A load filling device and method

Abstract

The present application relates to weapon loading technical field, especially a kind of load loading device and method, it includes rack, pitch attitude adjusting mechanism, yaw attitude adjusting mechanism, push-in device and visual measurement system, the pitch attitude adjusting mechanism is set on the rack, the yaw attitude adjusting mechanism is set on pitch attitude adjusting mechanism, the push-in device is set on yaw attitude adjusting mechanism, the push-in device is used to place load and push load to load, the visual measurement system is set on the side of the rack, and the visual measurement system is used to measure the coaxial degree of load and load launch tube.By adjusting the attitude of load in two degrees of freedom of pitch and yaw and the position adjustment in radial, the alignment measurement is carried out using visual measurement system, the feedback adjustment is carried out to device, after ensuring that coaxial degree meets the requirements, push-in action is executed, manual direct intervention is reduced, and the complexity and risk of operation are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of weapon loading technology, in particular to a load loading device and method. BACKGROUND

[0002] Load, this term is commonly used to refer to those designed as cylindrical weapons systems, such as torpedoes, missiles and other similar devices. These weapons systems are widely used in various military operations on land, sea and air due to their shape and design, and they play a vital role in modern warfare, and need to be pushed into the load launch tube for loading when used.

[0003] At present, although the load loading device can adjust its position to adapt to different loading requirements, it generally lacks the function of adjusting the posture, in order to realize accurate loading operation, it is necessary to ensure that the torpedo and the launch tube have good initial coaxiality, and the whole loading process often needs the direct participation and intervention of the operator, which not only increases the complexity of operation, but also increases the operation risk. SUMMARY

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

[0005] The solution to the technical problem of the present application is a load loading device, comprising a rack, an inclination posture adjusting mechanism, a yaw posture adjusting mechanism, a pushing device and a visual measurement system, the inclination posture adjusting mechanism is arranged on the rack, the yaw posture adjusting mechanism is arranged on the inclination posture adjusting mechanism, the pushing device is arranged on the yaw posture adjusting mechanism, the pushing device is used for placing the load and pushing the load for loading, and the visual measurement system is arranged on one side of the rack. The visual measurement system is used for coaxiality measurement of the load and the load launch tube.

[0006] The beneficial effect of the present application is that the present application adjusts the posture of the load in two degrees of freedom of inclination and yaw, and adjusts the position in the radial direction, uses the visual measurement system for alignment measurement, adjusts the device feedback, and ensures that the coaxiality meets the requirements after the pushing device executes the pushing action. In this way, not only the accuracy of loading is improved, but also the direct intervention of the operator is reduced, thereby reducing the complexity and risk of operation.

[0007] As a further improvement of the above technical solution, the pitch attitude adjusting mechanism comprises a first linear motion mechanism, a second linear motion mechanism and a connecting frame, a first rotary pair is arranged on the telescopic part of the first linear motion mechanism, one end of the connecting frame is rotatably connected with the first linear motion mechanism through the first rotary pair, a first guide rail is arranged on the other end of the connecting frame along the length direction of the connecting frame, a second rotary pair is arranged on the telescopic part of the second linear motion mechanism, a first slider is arranged on the second rotary pair, and the first slider is slidably connected with the first guide rail.

[0008] As a further improvement of the above technical solution, the first linear motion mechanism and the second linear motion mechanism can work cooperatively to realize accurate adjustment in the vertical direction, the first rotary pair, the second rotary pair, the first slider and the first guide rail cooperate with each other and jointly act to adapt to the adjustment requirement in the vertical direction, so that the connecting frame can flexibly adjust the pitch attitude, thereby achieving the purpose of improving the stability and operation accuracy of the whole system, effectively avoiding the need for manual intervention, and ensuring the automation and precision of operation.

[0009] As a further improvement of the above technical solution, the yaw attitude adjusting mechanism comprises a first adjusting device and a second adjusting device, the first adjusting device is arranged on one end of the connecting frame close to the first linear motion mechanism, the second adjusting device is arranged on one end of the connecting frame close to the second linear motion mechanism, the first adjusting device comprises a first yaw guide rail, a first yaw slider, a first yaw rotary pair and a first yaw driving 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 with the first yaw guide rail, the first yaw driving device drives the first yaw slider to move on the first yaw guide rail, the fixed part of the first yaw rotary pair is arranged on the first yaw slider, and the movable part of the first yaw rotary pair is connected with the push-in device, the second adjusting device comprises a second yaw guide rail, a second yaw slider, a second yaw rotary 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 with 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 with 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 rotary pair is arranged on the second yaw slider, and the movable part of the second yaw rotary pair is connected with the push-in device.

[0010] As a further improvement of the above technical solution, the first adjusting device and the second adjusting device are used to realize the accurate adjustment of the push-in device in the left and right directions of the load axis, and the first yawing rotary pair, the second yawing rotary pair, the second sliding block and the second guide rail are matched with each other to adapt to the adjustment requirement in the left and right directions, so that the push-in device can be flexibly adjusted in the yawing attitude, the adaptability and flexibility of the device are improved, the stability and reliability of the device in various working environments are enhanced, the demand for manual intervention is reduced, and the efficiency and accuracy of operation are ensured.

[0011] As a further improvement of the above technical solution, the push-in device comprises a push-in base, a driving device, a push head body and a pulley block, the movable parts of the first yawing rotary pair and the second yawing rotary pair are connected with the bottom surface of the push-in base respectively, the pulley block is arranged on the push-in base along the length direction of the push-in base, the pulley block is used to place the load, and the driving device is used to drive the push head body to push the load placed on the pulley block.

[0012] As a further improvement of the above technical solution, the pulley block is used to carry and place the load, so as to reduce the labor intensity of the operator, reduce the power assistance requirement in the load loading process, make the whole loading process more relaxed and efficient, drive the push head body to move accurately, push the load placed on the pulley block, realize efficient and stable load transfer, and significantly improve the overall working efficiency and safety.

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

[0014] As a further improvement of the above technical solution, the trapezoidal cross section and the diameter increasing characteristics of the pulley block make it more flexible to adapt to various loads of different shapes, so as to improve the adaptability and flexibility of the system, make the placement of the load on the pulley block more stable, and reduce 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 comprises a third guide rail, a rotary motor and a screw rod, the third guide rail and the screw rod are arranged on the push-in base along the length direction of the push-in base, the rotary motor is arranged on one end of the push-in base close to the first yawing rotary pair, the screw rod is connected with the rotating part of the rotary motor, the push head body is provided with a third sliding block and a fourth sliding block, the third sliding block is slidingly connected with the third guide rail, and the fourth sliding block is threadedly connected with the screw rod.

[0016] As a further improvement of the above technical solution, the third guide rail, the third sliding block, the fourth sliding block and the screw rod are used in cooperation, so that the movement of the driving device in the length direction of the pushing-in base is more stable and accurate, the rotating motor ensures that the push head body can efficiently complete its work, realizes the automation of the entire pushing-in process, reduces the need for manual intervention, and improves the production efficiency and accuracy.

[0017] As a further improvement of the above technical solution, the push head body is provided with a contact part for contacting the load placed on the pulley block, and the contact part is conformal with the bow of the load.

[0018] As a further improvement of the above technical solution, the shape of the contact part matches the shape of the bow of the load, providing more uniform and stable support, effectively preventing unnecessary deviation of the load during movement, improving the safety of transportation, and enhancing the stability and reliability of the entire system.

[0019] As a further improvement of the above technical solution, the push head body is further provided with a sensor for detecting the real-time position of the push head.

[0020] As a 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 pushing-in motor, so that the pushing-in motor stops working, realizing more accurate control and ensuring the safety of the entire system.

[0021] As a further improvement of the above technical solution, the bottom of the rack is provided with a plurality of casters.

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

[0023] A load loading method using the load loading device according to any one of the above technical solutions, the loading method of the load loading device specifically comprises the following steps:

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

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

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

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

[0028] S5, starting the rotary motor to drive the fourth slider to drive the push head body to move along the third guide rail, and the contact part of the push head body abuts against the bow of the load to push the load to be loaded;

[0029] S6, after the load moves to the position, the sensor on the push head body detects the signal to the position, and the rotary motor stops working;

[0030] S7, when the loading of one load is completed, the push head body, the first adjusting device, the second adjusting device, the first linear motion mechanism and the second linear motion mechanism are reset to prepare for the loading of the next load.

[0031] The visual measurement technology is used to replace the manual alignment step, the efficiency and quality of the loading operation are improved, the automatic loading equipment is used to replace the manual labor, the physical burden of the workers is reduced, the automatic operation effectively prevents the potential errors caused by human errors, and the accuracy of the loading process is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structural schematic diagram of the application;

[0033] Figure 2 is Figure 1 is an enlarged view of A in FIG. 1;

[0034] Figure 3 is Figure 1 is an enlarged view of B in FIG. 1;

[0035] Figure 4 is Figure 1 is an enlarged view of C in FIG. 1;

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

[0037] Figure 6 is a posture adjustment schematic diagram in a certain plane.

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

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the above description of the embodiments are briefly described. Obviously, the described drawings are only a part of the embodiments of the present application, not all the embodiments, and those skilled in the art can obtain other design schemes and drawings from these drawings without creative labor.

[0040] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in the following embodiments and drawings, so as to fully understand the purpose, features and effects of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments, and other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative labor all belong to the protection scope of the present application. In addition, all the coupling / connection relationships mentioned in the text do not mean that the components are directly connected, but that a better coupling structure can be composed by adding or reducing coupling accessories according to the specific implementation. The technical features in the present application can be combined interactively without mutual contradiction and conflict.

[0041] Load, this term is usually used to refer to those designed as cylindrical weapon systems, such as torpedoes, missiles and other similar devices. These weapon systems are widely used in various military operations on land, sea and air due to their shape and design, and they play a vital role in modern warfare, and need to be pushed into the load launching tube for loading when used.

[0042] At present, the load loading device can adjust its position to adapt to different loading requirements, but they generally lack the function of adjusting the posture, in order to realize the precise loading operation, it is necessary to ensure that the torpedo and the launch tube have good initial coaxiality, the whole loading process often needs the direct participation and intervention of the operator, which not only increases the operation complexity, but also improves the operation risk.

[0043] Therefore, the present application provides a load loading device, which comprises a rack 1, a pitch attitude adjusting mechanism 2, a yaw attitude adjusting mechanism 3, a push-in device 4 and a visual measurement system, the pitch attitude adjusting mechanism 2 is arranged on the rack 1, the yaw attitude adjusting mechanism 3 is arranged on the pitch attitude adjusting mechanism 2, the push-in device 4 is arranged on the yaw attitude adjusting mechanism 3, the push-in device 4 is used for placing the load and pushing the load for loading, and the visual measurement system is arranged on one side of the rack 1 and is used for coaxiality measurement of the load and the load launch tube. Figures 1 to 5

[0044] The present application adjusts the posture of the load in two degrees of freedom of pitch and yaw and adjusts the position in the radial direction, uses the visual measurement system to perform alignment measurement, adjusts the device through feedback, and ensures that the coaxiality meets the requirements before the push-in device executes the push-in action. In this way, the loading accuracy is improved, the direct intervention of the operator is reduced, and the operation complexity and risk are reduced.

[0045] ​The artificial 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. Thus, in one embodiment, the pitch attitude adjusting mechanism 2 comprises a first linear motion mechanism 201, a second linear motion mechanism 202 and a connecting frame 203, the first linear motion mechanism 201 is provided with a first rotary pair 204 on the telescopic part, one end of the connecting frame 203 is rotatably connected with the first linear motion mechanism 201 through the first rotary pair 204, the other end of the one end of the connecting frame 203 is provided with a first guide rail 205 arranged along the length direction of the connecting frame 203, the second linear motion mechanism 202 is provided with a second rotary pair 207 on the telescopic part, the second rotary pair 207 is provided with a first sliding block 206, and the first sliding block 206 is slidably connected with the first guide rail 205. The first linear motion mechanism 201 and the second linear motion mechanism 202 can work cooperatively to realize accurate adjustment in the vertical direction, the first rotary pair 204, the second rotary pair 207, the first sliding block 206 and the first guide rail 205 cooperate with each other and jointly act to adapt to the adjustment requirement in the vertical direction, so that the connecting frame 203 can flexibly adjust the pitch attitude, thereby achieving the purpose of improving the stability and operation accuracy of the whole system, effectively avoiding the need for artificial intervention, and ensuring the automation and precision of the operation.

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

[0047] The manual intervention for adjusting the yaw attitude cannot accurately adjust 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 an embodiment, the yaw attitude adjusting mechanism 3 comprises a first adjusting device 301 and a second adjusting device 302, the first adjusting device 301 is arranged on one end of the connecting frame 203 close to the first linear motion mechanism 201, and the second adjusting device 302 is arranged on one end of the connecting frame 203 close to the second linear motion mechanism 202. The first adjusting device 301 comprises a first yaw guide rail 303, a first yaw sliding block 304, a first yaw rotating pair 305 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 sliding block 304 is in sliding connection with the first yaw guide rail 303. The first yaw driving device 306 drives the first yaw sliding block 304 to move on the first yaw guide rail 303. The fixed part of the first yaw rotating pair 305 is arranged on the first yaw sliding block 304, and the movable part of the first yaw rotating pair 305 is connected with the push-in device 4. The second adjusting device 302 comprises a second yaw guide rail 307, a second yaw sliding block 308, a second yaw rotating pair 309, a second guide rail 310, a second sliding block 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 sliding block 311 is in sliding connection with the second guide rail 310. The second yaw guide rail 307 is arranged on the second sliding block 311 perpendicular to the second guide rail 310. The second yaw sliding block 308 is in sliding connection with the second yaw guide rail 307. The second yaw driving device 312 drives the second yaw sliding block 308 to move on the second yaw guide rail 307. The fixed part of the second yaw rotating pair 309 is arranged on the second yaw sliding block 308, and the movable part of the second yaw rotating pair 309 is connected with the push-in device 4. Through the first adjusting device 301 and the second adjusting device 302, the push-in device 4 can be accurately adjusted in the left and right directions of the load axis. Through the cooperation between the first yaw rotating pair 305, the second yaw rotating pair 309, the second sliding block 311 and the second guide rail 310, the adjustment requirement in the left and right directions is met, ensuring that the push-in device 4 can flexibly adjust the yaw attitude, improving the adaptability and flexibility of the device, enhancing the stability and reliability of the device in various working environments, reducing the demand for manual intervention, and ensuring the efficiency and accuracy of the operation.

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

[0049] When manually handling the load, due to the limitation of force control and precision, the safety risk in the operation process is increased, which may cause accidents. Therefore, in an embodiment, the pushing device 4 comprises 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 with 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 for placing the load, and the driving device is used for driving the pushing head body 403 to push the load placed on the pulley block 404. The pulley block 404 is used for bearing and placing the load, thereby reducing the labor intensity of the operator, reducing the power assistance demand in the load loading process, making the whole loading process more relaxed and efficient, driving the pushing head body 403 to move accurately, pushing the load placed on the pulley block 404, realizing efficient and stable load transfer, and significantly improving the overall work efficiency and safety.

[0050] The load usually presents a variety of different sizes and shapes, and the diversity of these sizes and shapes is determined by their requirements and functions in actual application. Therefore, in an embodiment, the pulley block 404 comprises two groups of oppositely arranged pulley bodies 405, 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 make it more flexible to 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 risk that may be caused by unstable load in the use process.

[0051] In the process of pushing the head body 403, if it cannot be ensured to maintain a stable state, it is very likely to cause damage to the load carried to a certain extent. Therefore, in an embodiment, the driving device includes a third guide rail 406, a rotary motor 407 and a screw rod 408, the third guide rail 406 and the screw rod 408 are arranged on the push-in base 401 along the length direction of the push-in base 401, the rotary motor 407 is arranged on one end of the push-in base 401 close to the first yaw rotation pair 305, the screw rod 408 is connected with the rotating part of the rotary motor 407, the third sliding block 409 and the fourth sliding block 410 are arranged on the push head body 403, the third sliding block 409 is in sliding connection with the third guide rail 406, and the fourth sliding block 410 is in threaded connection with the screw rod 408. The third guide rail 406, the third sliding block 409, the fourth sliding block 410 and the screw rod 408 are used in cooperation, so that the movement of the driving device along the length direction of the push-in base 401 is more stable and accurate, the rotary motor 407 ensures that the push head body 403 can efficiently complete its work, realizes the automation of the entire pushing process, reduces the need for manual intervention, and improves the production efficiency and accuracy.

[0052] The load may fall off or overturn accidentally during movement or transportation, increasing the risk of injury to the operator and damage to the equipment. Therefore, in an embodiment, the push head body 403 is provided with a contact part 411 for contacting the load placed on the pulley block 404, and the contact part 411 is conformal with the bow of the load. The shape of the contact part 411 matches the shape of the bow of the load, providing more uniform and stable support, which can effectively prevent unnecessary deviation of the load during movement, improve the safety of transportation, and also enhance the stability and reliability of the entire system.

[0053] The load may be damaged due to excessive pushing, which may even cause safety accidents such as damage to mechanical parts or accidental injury to the operator. Therefore, in an embodiment, the push head body 403 is also provided with a sensor for detecting 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-in motor, so that the push-in motor stops working, realizing more accurate control and ensuring the safety of the entire system.

[0054] Preferably, on the basis of any of the above embodiments, the sensor can be mechanical or photoelectric, for detecting the position state of the push head body 403.

[0055] When the rack 1 is manually moved, it is difficult to control the weight and balance, which can cause the rack 1 to tilt or fall, increasing the risk of injury to the operator. Thus, in an embodiment, the bottom of the rack 1 is provided with a plurality of casters 101. The movement process of the rack 1 is simplified, enabling the operator to easily and conveniently move the rack 1, thereby effectively improving the convenience of moving the entire device.

[0056] The load loading device of the above embodiment, in use, the load is placed on the pushing device 4, the visual measurement system performs alignment measurement to obtain the positional relationship and specific values between the load axis and the target axis in the plane, and the reference Figure 6 , including the included angle A and the distance L2, taking the attitude adjustment in a certain plane as an example, X is the distance between the first yawing revolute pair 305 and the second yawing revolute pair 309, L1 is the distance that needs to be moved at the first linear motion mechanism 201 for the first time to adjust the load axis and the target axis to be parallel, L1=X*tanA, A is the included angle between the two; L2 is the distance that needs to be moved at the first linear motion mechanism 201 and the second linear motion mechanism 202 for the second time after adjustment, and the two coincide after adjustment; after alignment is completed, the rotating motor 407 is started, the rotating motor 407 drives the fourth sliding block 410 to move on the screw rod 408, the push head body 403 slides along the third guide rail 406, and the contact part 411 of the push head body 403 abuts against the bow of the load to push the load for loading; after the sensor on the push head body 403 detects that the load has moved to the position, the output signal makes the rotating motor 407 stop working.

[0057] A load loading method using the load loading device according to any one of the above embodiments, the load loading method specifically comprising the following steps:

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

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

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

[0062] S5, the rotating motor 407 is started to drive the fourth sliding block 410 to move the push head body 403 along the third guide rail 406, and the contact part 411 of the push head body 403 is in abutment with the bow of the load to push the load to be loaded;

[0063] S6, after the load is moved to the position, a sensor on the push head body 403 detects a signal that the load is in position, and the rotating motor 407 stops working;

[0064] S7, when the loading of one load is completed, the push head body 403, the first adjusting device 301, the second adjusting device 302, the first linear motion mechanism 201 and the second linear motion mechanism 202 are reset to prepare for loading of the next load.

[0065] The visual measurement technology is used to replace the manual alignment step, the efficiency and quality of the loading operation are improved, the automatic loading equipment is used to replace the manual labor, the physical burden of the workers is reduced, the automatic operation effectively prevents potential errors caused by human errors, and the loading process is ensured to be accurate and error-free.

[0066] The preferred embodiments of the application are specifically described above, but the application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the application.

Claims

1. A load filling device, characterized by, The utility model relates to a kind of loading device, including: Rack; Pitch attitude adjusting mechanism, which is arranged on the rack; Yaw attitude adjusting mechanism, which is arranged on the pitch attitude adjusting mechanism; Push-in device, which is arranged on the yaw attitude adjusting mechanism, for placing load and pushing load for loading; Visual measurement system, which is arranged on one side of the rack, for coaxiality measurement of load and load launch tube; The pitch attitude adjusting mechanism includes first linear motion mechanism, second linear motion mechanism and connecting frame, the telescopic part of the first linear motion mechanism is provided with first rotary pair, one end of the connecting frame is rotatably connected with the first linear motion mechanism through the first rotary pair, the other end of the connecting frame is provided with first guide rail along the length direction of the connecting frame, the telescopic part of the second linear motion mechanism is provided with second rotary pair, the second rotary pair is provided with first slider, and the first slider is slidably connected with the first guide rail; The yaw attitude adjusting mechanism includes first adjusting device and second adjusting device, the first adjusting device is arranged on one end of the connecting frame close to the first linear motion mechanism, the second adjusting device is arranged on one end of the connecting frame close to the second linear motion mechanism, the first adjusting device includes first yaw guide rail, first yaw slider, first yaw rotary pair and first yaw driving device, the first yaw guide rail is arranged on the connecting frame along the length direction perpendicular to the connecting frame, the first yaw slider is slidably connected with the first yaw guide rail, the first yaw driving device drives the first yaw slider to move on the first yaw guide rail, the fixed part of the first yaw rotary pair is arranged on the first yaw slider, and the movable part of the first yaw rotary pair is connected with the push-in device, the second adjusting device includes second yaw guide rail, second yaw slider, second yaw rotary pair, second guide rail, second slider and 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 with 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 with 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 rotary pair is arranged on the second yaw slider, and the movable part of the second yaw rotary pair is connected with the push-in device.

2. A load filling device according to claim 1, wherein The push-in device includes push-in base, push-in driving device, push head body and pulley block, the movable parts of the first yaw rotary pair and the second yaw rotary pair are connected with the bottom surface of the push-in base respectively, the pulley block is arranged on the push-in base along the length direction of the push-in base, the pulley block is used for placing load, and the push-in driving device is used for driving the push head body to push the load placed on the pulley block.

3. A load filling device according to claim 2, wherein The pulley block comprises two sets of oppositely arranged pulley bodies, the cross section of the pulley body is trapezoidal, and the diameter of the pulley body gradually increases from one side to the other side.

4. A load filling device according to claim 2, wherein The push-in driving device comprises a third guide rail, a rotary motor and a screw rod, the third guide rail and the screw rod are arranged on the push-in base along the length direction of the push-in base, the rotary motor is arranged on one end of the push-in base close to the first yaw rotary pair, the screw rod is connected with the rotating part of the rotary motor, the push head body is provided with a third sliding block and a fourth sliding block, the third sliding block is in sliding connection with the third guide rail, and the fourth sliding block is in threaded connection with the screw rod.

5. A load filling apparatus according to claim 4, wherein The push head body is provided with a contact part, the contact part is used for contacting the load placed on the pulley block, and the contact part is conformal with the bow of the load.

6. A load filling apparatus according to claim 4, wherein The push head body is further provided with a sensor, and the sensor is used for detecting the real-time position of the push head.

7. The load loading device of claim 1, wherein The rack bottom is provided with a plurality of casters.

8. A load packing method characterized by, The loading device adopts the loading method of claim 5, and the loading method specifically comprises the following steps: S1, placing the load to be loaded on the push-in device; S2, moving the rack to a suitable position, and the visual measurement system measures to obtain the positional relationship and specific values between the load axis and the target axis in the plane; S3, adjusting the first linear motion mechanism and the first adjusting device according to the values obtained by the visual measurement system, so that the load axis and the target axis are parallel; S4, adjusting the first adjusting device, the second adjusting device, the first linear motion mechanism and the second linear motion mechanism according to the values obtained by the visual measurement system, so that the load axis and the target axis coincide; S5, starting the rotary motor to drive the fourth sliding block to drive the push head body to move along the third guide rail, and the contact part of the push head body abuts against the bow of the load to push the load to load; S6, after the load moves to the position, the sensor on the push head body detects the positioning signal, and the rotary motor stops working; S7, when the loading of one load is completed, the push head body, the first adjusting device, the second adjusting device, the first linear motion mechanism and the second linear motion mechanism are reset to prepare for loading the next load.

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