Automatic loading robot with type selection device

Abstract

The invention discloses an automatic loading robot with a type selection device. The automatic loading robot comprises a cylindrical body fixing frame, a loading mechanical arm and a cylindrical body pushing device. The cylindrical body pushing device is fixed at the tail part of the emitter; the cylindrical fixing frame comprises a plurality of cylindrical racks, and each cylindrical rack comprises a bracket and at least two locking devices; the loading mechanical arm comprises a base, a plurality of connecting barrel arms and a cylindrical clamping tool which are connected in sequence; the base is connected with the connecting cylinder arm through at least one toggle joint; any two connecting cylinder arms are connected through at least one toggle joint; and at least one toggle joint is connected between the cylindrical body clamping tool and the tail-section connecting barrel arm. More mechanical structures are used in a main body structure, and fixing and locking of the cylindrical body completely depend on a mechanical lock. The robot is good in anti-interference performance and high in stability on the whole. The method is suitable for environments with explosion risks.

Description

Technical Field

[0001] The invention relates to the technical field of automatic robots, and in particular to an automatic loading robot with a type selection device. Background Art

[0002] With the widespread application of digital technology in the military field, digital automation is the inevitable direction of weapon development, and digitally controlled automatic loading robots will become the research and development direction of launcher loading technology.

[0003] Tube-type launcher weapons are important combat equipment for the military. Meteorological departments also use a large number of tube-type launcher weapons in hail prevention and disaster reduction and artificial rainfall. Launcher weapons are highly mobile and powerful. However, the cylindrical projectiles fired by the launcher usually weigh tens of kilograms, and the cylindrical bodies are also divided into many types. If the cylindrical body is loaded entirely by manual loading, it is not only inefficient, but also occupies space in the vehicle and consumes too much manpower. At the same time, after the last launch, when a new cylindrical body needs to be quickly loaded, due to the change of the corresponding target, the cylindrical body also needs to be changed. In particular, it is difficult to ensure the accuracy of the cylindrical body loading speed and type by relying solely on manpower during continuous launch. In harsh environments, manual loading of cylindrical bodies is very physically demanding, and the fatigue of the loaders will greatly affect the loading speed. Therefore, using an automatic loading device instead of manual loading of cylindrical bodies is a feasible option.

[0004] Existing automatic loaders include two types: tail cabin type and bottom cabin type. The tail cabin type automatic loader places the cylindrical body at the rear of the vehicle, which is large in size and the position of the cylindrical body is relatively high, which leads to poor safety of the whole vehicle. The bottom cabin type automatic loader is located at the bottom of the vehicle, and the cylindrical body is arranged in a wheel-like manner. A hoist is used to grab the bottom of the cylindrical body and lift it to the tail of the launcher, and then the pusher pushes the cylindrical body into the launcher. Its main disadvantage is that the cylindrical body is arranged in a wheel-like manner, which leads to a large horizontal width of the automatic loader and it is difficult to arrange a self-contained cylindrical body with a large longitudinal length. Summary of the invention

[0005] A first aspect of the present invention provides an automatic loading robot with a type selection device, the automatic loading robot comprising: a cylindrical body fixing frame, a loading mechanical arm and a cylindrical body pushing device;

[0006] The cylindrical pushing device is fixed at the tail of the launcher;

[0007] The cylindrical body fixing frame comprises a plurality of cylindrical body stands, each cylindrical body stand comprises a bracket and at least two locking devices, and the locking devices fix and lock the cylindrical body;

[0008] The loading mechanical arm comprises: a base, a cylindrical body clamp, a plurality of connecting cylinder arms and a plurality of rotatable elbow joints;

[0009] The base, the plurality of connecting cylinder arms and the cylindrical body clamp are connected in sequence; the base and the connecting cylinder arms are connected by at least one elbow joint;

[0010] Any two of the connecting cylinder arms are connected by at least one toggle;

[0011] At least one elbow joint is connected between the cylindrical body holder and the end connecting cylinder arm.

[0012] In the automatic loading robot as described in the first aspect of the present invention, the rotatable elbow joint comprises a universal joint capable of rotating 360 degrees, and the number of the elbow joints is greater than or equal to 4.

[0013] As described in the first aspect of the present invention, the automatic loading robot, wherein the plurality of connecting cylinder arms are connected via a plurality of rotatable elbow joints, enables the cylindrical body clamp to rotate 360 ​​degrees on each of at least four planes.

[0014] As for the automatic loading robot described in the first aspect of the present invention, the base is fixed on the bottom plate of the launcher combat compartment; a central control system for controlling the loading robot arm is arranged inside the base.

[0015] As described in the first aspect of the present invention, the automatic loading robot, the central control system is communicatively connected to at least four sensors, and the sensors include: a cylindrical loading sensor on the cylindrical body fixing frame, a first cylindrical body locking sensor on the cylindrical body fixing frame, a type monitoring sensor on the cylindrical body clamp and a second cylindrical body locking sensor on the cylindrical body clamp.

[0016] As for the automatic loading robot described in the first aspect of the present invention, the central control system generates control information based on the detection information of the sensor and the input command, and the control information controls the loading robot arm to turn to the specified cylindrical body fixing rack, and the cylindrical body clamp grabs the predetermined type of cylindrical body on the specified cylindrical body fixing rack, extracts the predetermined type of cylindrical body and transmits it to the cylindrical body pushing device.

[0017] As in the automatic loading robot of the first aspect of the present invention, the cylindrical body clamping tool adopts a clamp-shaped clamping configuration;

[0018] A mechanical unlocking device is provided on the cylindrical body clamp, and the mechanical unlocking device cooperates with the locking device to release the lock of the cylindrical body to be extracted; the clamp-shaped clamping configuration clamps and locks the cylindrical body to be extracted; a second cylindrical body type sensor is also provided on the cylindrical body clamp.

[0019] As described in the first aspect of the present invention, the clamp-shaped clamping configuration includes: an even number of clamps, each two clamps forming a pair of clamping devices for clamping the cylindrical elastic body; and a mechanical unlocking device installed on at least one clamp.

[0020] A second aspect of the present invention provides an automatic loading robot operating method for operating the aforementioned automatic loading robot, the method comprising the following steps:

[0021] The central control system of the automatic loading robot receives instructions for extracting cylindrical objects, the instructions including: type selection, number of consecutive shots;

[0022] The central control system obtains the cylindrical body information of each stand of the cylindrical body fixing stand through the communication connected sensor, and the cylindrical body information includes: whether there is a cylindrical body on the stand, and the type of the cylindrical body on the stand;

[0023] The central control system selects a platform that meets the instruction requirements, drives the loading mechanical arm to rotate to the side of the platform that meets the instruction requirements, grabs the cylindrical body and loads the cylindrical body onto the cylindrical body pushing device;

[0024] After the central control system determines that the loading robot arm leaves the cylindrical body pushing device and the cylindrical body is loaded onto the pushing device, the central control system drives the cylindrical body pushing device to push the cylindrical body into the launcher.

[0025] As the second aspect of the present invention is the automatic loading robot operation method, the step of driving the loading robot arm to rotate to the side of the platform that meets the instruction requirements and grasping the cylindrical body includes: using the second cylindrical body type sensor on the cylindrical body clamp to detect the type of the cylindrical body, and transmitting the detection result to the central control system.

[0026] The present invention has the following advantages: the main structure of the robot of the present invention uses more mechanical structures, the central controller part is used to select and transmit instructions according to the type of the cylindrical body to provide the robot's operation control operation, and the cylindrical body is fixed and locked completely by mechanical locks. The robot with mechanical structure as the main component has better anti-interference performance and higher stability as a whole. It has better automatic protection properties in complex interference environments. It is suitable for environments with explosion risks.

[0027] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following specifically cites a preferred embodiment and describes it in detail with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of a loading robot arm of the present invention;

[0029] Figure 2 A schematic diagram of the structure of a cylindrical body holder of the present invention;

[0030] Figure 3 Schematic diagram of a cylindrical body fixing frame;

[0031] Figure 4 is a flow chart of the method of operation of the present invention.

[0032] In the various drawings of the present invention, the following specific elements / parts are referred to by the following reference numerals:

[0033] 1-base; 2-cylindrical body clamp; 3-connecting cylinder arm; 4-elbow joint; 5-locking device; 6-cylindrical body; 7-bracket; 8-clamp-type clamping configuration; 9-actuating mechanism. DETAILED DESCRIPTION

[0034] The present invention adopts a novel automatic robot arm loader to overcome the shortcomings of the tail cabin solution and the bottom cabin loader. The present invention provides a multi-section movable joint automatic robot arm with a base fixed on the bottom of the vehicle cabin to complete the task of loading cylindrical bodies. A plurality of racks are arranged around the automatic robot arm, and a plurality of locking devices are arranged on each rack to fix various types of cylindrical bodies. The central control system generates an operation action program of the automatic robot arm based on the input cylindrical body type selection instruction and the cylindrical body type information uploaded by the sensors on each rack, and drives the automatic robot arm to grab the specified type of cylindrical body and put it on the cylindrical body pushing device.

[0035] The launcher mentioned in the present invention can be understood as a cannon. The shells of modern cannons are divided into two types: integral and sub-assembly. The cartridge containing the propellant is generally a long cylindrical shape. In particular, the integral shells have a propellant cartridge that is generally a cylindrical shape with a relatively large longitudinal length, and the bullet is embedded in the opening of the propellant cartridge. Since the diameter and length of the bullet are smaller than the propellant cartridge, the whole can be regarded as a cylindrical body. The fixing and grasping of the cylindrical body are for the whole of the shell. Both integral and sub-assembly shells can be applied to the present invention. According to the different uses of the bullet, the shape of the bullet has many kinds, for example: a cone, a configuration combining a sharp cone and a disc-shaped cartridge case, an arrow-shaped body configuration, etc. The types of cylindrical bodies described below are mainly distinguished by the shape of the bullet.

[0036] The automatic robot arm loader of the present invention comprises a plurality of cylindrical body fixing frames arranged around the periphery of the automatic robot arm, and a plurality of locking devices are arranged on each cylindrical body fixing frame, and the locking devices are used to fix different types of projectiles. A plurality of sensors of different types are arranged to detect the types of cylindrical bodies, and the detection results are transmitted to a central control system. The central controller controls the automatic robot arm to turn to the cylindrical body fixing frame to extract the cylindrical body of the specified type according to the instruction of replacing the type and the type information of the cylindrical body sent by the sensor.

[0037] The technical scheme of the present invention will be clearly and completely described below in conjunction with specific embodiments, but those skilled in the art should understand that the embodiments described below are only used to illustrate the present invention and should not be regarded as limiting the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Attached Figure 1 It is an outline diagram of the automatic loading robot with a type selection device of the present invention.

[0039] Example 1

[0040] A first aspect of the present invention provides an automatic loading robot with a type selection device, the automatic loading robot comprising: a cylindrical body fixing frame, a loading mechanical arm and a cylindrical body pushing device;

[0041] The cylindrical pushing device is fixed at the tail of the launcher;

[0042] The cylindrical body fixing frame comprises a plurality of cylindrical body stands, each cylindrical body stand comprises a bracket and at least two locking devices, and the locking devices fix and lock the cylindrical body;

[0043] The loading mechanical arm comprises: a base, a cylindrical body clamp, a plurality of connecting cylinder arms and a plurality of rotatable elbow joints;

[0044] The base, the plurality of connecting cylinder arms and the cylindrical body clamp are connected in sequence; the base and the connecting cylinder arms are connected by at least one elbow joint;

[0045] Any two of the connecting cylinder arms are connected by at least one toggle;

[0046] At least one elbow joint is connected between the cylindrical body holder and the end connecting cylinder arm.

[0047] As attached Figure 1As shown, the base (1) of the loading robot arm is fixed on the cabin floor of the vehicle; the internal space of the base is used to accommodate a central control system (not shown), and the central control system can be connected to an input device controlled by the on-board operator and a plurality of sensors on the cylindrical body fixing frame. The central control system receives the loading instruction input by the input device, and generates a control process of the loading robot arm according to the information on the presence or absence of the cylindrical body on the frame given by the sensor on the cylindrical body fixing frame, and the type of the cylindrical body on the frame, and controls the loading robot arm to grab the specified type of cylindrical body and place it on the pushing unit of the cylindrical body pushing device.

[0048] The base (1) is connected to the connecting cylinder arm (3) via a toggle (4), and the toggle (4) is preferably a universal joint capable of 360-degree rotation, so that the connecting cylinder arm (3) can rotate 360 ​​degrees in two mutually perpendicular planes relative to the base (1). The connecting cylinder arm (3) has at least two sections, preferably three sections. The cylindrical body clamp connected to the end of the connecting cylinder arm (3) can rotate 360 ​​degrees in each of at least four planes. The cylindrical body clamp (2) is also connected to the end section of the connecting cylinder arm (3) via the toggle (4).

[0049] Optionally, the number of the elbows is 4 or more.

[0050] As described in the first aspect of the present invention, the automatic loading robot, the central control system is communicatively connected to at least four sensors, and the sensors include: a cylindrical loading sensor on the cylindrical body fixing frame, a first cylindrical body locking sensor on the cylindrical body fixing frame, a type monitoring sensor on the cylindrical body clamp and a second cylindrical body locking sensor on the cylindrical body clamp.

[0051] The above-mentioned monitoring sensors include contact sensors, photoelectric sensors and image sensors. Preferably, the contact sensors include travel switches and trigger sensors. Photoelectric sensors include visible light and infrared sensors. Image sensors usually use miniature cameras. Photoelectric sensors and image sensors are used to detect the presence and type of the cylindrical body (6) on the stand.

[0052] The first cylindrical body (6) locking sensor and the second cylindrical body (6) locking sensor are preferably travel switches. The travel switch of the first cylindrical body (6) locking sensor indicates whether the cylindrical body (6) fixing frame has an elasticity or no elasticity, and controls the mechanical unlocking device on the cylindrical body (6) clamp to always be in a locked state when there is an elasticity, unless the unlocking device is inserted into the mechanical unlocking device, so that the mechanical unlocking device is unlocked, allowing the loading robot arm to extract the cylindrical body (6). After the cylindrical body (6) leaves, the mechanical unlocking device returns to the locked state, and only by using a manual unlocking device to insert the mechanical unlocking device and put in a new cylindrical body (6).

[0053] The detection information of the sensor and the input command generate control information, and the control information controls the loading mechanical arm to turn to the designated cylindrical body (6) fixing frame, and the cylindrical body (6) clamping device grabs the cylindrical body (6) of the predetermined type on the designated cylindrical body (6) fixing frame, and after extracting the cylindrical body (6) of the predetermined type, transmits it to the cylindrical body (6) pushing device. The cylindrical body (6) pushing device pushes the cylindrical body (6) into the launcher.

[0054] Attached Figure 2 It is a structural diagram of the cylindrical body (6) clamp.

[0055] As in the automatic loading robot of the first aspect of the present invention, the cylindrical body (6) clamping device adopts a clamp-shaped clamping configuration;

[0056] The cylindrical body (6) holder is provided with a mechanical unlocking device, and the mechanical unlocking device cooperates with the locking device to release the lock of the cylindrical body (6) to be extracted; the pliers-shaped clamping configuration clamps and locks the cylindrical body (6) to be extracted; and a second cylindrical body (6) type sensor is also provided on the cylindrical body (6) holder.

[0057] After the loading robot arm grabs the cylindrical body (6), the second cylindrical body (6) locking sensor controls the cylindrical body (6) clamp to be in a locked state until the unlocking mechanism on the cylindrical body (6) pushing device drives the loading robot arm to unlock the cylindrical body (6) clamp, and the cylindrical body (6) is placed on the bearing groove of the cylindrical body (6) pushing device, and then the cylindrical body (6) pushing device pushes the cylindrical body (6) into the launcher.

[0058] As described in the first aspect of the present invention, the automatic loading robot, the clamp-shaped clamping configuration comprises: an even number of clamps, each two clamps forming a pair of clamping devices for clamping the cylindrical body (6); at least one clamp is equipped with a mechanical unlocking device.

[0059] As attached Figure 2As shown, the cylindrical body (6) clamping device comprises a clamp-shaped clamping configuration (8) and an actuating mechanism (9). The clamp-shaped clamping configuration (8) is usually an even number, or is arranged in pairs, and is used for the loading robot arm to reliably clamp the cylindrical body (6) at at least two positions after grasping the cylindrical body (6). The two positions are located on both sides of the center of gravity of the cylindrical body, so as to ensure that the cylindrical body (6) being moved is reliably fixed.

[0060] A mechanical unlocking device is arranged on the side of the clamp-shaped clamping configuration (8), and the mechanical unlocking device is used in conjunction with the locking device. When the loading robot arm moves to the side of the designated cylindrical body (6) fixing frame, and the clamp-shaped clamping configuration (8) clamps the cylindrical body (6), the mechanical unlocking device of the cylindrical body (6) clamp will just align with the unlocking mechanism of the locking device, so that the locking device is unlocked, and the loading robot arm grabs the designated cylindrical body (6) under the command of the central control system. After the loading robot arm leaves, the locking device (5) returns to the locked state.

[0061] Attached Figure 3 The structure of the cylindrical body fixing frame is shown, comprising: a right-angle cylindrical body (6) fixing bracket, a cylindrical body stand, a locking device (5), a bracket (7) and a plurality of sensors;

[0062] The cylindrical body fixing bracket is composed of a plurality of frame cross beams and a plurality of frame longitudinal beams; the rectangular cylindrical body fixing bracket includes a long side and a short side; the cylindrical body fixing bracket is fixed on the side wall of the vehicle carrying compartment;

[0063] A plurality of cylindrical racks are arranged on the long side of the cylindrical body fixing bracket for fixing the cylindrical body, each cylindrical body rack comprises at least two locking devices (5), and the locking devices are used to fix the cylindrical body and lock the cylindrical body;

[0064] The multiple sensors are arranged at different positions of the cylindrical body fixing bracket, and the sensors detect whether the cylindrical body rack is loaded with a cylindrical body; whether the cylindrical body placed on the cylindrical body rack is in a locked state and the type of the cylindrical body;

[0065] The sensor establishes a communication connection with the central processing unit system, and the sensing information of the sensor is uploaded to the central processing unit system.

[0066] Attached Figure 4 is a flow chart of the method of operation of the present invention.

[0067] A second aspect of the present invention provides an automatic loading robot operating method for operating the aforementioned automatic loading robot, the method comprising the following steps:

[0068] The central control system of the automatic loading robot receives an instruction for extracting a cylindrical object (6), the instruction including: type selection, number of consecutive shots;

[0069] The central control system acquires information about the cylindrical body (6) of each stand of the cylindrical body (6) fixing stand through a communication-connected sensor, wherein the information about the cylindrical body (6) includes: whether there is a cylindrical body (6) on the stand, and the type of the cylindrical body (6) on the stand;

[0070] The central control system selects a platform that meets the instruction requirements, drives the loading mechanical arm to rotate to the side of the platform that meets the instruction requirements, grabs the cylindrical body (6) and loads the cylindrical body (6) onto the cylindrical body (6) pushing device;

[0071] After the central control system determines that the loading robot arm leaves the cylindrical body (6) pushing device and the cylindrical body (6) is loaded onto the pushing device, the central control system drives the cylindrical body (6) pushing device to push the cylindrical body (6) into the launcher.

[0072] As the second aspect of the present invention is the automatic loading robot operation method, the step of driving the loading robot arm to rotate to the side of the platform that meets the instruction requirements and grasping the cylindrical body (6) includes: using the second cylindrical body (6) type sensor on the cylindrical body (6) clamp to detect the type of the cylindrical body (6), and transmitting the detection result to the central control system.

[0073] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. An automatic loading robot with a type selection device, characterized in that: The automatic loading robot comprises: a cylindrical body fixing frame, a loading mechanical arm and a cylindrical body pushing device; The cylindrical pushing device is fixed at the tail of the launcher; The cylindrical body fixing frame comprises a plurality of cylindrical body stands, each cylindrical body stand comprises a bracket and at least two locking devices, and the locking devices fix and lock the cylindrical body; The loading mechanical arm comprises: a base, a cylindrical body clamp, a plurality of connecting cylinder arms and a plurality of rotatable elbow joints; The base, the plurality of connecting cylinder arms and the cylindrical body clamp are connected in sequence; the base and the connecting cylinder arms are connected by at least one elbow joint; Any two of the connecting cylinder arms are connected by at least one toggle; At least one elbow joint is connected between the cylindrical body holder and the end connecting cylinder arm.

2. The automatic loading robot according to claim 1, characterized in that: The rotatable elbow joint includes a universal joint capable of rotating 360 degrees, and the number of the elbow joints is greater than or equal to 4.

3. The automatic loading robot according to claim 2, characterized in that: The multiple connecting cylinder arms are connected through multiple rotatable elbow joints, so that the cylindrical body clamp can rotate 360 ​​degrees on each plane in at least four planes.

4. The automatic loading robot according to claim 1, characterized in that: The base is fixed on the bottom plate of the carrier's closed compartment; a central control system for controlling the loading robot arm is arranged inside the base.

5. The automatic loading robot according to claim 4, characterized in that: The central control system is communicatively connected to at least four sensors, which include: a cylindrical loading sensor on a cylindrical body fixing frame, a first cylindrical body locking sensor on a cylindrical body fixing frame, a type monitoring sensor on a cylindrical body clamp, and a second cylindrical body locking sensor on a cylindrical body clamp.

6. The automatic loading robot according to claim 5, characterized in that: The central control system generates control information based on the detection information of the sensor and the input command. The control information controls the loading robot arm to turn to the specified cylindrical body fixing rack, and the cylindrical body clamp grabs the predetermined type of cylindrical body on the specified cylindrical body fixing rack, extracts the predetermined type of cylindrical body and transmits it to the cylindrical body pushing device.

7. The automatic loading robot according to claim 1, characterized in that: The cylindrical body clamp adopts a clamp-shaped clamping configuration; The cylindrical body clamp is provided with a mechanical unlocking device, which cooperates with the locking device to unlock the cylindrical body to be extracted; the clamp-shaped clamping configuration clamps and locks the cylindrical body to be extracted; and a cylindrical body type sensor is also provided on the cylindrical body clamp.

8. The automatic loading robot according to claim 7, characterized in that: The clamp-shaped clamping configuration comprises: an even number of clamps, where every two clamps form a pair of clamping devices for clamping the cylindrical body; and a mechanical unlocking device is installed on at least one clamp.

9. An automatic loading robot operating method, used to operate the automatic loading robot according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: The central control system of the automatic loading robot receives instructions for extracting cylindrical objects, the instructions including: type selection, number of consecutive shots; The central control system obtains information about whether each rack of the cylindrical body fixing rack is loaded with cylindrical bodies through a communication-connected sensor, and the information about the cylindrical bodies includes: whether there is a cylindrical body on the rack and the type of the cylindrical body on the rack; The central control system selects a platform that meets the instruction requirements, drives the loading mechanical arm to rotate to the side of the platform that meets the instruction requirements, grabs the cylindrical body and loads the cylindrical body onto the cylindrical body pushing device; After the central control system determines that the loading robot arm leaves the cylindrical body pushing device and the cylindrical body is loaded onto the pushing device, the central control system drives the cylindrical body pushing device to push the cylindrical body into the launcher.

10. The automatic loading robot operation method according to claim 9, characterized in that: The step of driving the loading robot arm to rotate to the side of the platform that meets the instruction requirements and grabbing the cylindrical body includes: using the cylindrical body type sensor on the cylindrical body clamp to detect the type of the cylindrical body, and transmitting the detection result to the central control system.

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