Load filling device and method

Abstract

The invention relates to the technical field of weapon filling, in particular to a load filling device and method.The load filling device comprises a rack, a pitch attitude adjusting mechanism, a yaw attitude adjusting mechanism, a push-in device and a vision measurement system, the pitch attitude adjusting mechanism is arranged on the rack, the yaw attitude adjusting mechanism is arranged on the pitch attitude adjusting mechanism, and the push-in device is arranged on the rack. The yaw attitude adjusting mechanism is arranged on the rack, the push-in device is arranged on the yaw attitude adjusting mechanism, the push-in device is used for placing a load and pushing the load to carry out loading, and the vision measurement system is arranged on one side of the rack and used for carrying out coaxiality measurement on the load and a load transmitting tube. According to the invention, attitude adjustment of pitching and yawing two degrees of freedom and radial position adjustment are carried out on a load, a visual measurement system is adopted to carry out alignment measurement, feedback adjustment is carried out on the device, and a push-in action is executed after the coaxiality meets the requirement, so that direct manual intervention is reduced, and the complexity and risk of operation are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of weapon loading, in particular to a load loading device and method. Background Art

[0002] Payload, this term is usually used to refer to weapon systems designed in a cylindrical shape, such as torpedoes, missiles and other similar equipment. These weapon systems are widely used in various military operations at sea, on land and in the air because of their shape and design. They play a vital role in modern warfare and need to be loaded into the payload launch tube when used.

[0003] At present, although load loading devices can adjust their positions to adapt to different loading requirements, they generally lack the function of adjusting posture. In order to achieve precise loading operations, it is necessary to ensure that there is good initial coaxiality between the torpedo and the launch tube. The entire loading process often requires the direct participation and intervention of the operator, which not only increases the complexity of the operation, but also increases the operational risk. Summary of the invention

[0004] The technical problem to be solved by the present invention is to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0005] The solution of the present invention to solve its technical problem is: a load loading device, which includes a frame, a pitch attitude adjustment mechanism, a yaw attitude adjustment mechanism, a pushing device and a visual measurement system, the pitch attitude adjustment mechanism is arranged on the frame, the yaw attitude adjustment mechanism is arranged on the pitch attitude adjustment mechanism, the pushing device is arranged on the yaw attitude adjustment mechanism, the pushing device is used to place the load and push the load for loading, the visual measurement system is arranged on one side of the frame, and the visual measurement system is used to measure the coaxiality of the load and the load launching tube.

[0006] The beneficial effects of the present invention are as follows: the present invention adjusts the attitude of the load in pitch and yaw and the radial position, uses a visual measurement system to perform alignment measurement, and performs feedback adjustment on the device to ensure that the coaxiality meets the requirements before the push-in device performs the push-in action. This not only improves the accuracy of loading, but also reduces the direct intervention of the operator, thereby reducing the complexity and risk of the operation.

[0007] As a further improvement of the above technical solution, the pitch attitude adjustment mechanism includes a first linear motion mechanism, a second linear motion mechanism and a connecting frame, a first rotating pair is provided on the telescopic part of the first linear motion mechanism, one end of the connecting frame is rotatably connected to the first linear motion mechanism through the first rotating pair, a first guide rail arranged along the length direction of the connecting frame is provided at the bottom of the other end of one end of the connecting frame, a second rotating pair is provided on the telescopic part of the second linear motion mechanism, a first slider is provided on the second rotating pair, and the first slider is slidably connected to the first guide rail.

[0008] As a beneficial effect of further improvement of the above technical solution, the first linear motion mechanism and the second linear motion mechanism can work together to achieve precise adjustment in the vertical direction. The first rotating pair, the second rotating pair, the first slider and the first guide rail cooperate with each other and work together to adapt to the adjustment requirements in the vertical direction, so that the connecting frame can flexibly adjust the pitch posture, thereby achieving the purpose of improving the stability of the entire system and the accuracy of operation, effectively avoiding the need for manual intervention, and ensuring the automation and accuracy of the operation.

[0009] As a further improvement of the above technical solution, the yaw attitude adjustment mechanism includes a first adjustment device and a second adjustment device, the first adjustment device is arranged on one end of the connecting frame close to the first linear motion mechanism, the second adjustment device is arranged on one end of the connecting frame close to the second linear motion mechanism, the first adjustment device includes a first yaw guide rail, a first yaw slider, a first yaw rotation pair and a first yaw drive device, the first yaw guide rail is arranged on the connecting frame perpendicular to the length direction of the connecting frame, the first yaw slider is slidably connected to the first yaw guide rail, the first yaw drive device drives the first yaw slider to move on the first yaw guide rail, and the fixing part of the first yaw rotation pair is arranged on the first On a yaw slider, the movable part of the first yaw rotation pair is connected to the pushing device, the second adjusting device includes a second yaw guide rail, a second yaw slider, a second yaw rotation pair, a second guide rail, a second slider and a second yaw driving device, the second guide rail is arranged on the connecting frame along the length direction of the connecting frame, the second slider is slidably connected to the second guide rail, the second yaw guide rail is arranged on the second slider perpendicular to the second guide rail, the second yaw slider is slidably connected to the second yaw guide rail, the second yaw driving device drives the second yaw slider to move on the second yaw guide rail, the fixed part of the second yaw rotation pair is arranged on the second yaw slider, and the movable part of the second yaw rotation pair is connected to the pushing device.

[0010] As a beneficial effect of further improvement of the above technical solution, precise adjustment of the pushing device in the left and right directions of the load axis is achieved through the first adjusting device and the second adjusting device, and the first yaw rotation pair, the second yaw rotation pair, the second slider and the second guide rail cooperate with each other to meet the adjustment requirements in the left and right directions, thereby ensuring that the pushing device can flexibly adjust the yaw attitude, improving the adaptability and flexibility of the device, enhancing its stability and reliability in various working environments, reducing the need for manual intervention, and ensuring efficient and precise operation.

[0011] As a further improvement of the above technical solution, the pushing device includes a pushing base, a driving device, a pushing head body and a pulley group. The movable parts of the first yaw rotation pair and the second yaw rotation pair are respectively connected to the bottom surface of the pushing base. The pulley group is arranged on the pushing base along the length direction of the pushing base. The pulley group is used to place the load. The driving device is used to drive the pushing head body so that the pushing head body pushes the load placed on the pulley group.

[0012] As a further improvement of the above technical solution, the pulley block is used to carry and place the load, thereby reducing the labor intensity of the operator and reducing the need for assistance during the load loading process, making the entire loading process easier and more efficient, driving the push head body to move precisely, pushing the load placed on the pulley block, achieving efficient and smooth load transfer, and significantly improving overall work efficiency and safety.

[0013] As a further improvement of the above technical solution, the pulley block includes two sets of pulley bodies arranged opposite to each other, the cross-section of the pulley body is trapezoidal, and the diameter of the pulley body gradually increases from one oppositely arranged side to the other side.

[0014] As a beneficial effect of further improvement of the above technical solution, the trapezoidal cross-section and increasing diameter characteristics of the pulley block enable it to more flexibly adapt to loads of various shapes, thereby improving the adaptability and flexibility of the system, making the placement of the load on the pulley block more stable, and reducing the safety risks that may be caused by unstable load during use.

[0015] As a further improvement of the above technical solution, the driving device includes a third guide rail, a rotating motor and a screw. The third guide rail and the screw are both arranged on the pushing base along the length direction of the pushing base. The rotating motor is arranged on one end of the pushing base close to the first yaw rotation pair. The screw is connected to the rotating part of the rotating motor. A third slider and a fourth slider are provided on the pushing head body. The third slider is slidably connected to the third guide rail, and the fourth slider is threadedly connected to the screw.

[0016] As a beneficial effect of further improvement of the above technical solution, the third guide rail, the third slider, the fourth slider and the screw are used in combination to make the movement of the driving device along the length direction of the pushing base more stable and precise. The rotating motor ensures that the pushing head body can complete its work efficiently, realizes the automation of the entire pushing process, reduces the need for manual intervention, and improves production efficiency and accuracy.

[0017] As a further improvement of the above technical solution, a contact portion is provided on the pusher head body, and the contact portion is used to contact the load placed on the pulley block, and the contact portion is conformal with the bow of the load.

[0018] As a beneficial effect of further improvement of the above technical solution, the shape of the contact portion matches the shape of the bow of the load, providing more uniform and stable support, which can effectively prevent unnecessary displacement of the load during movement, improve the safety of transportation, and enhance the stability and reliability of the entire system.

[0019] As a further improvement of the above technical solution, a sensor is further provided on the pusher head body, and the sensor is used to detect the real-time position of the pusher head.

[0020] As a beneficial effect of further improvement of the above technical solution, when the sensor detects that the push head has reached the predetermined position, it sends a signal to the push motor, thereby stopping the push motor, achieving more precise control and ensuring the safety of the entire system.

[0021] As a further improvement of the above technical solution, a plurality of casters are provided at the bottom of the frame.

[0022] As a beneficial effect of further improvement of the above technical solution, the moving process of the rack is simplified, so that the operator can move the rack easily and conveniently, thereby effectively improving the convenience of moving the entire equipment.

[0023] A load loading method, using the load loading device as described in any one of the above, the loading method of the load loading device specifically comprises the following steps:

[0024] S1, placing the load to be loaded on the pushing device;

[0025] S2, pushing the frame to move to a suitable position, and the visual measurement system performs alignment measurement to obtain the positional relationship between the load axis and the target axis in the plane and the specific value;

[0026] S3, adjusting the first linear motion mechanism and the first adjustment device according to the numerical value obtained by the visual measurement system, so that the load axis and the target axis are parallel;

[0027] S4, adjusting the first adjustment device, the second adjustment device, the first linear motion mechanism, and the second linear motion mechanism according to the numerical value obtained by the visual measurement system, so that the load axis and the target axis coincide with each other;

[0028] S5, starting the rotary motor to drive the fourth slider to drive the pusher head body to move along the third guide rail, so that the contact portion of the pusher head body abuts against the head of the load, pushing the load for loading;

[0029] S6, after the load is moved into position, the sensor on the pusher body detects a position signal, and the rotating motor stops working;

[0030] S7, when one load is loaded, the pusher head body, the first adjustment device, the second adjustment device, the first linear motion mechanism and the second linear motion mechanism are reset to prepare for loading the next load.

[0031] The use of visual measurement technology to replace manual alignment steps has achieved a double improvement in loading efficiency and quality. Automated loading equipment has replaced manual labor and reduced the physical burden on workers. This automated operation effectively prevents potential errors caused by human error and ensures the accuracy of the loading process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Figure 2 yes Figure 1 The enlarged view of point A in the middle;

[0034] Figure 3 yes Figure 1 The enlarged view of point B in the middle;

[0035] Figure 4 yes Figure 1 Enlarged view of point C in the middle;

[0036] Figure 5 is a cross-sectional view of the push-in device;

[0037] Figure 6 It is a schematic diagram of posture adjustment within a certain plane.

[0038] In the accompanying drawings: 1-frame, 101-castor, 2-pitch attitude adjustment mechanism, 201-first linear motion mechanism, 202-second linear motion mechanism, 203-connecting frame, 204-first rotation pair, 205-first guide rail, 206-first slider, 207-second rotation pair, 3-yaw attitude adjustment mechanism, 301-first adjustment device, 302-second adjustment device, 303-first yaw guide rail, 304-first yaw slider, 305-first yaw rotation pair, 306-first yaw Driving device, 307-second yaw guide rail, 308-second yaw slider, 309-second yaw rotation pair, 310-second guide rail, 311-second slider, 312-second yaw driving device, 4-pushing device, 401-pushing base, 402-pushing driving device, 403-pushing head body, 404-pulley block, 405-pulley body, 406-third guide rail, 407-rotating motor, 408-screw, 409-third slider, 410-fourth slider, 411-contact part. DETAILED DESCRIPTION

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the above briefly describes the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0040] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the present invention can be combined interchangeably without conflicting with each other.

[0041] Payload, this term is usually used to refer to weapon systems designed in a cylindrical shape, such as torpedoes, missiles and other similar equipment. These weapon systems are widely used in various military operations at sea, on land and in the air because of their shape and design. They play a vital role in modern warfare and need to be loaded into the payload launch tube when used.

[0042] At present, although load loading devices can adjust their positions to adapt to different loading requirements, they generally lack the function of adjusting posture. In order to achieve precise loading operations, it is necessary to ensure that there is good initial coaxiality between the torpedo and the launch tube. The entire loading process often requires the direct participation and intervention of the operator, which not only increases the complexity of the operation, but also increases the operational risk.

[0043] To this end, the present invention proposes a load filling device, referring to Figure 1 to Figure 5 , which includes a frame 1, a pitch attitude adjustment mechanism 2, a yaw attitude adjustment mechanism 3, a pushing device 4 and a visual measurement system, wherein the pitch attitude adjustment mechanism 2 is arranged on the frame 1, the yaw attitude adjustment mechanism 3 is arranged on the pitch attitude adjustment mechanism 2, the pushing device 4 is arranged on the yaw attitude adjustment mechanism 3, the pushing device 4 is used to place the load and push the load for loading, and the visual measurement system is arranged on one side of the frame 1, and the visual measurement system is used to measure the coaxiality of the load and the load launching tube.

[0044] The present invention adjusts the load's posture in pitch and yaw as well as the radial position, uses a visual measurement system to perform alignment measurement, and performs feedback adjustment on the device to ensure that the coaxiality meets the requirements before the push-in device performs the push-in action. This not only improves the accuracy of loading, but also reduces the direct intervention of operators, thereby reducing the complexity and risk of operation.

[0045] Manual intervention to adjust the pitch attitude cannot be accurately adjusted in the vertical direction, resulting in inaccurate adjustment of the pitch attitude, affecting the performance and efficiency of the device. Therefore, in one embodiment, the pitch attitude adjustment mechanism 2 includes a first linear motion mechanism 201, a second linear motion mechanism 202 and a connecting frame 203, a first rotation pair 204 is provided on the telescopic portion of the first linear motion mechanism 201, one end of the connecting frame 203 is rotatably connected to the first linear motion mechanism 201 through the first rotation pair 204, a first guide rail 205 arranged along the length direction of the connecting frame 203 is provided at the bottom of the other end of one end of the connecting frame 203, a second rotation pair 207 is provided on the telescopic portion of the second linear motion mechanism 202, a first slider 206 is provided on the second rotation pair 207, and the first slider 206 is slidably connected to the first guide rail 205. The first linear motion mechanism 201 and the second linear motion mechanism 202 can work together to achieve precise adjustment in the vertical direction. The first rotating pair 204, the second rotating pair 207, the first slider 206 and the first guide rail 205 cooperate with each other and work together to meet the adjustment needs in the vertical direction, so that the connecting frame 203 can flexibly adjust the pitch attitude, thereby achieving the purpose of improving the stability of the entire system and the accuracy of operation, effectively avoiding the need for manual intervention, and ensuring the automation and accuracy of the operation.

[0046] Preferably, based on any of the above embodiments, the linear motion mechanism is one of a ball screw mechanism, a rack and pinion mechanism, a hydraulic cylinder, a linear cylinder and a linear motor.

[0047] Manual intervention to adjust the yaw attitude cannot be accurately adjusted in the left and right directions of the load axis, resulting in inaccurate adjustment of the yaw attitude, affecting the performance and efficiency of the device. Therefore, in one embodiment, the yaw attitude adjustment mechanism 3 includes a first adjustment device 301 and a second adjustment device 302, the first adjustment device 301 is arranged on one end of the connecting frame 203 close to the first linear motion mechanism 201, the second adjustment device 302 is arranged on one end of the connecting frame 203 close to the second linear motion mechanism 202, the first adjustment device 301 includes a first yaw guide rail 303, a first yaw slider 304, a first yaw rotation pair 305 and a first yaw drive device 306, the first yaw guide rail 303 is arranged on the connecting frame 203 perpendicular to the length direction of the connecting frame 203, the first yaw slider 304 is slidably connected to the first yaw guide rail 303, the first yaw drive device 306 drives the first yaw slider 304 to move on the first yaw guide rail 303, and the fixing part of the first yaw rotation pair 305 is arranged on the first yaw slider 30 4, the movable part of the first yaw rotation pair 305 is connected to the pushing device 4, the second adjusting device 302 includes a second yaw guide rail 307, a second yaw slider 308, a second yaw rotation pair 309, a second guide rail 310, a second slider 311 and a second yaw driving device 312, the second guide rail 310 is arranged on the connecting frame 203 along the length direction of the connecting frame 203, the second slider 311 is slidably connected to the second guide rail 310, the second yaw guide rail 307 is perpendicular to the second guide rail 310 and is arranged on the second slider 311, the second yaw slider 308 is slidably connected to the second yaw guide rail 307, the second yaw driving device 312 drives the second yaw slider 308 to move on the second yaw guide rail 307, the fixed part of the second yaw rotation pair 309 is arranged on the second yaw slider 308, and the movable part of the second yaw rotation pair 309 is connected to the pushing device 4. The first adjusting device 301 and the second adjusting device 302 are used to realize precise adjustment of the pushing device 4 in the left and right directions of the load axis. The first yaw rotation pair 305, the second yaw rotation pair 309, the second slider 311 and the second guide rail 310 cooperate with each other to meet the adjustment requirements in the left and right directions, thereby ensuring that the pushing device 4 can flexibly adjust the yaw attitude, improving the adaptability and flexibility of the device, enhancing its stability and reliability in various working environments, reducing the need for manual intervention, and ensuring efficient and accurate operation.

[0048] Preferably, based on any of the above embodiments, the yaw drive device is one of a ball screw mechanism, a rack and pinion mechanism, a hydraulic cylinder, a linear cylinder and a linear motor.

[0049] When the load is manually operated, the safety risk during the operation is increased due to the limitation of force control and precision, which may lead to accidents. Therefore, in one embodiment, the pushing device 4 includes a pushing base 401, a driving device, a pushing head body 403 and a pulley block 404, the movable parts of the first yaw rotation pair 305 and the second yaw rotation pair 309 are respectively connected to the bottom surface of the pushing base 401, the pulley block 404 is arranged on the pushing base 401 along the length direction of the pushing base 401, the pulley block 404 is used to place the load, and the driving device is used to drive the pushing head body 403 so that the pushing head body 403 pushes the load placed on the pulley block 404. The pulley block 404 is used to carry and place the load, thereby reducing the labor intensity of the operator and the need for assistance during the load loading process, making the entire loading process easier and more efficient, driving the push head body 403 to move precisely, pushing the load placed on the pulley block 404, achieving efficient and smooth load transfer, and significantly improving overall work efficiency and safety.

[0050] Loads usually present a variety of different sizes and shapes, and the diversity of these sizes and shapes is determined by their needs and functions in practical applications. Therefore, in one embodiment, the pulley block 404 includes two sets of pulley bodies 405 arranged opposite to each other, and the cross-section of the pulley body 405 is trapezoidal, and the diameter of the pulley body 405 gradually increases from one side to the other side. The trapezoidal cross-section and the increasing diameter characteristics of the pulley block 404 enable it to more flexibly adapt to loads of various shapes, thereby improving the adaptability and flexibility of the system, making the placement of the load on the pulley block 404 more stable, and reducing the safety risks that may be caused by load instability during use.

[0051] During the pushing operation of the push head body 403, if it cannot be ensured to maintain a stable state, it is very likely to cause a certain degree of damage to the load carried. Therefore, in one embodiment, the driving device includes a third guide rail 406, a rotating motor 407 and a screw 408, the third guide rail 406 and the screw 408 are both arranged on the pushing base 401 along the length direction of the pushing base 401, the rotating motor 407 is arranged on the pushing base 401 at one end close to the first yaw rotation pair 305, the screw 408 is connected to the rotating part of the rotating motor 407, and the push head body 403 is provided with a third slider 409 and a fourth slider 410, the third slider 409 is slidably connected to the third guide rail 406, and the fourth slider 410 is threadedly connected to the screw 408. The third guide rail 406, the third slider 409, the fourth slider 410 and the screw 408 are used together to make the movement of the driving device along the length direction of the pushing base 401 more stable and precise. The rotating motor 407 ensures that the pushing head body 403 can complete its work efficiently, realizes the automation of the entire pushing process, reduces the need for manual intervention, and improves production efficiency and accuracy.

[0052] The load may accidentally fall off or flip over during movement or transportation, increasing the risk of operator injury and equipment damage. Therefore, in one embodiment, a contact portion 411 is provided on the push head body 403, and the contact portion 411 is used to contact the load placed on the pulley block 404, and the contact portion 411 is conformal to the bow of the load. The shape of the contact portion 411 matches the shape of the bow of the load, providing more uniform and stable support, which can effectively prevent the load from being shifted unnecessarily during movement, improve the safety of transportation, and enhance the stability and reliability of the entire system.

[0053] The load may damage the workpiece or equipment due to excessive pushing, and may even cause safety accidents, such as damage to mechanical parts or accidental injury to operators. Therefore, in one embodiment, a sensor is also provided on the push head body 403, and the sensor is used to detect the real-time position of the push head. When the sensor detects that the push head has reached the predetermined position, it sends a signal to the push motor, so that the push motor stops working, achieving more precise control and ensuring the safety of the entire system.

[0054] Preferably, based on any of the above embodiments, the sensor can be mechanical or photoelectric, and is used to detect the position state of the pusher body 403 .

[0055] When the rack 1 is moved manually, the weight and balance are difficult to control, which may cause the rack 1 to tilt or overturn, increasing the risk of injury to the operator. Therefore, in one embodiment, a plurality of casters 101 are provided at the bottom of the rack 1. The moving process of the rack 1 is simplified, so that the operator can easily and conveniently move the rack 1, thereby effectively improving the convenience of moving the overall equipment.

[0056] During use of the load loading device of the above embodiment, the load is placed on the pushing device 4, and the visual measurement system performs alignment measurement to obtain the positional relationship between the load axis and the target axis in the plane and the specific value, referring to Figure 6 , including the angle A and the distance L2. Taking the posture adjustment in a certain plane as an example, X is the distance between the first yaw rotation pair 305 and the second yaw rotation pair 309, L1 is the distance required to move at the first linear motion mechanism 201 for the first adjustment. The load axis and the target axis are parallel, L1=X*tanA, and A is the angle between the two; after adjustment, L2 is the distance required to move at the first linear motion mechanism 201 and the second linear motion mechanism 202 for the second adjustment, and the two coincide after adjustment; after alignment, the rotary motor 407 is started, and the rotary motor 407 drives the fourth slider 410 to move on the screw 408, and the push head body 403 slides along the third guide rail 406, and the contact portion 411 of the push head body 403 abuts against the head of the load, pushing the load for loading; after the sensor on the push head body 403 detects that the load has moved into place, the output signal stops the rotary motor 407.

[0057] A load loading method, using any of the load loading devices described above, the load loading method specifically comprises the following steps:

[0058] S1, placing the load to be loaded on the pushing device 4;

[0059] S2, pushing the frame 1 to move to a suitable position, and the visual measurement system performs alignment measurement to obtain the positional relationship between the load axis and the target axis in the plane and the specific value;

[0060] S3, adjusting the first linear motion mechanism 201 and the first adjustment device 301 according to the numerical value obtained by the visual measurement system, so that the load axis and the target axis are parallel;

[0061] S4, adjusting the first adjusting device 301, the second adjusting device 302, the first linear motion mechanism 201 and the second linear motion mechanism 202 according to the numerical value obtained by the visual measurement system, so that the load axis and the target axis coincide with each other;

[0062] S5, start the rotating motor 407, drive the fourth slider 410 to drive the push head body 403 to move along the third guide rail 406, the contact portion 411 of the push head body 403 abuts against the head of the load, and pushes the load to be loaded;

[0063] S6, after the load is moved into position, the sensor on the pusher body 403 detects a position signal, and the rotating motor 407 stops working;

[0064] S7, when a load is loaded, the pusher head body 403, the first adjustment device 301, the second adjustment device 302, the first linear motion mechanism 201 and the second linear motion mechanism 202 are reset to prepare for loading the next load.

[0065] The use of visual measurement technology to replace manual alignment steps has achieved a double improvement in loading efficiency and quality. Automated loading equipment has replaced manual labor and reduced the physical burden on workers. This automated operation effectively prevents potential errors caused by human error and ensures the accuracy of the loading process.

[0066] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A load loading device, characterized in that: include: Rack (1); A pitch attitude adjustment mechanism (2), wherein the pitch attitude adjustment mechanism (2) is arranged on the frame (1); A yaw attitude adjustment mechanism (3), wherein the yaw attitude adjustment mechanism (3) is arranged on the pitch attitude adjustment mechanism (2); A pushing device (4), the pushing device (4) being arranged on the yaw attitude adjustment mechanism (3), the pushing device (4) being used to place a load and push the load for loading; A visual measurement system is arranged on one side of the frame (1), and is used to measure the coaxiality of the load and the load transmitting tube.

2. A load loading device according to claim 1, characterized in that: The pitch attitude adjustment mechanism (2) comprises a first linear motion mechanism (201), a second linear motion mechanism (202) and a connecting frame (203); a first rotating pair (204) is provided on the telescopic portion of the first linear motion mechanism (201); one end of the connecting frame (203) is rotatably connected to the first linear motion mechanism (201) via the first rotating pair (204); a first guide rail (205) arranged along the length direction of the connecting frame (203) is provided at the bottom of the other end of one end of the connecting frame (203); a second rotating pair (207) is provided on the telescopic portion of the second linear motion mechanism (202); a first sliding block (206) is provided on the second rotating pair (207); and the first sliding block (206) is slidably connected to the first guiding rail (205).

3. A load loading device according to claim 2, characterized in that: The yaw attitude adjustment mechanism (3) comprises a first adjustment device (301) and a second adjustment device (302), wherein the first adjustment device (301) is arranged on one end of the connection frame (203) close to the first linear motion mechanism (201), and the second adjustment device (302) is arranged on one end of the connection frame (203) close to the second linear motion mechanism (202), and the first adjustment device (301) comprises a first yaw guide rail (303), a first yaw slider (304), a first yaw rotation pair (305), and a second yaw rotation pair (306). 05) and a first yaw driving device (306), the first yaw guide rail (303) is arranged on the connecting frame (203) perpendicular to the length direction of the connecting frame (203), the first yaw slider (304) is slidably connected to the first yaw guide rail (303), the first yaw driving device (306) drives the first yaw slider (304) to move on the first yaw guide rail (303), the fixing part of the first yaw rotation pair (305) is arranged on the first yaw slider (304), and the first yaw The movable part of the rotation pair (305) is connected to the pushing device (4); the second adjustment device (302) comprises a second yaw guide rail (307), a second yaw slider (308), a second yaw rotation pair (309), a second guide rail (310), a second slider (311) and a second yaw driving device (312); the second guide rail (310) is arranged on the connecting frame (203) along the length direction of the connecting frame (203); the second slider (311) is slidably connected to the second guide rail (310); the second The yaw guide rail (307) is arranged on the second slider (311) perpendicular to the second guide rail (310); the second yaw slider (308) is slidably connected to the second yaw guide rail (307); the second yaw drive device (312) drives the second yaw slider (308) to move on the second yaw guide rail (307); the fixed part of the second yaw rotation pair (309) is arranged on the second yaw slider (308); and the movable part of the second yaw rotation pair (309) is connected to the pushing device (4).

4. A load loading device according to claim 3, characterized in that: The pushing device (4) comprises a pushing base (401), a pushing driving device (402), a pushing head body (403) and a pulley block (404); the movable parts of the first yaw rotation pair (305) and the second yaw rotation pair (309) are respectively connected to the bottom surface of the pushing base (401); the pulley block (404) is arranged on the pushing base (401) along the length direction of the pushing base (401); the pulley block (404) is used to place a load; the pushing driving device (402) is used to drive the pushing head body (403) so that the pushing head body (403) pushes the load placed on the pulley block (404).

5. A load loading device according to claim 4, characterized in that: The pulley block (404) comprises two sets of pulley bodies (405) arranged opposite to each other. The cross section of the pulley body (405) is trapezoidal, and the diameter of the pulley body (405) gradually increases from one oppositely arranged side to the other side.

6. A load loading device according to claim 4, characterized in that: The pushing drive device (402) comprises a third guide rail (406), a rotating motor (407) and a screw (408); the third guide rail (406) and the screw (408) are both arranged on the pushing base (401) along the length direction of the pushing base (401); the rotating motor (407) is arranged on one end of the pushing base (401) close to the first yaw rotation pair (305); the screw (408) is connected to the rotating part of the rotating motor (407); a third slider (409) and a fourth slider (410) are provided on the pushing head body (403); the third slider (409) is slidably connected to the third guide rail (406); and the fourth slider (410) is threadedly connected to the screw (408).

7. A load loading device according to claim 6, characterized in that: The pusher head body (403) is provided with a contact portion (411), and the contact portion (411) is used to contact the load placed on the pulley block (404), and the contact portion (411) is conformal with the bow of the load.

8. A load loading device according to claim 6, characterized in that: The pusher head body (403) is also provided with a sensor, and the sensor is used to detect the real-time position of the pusher head.

9. A load loading device according to claim 1, characterized in that: The bottom of the frame (1) is provided with a plurality of casters (101).

10. A load filling method, characterized in that: Using the load filling device according to any one of claims 1 to 9, the loading method of the load filling device specifically comprises the following steps: S1, placing the load to be loaded on the pushing device (4); S2, pushing the frame (1) to move to a suitable position, and the visual measurement system performs measurement to obtain the positional relationship between the load axis and the target axis in the plane and the specific value; S3, adjusting the first linear motion mechanism (201) and the first adjustment device (301) according to the numerical value obtained by the visual measurement system, so that the load axis and the target axis are parallel; S4, adjusting the first adjustment device (301), the second adjustment device (302), the first linear motion mechanism (201), and the second linear motion mechanism (202) according to the numerical value obtained by the visual measurement system, so that the load axis and the target axis coincide with each other; S5, starting the rotating motor (407), driving the fourth slider (410) to drive the pusher head body (403) to move along the third guide rail (406), and the contact portion (411) of the pusher head body (403) abuts against the front portion of the load, pushing the load for loading; S6, after the load is moved to the position, the sensor on the pusher body (403) detects a position signal, and the rotating motor (407) stops working; S7, when a load is loaded, the pusher head body (403), the first adjustment device (301), the second adjustment device (302), the first linear motion mechanism (201) and the second linear motion mechanism (202) are reset to prepare for loading the next load.

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