shaft 67. In the replenishment mode, the clamp can be extended or retracted. The clamp rotation center is set at the center of mass of the clamp assembly 15 to reduce the inertial torque of the clamp assembly 15 during rotation.

[0054] As shown in Figure 13(a), the clamping assembly 15 includes a base 84, a base plate 62 riveted to the back of the base 84, a base bracket at the bottom of the base 84, and a pre-reserved push spring space at the center of the base bracket to facilitate the high-speed and smooth sliding of the simulated large-diameter cylinder 7 inside the base 84 under the action of the push mechanism; the front of the base 84 is provided with a lower clamping jaw 85 and an upper clamping jaw 86, which have a self-locking function to ensure that the simulated large-diameter cylinder 7 can be reliably and stably clamped inside the base 84;

[0055] A clamp reducer mounting plate 89 is installed above the base plate 62. A gripper drive reducer 88 is fixedly installed on the clamp reducer mounting plate 89. The gripper drive reducer 88 is fixedly connected to the gripper drive motor 87 by screws, and the power output shaft of the gripper drive motor 87 is connected to the power input hole of the gripper drive reducer 88 by a key. The output shaft of the gripper drive reducer 88 is connected to the top of the long drive shaft 95 through the clamp reducer drive shaft coupling 90 to realize torque transmission. A rotating copper sleeve of the long drive shaft is fixedly installed in the middle of the base plate 62. Mounting support 91, short drive shaft rotating copper sleeve mounting support 102 is installed below the base plate 62, long drive shaft rotating copper sleeve 104 is fixedly installed on long drive shaft rotating copper sleeve mounting support 91, short drive shaft rotating copper sleeve 101 is fixedly installed on short drive shaft rotating copper sleeve mounting support 102, long drive shaft 95 is sleeved inside long drive shaft rotating copper sleeve 104, the bottom of long drive shaft 95 is fixedly connected to short drive shaft 98 through short drive shaft coupling 96, and the bottom of short drive shaft 98 is rotated and guided by short drive shaft rotating copper sleeve 101.

[0056] As shown in Figure 13(b), the upper and lower parts of the long drive shaft 95 are both connected to and fixed to the clamp drive link 105 via a flat key 113. Pin holes are provided at both ends of the clamp drive link 105. A left jaw drive link 107 is located above one end of the clamp drive link 105, and a right jaw drive link 106 is located below one end of the clamp drive link 105. Pin holes are provided at both ends of both the right jaw drive link 106 and the left jaw drive link 107, and a jaw link hinge pin 108 is installed inside the pin holes. Snap rings are provided above and below the jaw link hinge pin 108 for limiting movement. Driven by the jaw drive motor 87, the long drive shaft 95 rotates simultaneously with the clamp drive link 105. The clamp drive link 105, the left jaw drive link 107, and the right jaw drive link 106 interact with each other. Rotation enables torque transmission; the left gripper drive link 107 and the right gripper drive link 106 are connected by gripper link hinge pins 108 respectively. The upper gripper slide 92 and the lower gripper slide 100 are located on the upper and lower parts of the long drive shaft 95. The base plate 62 has two gripper guide rails 94 in the horizontal direction. The gripper guide rails 94 are slidably connected to the gripper slider 93. The gripper slider 93 is respectively connected to the upper gripper slide 92 and the lower gripper slide 100. The gripper guide rails 94 and the gripper slider 93 slide together to guide the upper gripper slide 92 and the lower gripper slide 100 during their movement. The upper gripper slide 92 and the lower gripper slide 100 are respectively provided with upper grippers 86 and lower grippers 85 to realize the opening or clamping action of the upper grippers 86 and the lower grippers 85.

[0057] The base plate 62 is fixedly mounted with a clamp status sensor 109 by screws. The lower left jaw slide 100 is fixedly mounted with a clamp sensor mounting plate 99, as shown in Figure 13(c). The clamp status sensor 109 is equipped with a clamp clamping sensor 97 and a clamp opening sensor 103. When the upper jaw 86 and the lower jaw 85 are open or closed, the sensor's position status is sensed, and the state of the jaw is fed back. The base plate 62 is fixedly mounted with a simulated cylinder sensor mounting plate 111 and a simulated cylinder sensor mounting plate pad 112. A simulated cylinder sensor 110 is mounted on the simulated cylinder sensor mounting plate 111 and the simulated cylinder sensor mounting plate pad 112 to sense whether there is a simulated large-diameter cylinder 7 inside the clamp. Both the base 84 and the base plate 62 are provided with clearance holes to facilitate sensor sensing.

[0058] Example 3

[0059] A manual unlocking device is provided between the clamping assembly 15 and the vertical rotation assembly 13 to ensure the reliability of the connection between the clamping assembly 15 and the vertical rotation assembly 13 in the loading mode. When the robot is running at high speed and a certain type of vehicle is traveling at high speed, the clamping swing cylinder 72 is subjected to excessive force under the action of dual inertial forces, and the inertial force is borne by the manual unlocking device.

[0060] like Figure 14 As shown, the manual unlocking device includes a clamp rotation locking base 69. Two clamp rotation locking bases 69 are fixedly installed on both sides of the vertical rotating arm 66. A clamp rotation locking pin rotating copper sleeve 71 is provided on the clamp rotation locking pin rotating copper sleeve 71. A clamp rotation locking pin mounting plate 114 is provided on the clamp rotation locking pin rotating copper sleeve 71. Two clamp rotation locking pins 70 are fixedly installed on the upper and lower clamp rotation locking pin mounting plates 114 respectively. The clamp rotation locking pins 70 have a standard spring pin structure. The inner side of the clamp outer tension bearing plate 115 has a semi-circular groove pressure plate structure, and the outer side has a shaft structure. The clamp outer tension bearing plate 115 and the clamp rotation locking base 69 form a rotating pair through the clamp rotation locking pin rotating copper sleeve 71. The clamp outer tension... The outer side of the bearing plate 115 shaft is connected to the clamp rotation locking pin mounting plate 114 by screws; two clamp inner pressure bearing plates 116 are symmetrically installed on the inner side of the vertical rotating arm 66, and the two clamp inner pressure bearing plates 116 are semi-circular grooves; when in the loading mode, the cylindrical surface of the clamp locking shaft 117 presses on the clamp inner pressure bearing plate 116, and the operator pulls up the clamp rotation locking pin 70, which is a standard spring pin, and drives the clamp outer tension bearing plate 115 to rotate 180°, thereby achieving a clearance fit between the inner semi-circular groove of the clamp outer tension bearing plate 115 and the cylindrical surface of the clamp locking shaft 117. After the clamp rotation locking pin 70 is released, the pin is inserted into the pin hole on the clamp rotation locking base 69, thereby realizing the bearing of the clamp inertial force.

[0061] The working principle of the fully automatic loading robot of the present invention is as follows: the horizontal rotation component 12 enables a fully automatic loading robot to complete the fully automatic picking and loading of ammunition in two cylindrical hoppers, the right cylindrical hopper 3 and the left cylindrical hopper 9, for a certain type of vehicle; the clamp swing component 14, through the extension and retraction electric cylinder, is linked with the vertical rotation component 13 and the horizontal rotation component 12 to plan the trajectory path and realize the extension and retraction of the clamp towards the loading hatch, so as to realize the automatic replenishment of cylindrical ammunition from the loading hatch to the cylindrical hopper when the cylinder is used up;

[0062] The clamp assembly 15 is driven by a motor reducer to rotate the long shaft, which in turn rotates the gripper rod, providing driving force for the opening and closing of the upper and lower grippers. When the gripper rod is at 0°, the upper and lower grippers are in the open state, and the gripper rod and the gripper drive linkage are coaxial. When the rod is at 180°, the upper and lower grippers are in the closed state, and the gripper rod and the gripper drive linkage are coaxial. This achieves self-locking of the gripper mechanism in both open and closed states, preventing external reaction forces from affecting the state of the grippers. A linear guide rail guides the linear motion of the grippers in both open and closed states. An opening and closing state detection sensor is installed in the opposite direction of the gripper's linear motion to confirm and provide feedback on the gripper's state.

[0063] A cylinder detection sensor is installed in the clamp assembly 15 to detect the presence of a cylinder inside the clamp in real time. This sensor is used to detect the status of the cylinder in the clamp during the loading and replenishment of ammunition, preventing the cylinder from accidentally slipping out of the clamp during loading. In order to ensure that the top of the base 84 can smoothly extend from the simulated loading hatch 10 in the replenishment mode, and to ensure that the extension height is sufficient for the operator to place the simulated large-diameter cylinder 7 into the base 84 from the simulated loading hatch 10, a clamp swing assembly 14 is installed.

[0064] The working process of the fully automatic loading robot of this invention is as follows: Figure 15 As shown, the motion controller communicates with the host computer via a CAN bus, receiving tasks from the host computer and uploading the status information of the automatic loading robot. It is configured with two CAN buses, one of which is redundant, using the CAN 2.0B bus communication method with an extended frame 29-bit identifier and a baud rate of 1Mbps. The motion controller also communicates with the motor drivers via the CAN bus, issuing motion control commands and receiving status information from each motor driver. It uses the CAN 2.0B bus communication method with an extended frame 29-bit identifier and a baud rate of 1Mbps. The motion controller provides digital input and output ports, receiving forward and reverse motion limit detection signals and standby position signals for the transverse axis, and outputting position signals to interact with external devices. It also includes a handheld controller with 10 manual control buttons, enabling manual functions for 5 joint axes. Features include one-button return to home position, one-button access to the left cylindrical hopper's feeding port, one-button access to the right cylindrical hopper's feeding port, and one-button emergency stop.

[0065] In loading mode: After the main body 6 of the fully automatic loading robot is in the standby position inside the turret, the host computer issues a command, the clamping assembly 15 opens its grippers, and the left and right cylindrical hoppers transport the simulated large-diameter cylinder 7 to the right cylindrical hopper pick-up port 16 or the left cylindrical hopper pick-up port 17. The main body 6 of the fully automatic loading robot, according to the command from the host computer, determines whether to pick up the simulated large-diameter cylinder 7 from the left or right cylindrical hopper pick-up port. Based on the internal algorithm of the motion controller, it reverse-calculates the moving speed of the lateral component 11 and the rotational speed of the horizontal rotation component 12, moves the clamping assembly 15 to the picking position, and, under the action of the upper gripper 86, opens the lock of the cylindrical hopper to clamp the simulated large-diameter cylinder. After the cylinder 7, the clamping assembly 15 moves along the vertical normal of the cylindrical hopper opening to the outside of the cylindrical hopper; based on the internal algorithm of the motion controller, the moving speed of the lateral component 11, the rotation speed of the horizontal rotation component 12, and the rotation speed of the vertical rotation component 13 are calculated in reverse, and the three axes are linked to realize the transformation of the simulated large-diameter cylinder 7 from an upright state to a horizontal state. At the same time, the simulated large-diameter cylinder 7 is transferred from the cylindrical hopper to the simulated filling port 5; after the pushing mechanism pushes the simulated large-diameter cylinder 7 into the simulated filling port 5, the main body 6 of the fully automatic filling robot moves in reverse to return to the standby position (all trajectories are stored or automatically planned in the first teaching mode and will not be replanned).

[0066] In reloading mode: The operator opens the manual unlocking device in the clamp assembly 15, manually pulls out the clamp rotation locking pin 70, rotates it 180°, releases the clamp rotation locking pin 70, and ensures that the pin is inserted into the pin hole of the clamp rotation locking base 69; after the fully automatic loading robot body 6 returns to the standby position in the turret compartment with one key, the host computer issues a command, the clamp assembly 15 opens the gripper, and performs reverse calculation of the movement speed of the lateral component 11, the rotation speed of the horizontal rotation component 12, the rotation speed of the vertical rotation component 13, and the extension speed of the clamp swing cylinder 72 according to the internal algorithm of the motion controller, and extends the base 84 out of the loading hatch. The operator then moves the simulated large-diameter cylinder 7 along the inner arc groove of the base 84. Under the influence of gravity, the robot slides down to the bottom of the base 84. The simulated cylinder detection sensor detects the simulated large-diameter cylinder 7 and sends feedback to the motion controller. The motion controller issues a command, and the upper and lower grippers clamp simultaneously. Under the action of the motion controller, the clamping assembly moves in reverse to the right cylindrical hopper loading port 16 or the left cylindrical hopper loading port 17, and moves in a straight line to the left along the normal of the cylindrical hopper loading port, unlocking the cylindrical hopper and placing the simulated large-diameter cylinder 7 inside the cylindrical hopper. The motion controller issues a command, and the upper and lower grippers release simultaneously. The fully automatic loading robot body 6 moves in reverse to return to the standby position (all trajectories are stored or automatically planned in the initial teaching mode and will not be replanned).

[0067] The fully automatic loading robot of this invention is a multidisciplinary coupled system that integrates mechanical, electrical, hydraulic, computer and automatic control technologies. It solves the problems of low automation and slow loading speed in existing large-diameter cylindrical automatic loading systems, and improves reliability.

Claims

1. A fully automated loading robot, characterized in that, It is applied to the turret compartment, which is equipped with a right cylindrical hopper and a left cylindrical hopper. A fully automatic loading robot is set between the right cylindrical hopper and the left cylindrical hopper. The right cylindrical hopper and the left cylindrical hopper are equipped with corresponding material inlets. A simulated turret top cover is installed on the top of the right cylindrical hopper and the simulated loading port is set at the bottom of the simulated turret top cover. A simulated loading hatch is opened on the simulated turret top cover. The overall height of the fully automatic loading robot is the same as the height of the tallest cylinder being loaded. It includes a lateral movement component, a horizontal rotation component fixedly mounted on the lateral movement component, a vertical rotation component fixedly connected to the horizontal rotation component, a clamp swing component mounted on the swing arm of the vertical rotation component, and a clamp component connected to the clamp swing component. The lateral movement component, the horizontal rotation component, the vertical rotation component, the clamp swing component, and the clamp component are all connected to the control system. The vertical rotation assembly includes a vertical commutator, which is mounted on a vertical rotation reducer mounting base. A vertical rotation drive motor is fixedly connected to the vertical commutator. The output shaft of the vertical rotation drive motor meshes with the vertical rotation reducer via gears. The output flange of the vertical rotation reducer is connected to the vertical rotation arm via screws. A vertical rotation lower limit sensor mounting plate and a vertical rotation upper limit sensor mounting plate are mounted on the vertical rotation arm via screws. A vertical rotation lower limit sensor and a vertical rotation zero-position sensor are mounted on the vertical rotation lower limit sensor mounting plate. A vertical rotation upper limit sensor and a vertical rotation lower limit sensor are mounted on the vertical rotation upper limit sensor mounting plate. A vertical rotation upper mechanical limit block and a vertical rotation lower mechanical limit block are mounted on the vertical rotation reducer via screws. The vertical rotary reducer mounting base is fixedly mounted with a horizontal zero-point sensor mounting plate, a right limit sensor mounting plate, and a left limit sensor mounting plate by screws. The horizontal zero-point sensor mounting plate is fixedly mounted with a horizontal zero-point sensor by upper and lower nuts; the right limit sensor mounting plate is fixedly mounted with a right limit sensor by upper and lower nuts; and the left limit sensor mounting plate is fixedly mounted with a left limit sensor by upper and lower nuts. A manual unlocking device is provided between the clamp assembly and the vertical rotation assembly. The manual unlocking device includes a clamp rotation locking base. Two clamp rotation locking bases are fixedly installed on both sides of the vertical rotation arm. A clamp rotation locking pin rotating copper sleeve is provided on the clamp rotation locking pin rotating copper sleeve. A clamp rotation locking pin mounting plate is provided on the clamp rotation locking pin rotating copper sleeve. Two clamp rotation locking pins are fixedly installed on the upper and lower clamp rotation locking pin mounting plates respectively. The clamp rotation locking pin mounting plates are connected to the outer tension bearing plate of the clamp. The inner side of the outer tension bearing plate of the clamp is a semi-circular groove pressure plate structure, and the outer side is a shaft structure. The outer tension bearing plate of the clamp forms a rotating pair with the clamp rotation locking base through the clamp rotation locking pin rotating copper sleeve. Two clamp inner pressure bearing plates are symmetrically installed on the inner side of the vertical rotation arm. The two clamp inner pressure bearing plates are semi-circular groove shaped.

2. The fully automated loading robot according to claim 1, characterized in that, The lateral movement assembly includes a lateral movement base, lateral movement guide rails are provided on both sides of the lateral movement base along the length direction, lateral movement sliders are slidably connected on the lateral movement guide rails, a lateral movement slide plate is fixed between the two lateral movement sliders, lateral movement mechanical limit mounting plates are installed at both ends of the lateral movement guide rails, and lateral movement mechanical limit buffer blocks are provided on the lateral movement mechanical limit mounting plates; a lateral movement sensor mounting plate is provided on the lateral movement slide plate, a lateral movement front limit sensor and a lateral movement rear limit sensor are installed on the lateral movement sensor mounting plate, and a lateral movement front limit sensing element is installed on the lateral movement base.

3. The fully automated loading robot according to claim 2, characterized in that, A transverse transmission screw is arranged parallel to one side of the transverse guide rail. A movable support mounting block is installed at one end of the transverse transmission screw, which is connected to the movable support of the transverse component screw. A fixed support mounting block is installed at the other end of the transverse transmission screw, which is connected to the fixed support of the transverse component screw. A transverse reducer mounting plate is installed on one side of the fixed support mounting block. A transverse reducer is fixedly installed on the transverse reducer mounting plate. The transverse reducer is connected to the transverse motor and to the transverse reducer drive shaft. The transverse reducer drive shaft is connected to a diaphragm coupling. The transverse transmission screw passes through the fixed support mounting block and is connected to the diaphragm coupling. A screw nut is sleeved on the transverse transmission screw. A screw nut adapter plate is fixedly connected to the screw nut, which is fixedly connected to the screw nut mounting plate. The screw nut mounting plate is fixedly installed on one side of the transverse base. Both the screw nut adapter plate and the screw nut mounting plate are connected to one side of the transverse slide plate.

4. The fully automated loading robot according to claim 3, characterized in that, The horizontal rotation assembly includes a horizontal assembly elevation seat, which is mounted on a transverse sliding plate. A horizontal assembly reducer mounting base is mounted on the horizontal assembly elevation seat. A reducer mounting plate is mounted on the horizontal assembly reducer mounting base. A horizontal assembly reducer is mounted on the reducer mounting plate. The horizontal assembly reducer is connected to a horizontal assembly drive motor. The output flange of the horizontal assembly reducer is fixedly connected to a vertical rotation reducer mounting base.

5. The fully automated loading robot according to claim 4, characterized in that, The clamp swing assembly includes a clamp swing cylinder tail end mounting seat, which is mounted on the upper end of the vertical rotating arm. A clamp swing cylinder tail end rotating shaft is provided on the clamp swing cylinder tail end mounting seat, which is connected to the tail of the clamp swing cylinder. The head of the clamp swing cylinder telescopic rod is connected to the head rotating shaft of the clamp swing cylinder, which is connected to the bottom plate of the base. Two clamp rotating shaft mounting seats are installed on both sides of the end of the vertical rotating arm, and the clamp rotating shaft is rotatably connected in the two clamp rotating shaft mounting seats.

6. The fully automated loading robot according to claim 5, characterized in that, The clamping assembly includes a base support, a base plate riveted to the back of the base support, and a lower clamp and an upper clamp on the front of the base support. A clamping reducer mounting plate is installed above the base plate, and a clamping drive reducer is fixedly installed on the clamping reducer mounting plate. The clamping drive reducer is fixedly connected to a clamping drive motor by screws. The output shaft of the clamping drive reducer is connected to the top of a long drive shaft through a clamping reducer drive shaft coupling. A long drive shaft rotating copper sleeve mounting bracket is fixedly installed in the middle of the base plate, and a short drive shaft rotating copper sleeve mounting bracket is installed below the base plate. A long drive shaft rotating copper sleeve is fixedly installed on the long drive shaft rotating copper sleeve mounting bracket, and a short drive shaft rotating copper sleeve is fixedly installed on the short drive shaft rotating copper sleeve mounting bracket. The long drive shaft is sleeved inside the long drive shaft rotating copper sleeve, and the bottom of the long drive shaft is fixedly connected to the short drive shaft through a short drive shaft coupling.

7. The fully automated loading robot according to claim 6, characterized in that, The upper and lower parts of the long drive shaft are both fixed to the clamp drive rods via flat keys. Pin holes are provided at both ends of the clamp drive rods. A left clamp drive rod is located above one end of the clamp drive rod, and a right clamp drive rod is located below one end of the clamp drive rod. Pin holes are provided at both ends of both the right and left clamp drive rods, and clamp drive rod hinge pins are installed within these pin holes. Snap rings are provided above and below the clamp drive rod hinge pins for limiting their movement. The left and right clamp drive rods are connected to the upper and lower clamp slides located at the upper and lower parts of the long drive shaft, respectively, via clamp drive rod hinge pins. Two clamping rods are horizontally positioned on the base plate. The gripper guide rail is slidably connected to the gripper slider. The gripper slider is connected to the upper gripper slide and the lower gripper slide respectively. The upper gripper slide and the lower gripper slide are respectively equipped with upper and lower grippers. The base plate is fixedly installed with a clamping status sensor plate by screws. The lower gripper slide is fixedly installed with a clamping sensor mounting plate. The clamping status sensor plate is equipped with a clamping sensor and a clamping opening sensor. The base plate is fixedly installed with a simulated cylinder sensor mounting plate and a simulated cylinder sensor mounting plate pad. The simulated cylinder sensor is installed on the simulated cylinder sensor mounting plate and the simulated cylinder sensor mounting plate pad.

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