Projectile body transfer device

Abstract

The invention discloses a projectile body transfer device, relates to the technical field of projectile body transfer, and adopts a centering positioning mechanism to compensate AGV (Automatic Guided Vehicle) transfer errors. And the projectile body clamping mechanism is adopted, so that projectile bodies in a certain diameter range and a certain height range can be clamped on the tool, and the heights of the opening parts of the projectile bodies are basically consistent. A steam butt joint mechanism is adopted, automatic steam butt joint is achieved, and steam is introduced for heat preservation in the loading process of the projectile body; and a projectile body inclination mechanism is adopted, automatic inclination of the projectile body is achieved, a certain angle is formed between the projectile body and the vertical direction, and the special-shaped cavity of the projectile body is filled with explosives conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of projectile transport, and in particular to a projectile transport device capable of compensating for AGV transport errors. Background Art

[0002] During the explosives forming process, explosive bodies need to be transported to different workstations for loading, insulation, and other tasks. Currently, the most common transport methods used on production sites include transport by mobile crane in the workshop and fixed on a ground frame. During mobile crane transport, manual attention must be paid to the explosive bodies to prevent them from being bumped. After transport to the appropriate workstation, manual positioning and clamping are also required. As can be seen, current transport methods require cumbersome manual labor and are labor-intensive. Summary of the Invention

[0003] In view of the above problems, the present invention provides a projectile transporting device for overcoming the above problems or at least partially solving the above problems.

[0004] The present invention provides the following solutions:

[0005] A projectile transport device, comprising:

[0006] A steam docking mechanism, which is used to realize automatic docking of steam on the tooling, so as to achieve steam insulation during the bomb loading process;

[0007] The projectile clamping mechanism is used to manually clamp the projectile;

[0008] A projectile tilting mechanism, which is used to tilt the projectile at a certain angle to the vertical direction, so as to facilitate the filling of the projectile's special-shaped cavity with explosives;

[0009] The centering positioning mechanism is arranged at the bottom of the device and is used to realize automatic centering of the tooling and compensate for errors when the AGV transfers the tooling, so that the transferred tooling can be automatically and accurately positioned.

[0010] Preferably, the steam docking mechanism includes a steam connecting pipe, a male mounting plate, a guide pin, a guide hole, a first fluid connector, a second fluid connector, a locking screw, a spring, a return taper pin, a slider, a cylinder, and a female mounting plate;

[0011] The guide pin and the first fluid connector are installed on the male mounting plate, the steam connecting pipe is connected to the first fluid connector, and the other end is connected to the elastic body; the guide hole, the second fluid connector, the locking screw, the spring, and the return cone pin are installed on the female mounting plate.

[0012] Preferably, the elastic body clamping mechanism includes a trapezoidal screw, a guide shaft, a rubber-coated bearing, a mounting plate, a rotating support shaft, a supporting torque tube, a latch, a slide groove, an elastic body base, a base plate, a connecting block, a screw nut, a first hand wheel, a first seat bearing, a chain, a sprocket, a second seat bearing and a limit block;

[0013] The rubber-coated bearing and the connecting block are mounted on the mounting plate, and the trapezoidal screw and the guide shaft are arranged one on each side of the projectile. The two ends of the trapezoidal screw have threads with opposite rotation directions, which are mounted on the first seat bearing and the second seat bearing and connected to the first handwheel; the sprocket is mounted on the trapezoidal screw, and the two trapezoidal screws are driven by the chain; the rotating support shaft cooperates with the bearing in the projectile tilting mechanism and supports the projectile clamping mechanism as a whole; the slide groove is connected to the base plate so as to slide on the supporting torque tube; the limit block limits the rotation angle through the limit rod in the projectile tilting mechanism.

[0014] Preferably, the elastic body clamping mechanism further comprises an angle detection piece, and the angle detection piece is used by an external sensor to detect the overall tilt angle of the elastic body clamping mechanism.

[0015] Preferably: the projectile tilting mechanism includes a second hand wheel, a worm gear reducer, an engaging wheel, a tooling frame, a third seat bearing and a limit rod; the rotating support shaft in the projectile clamping mechanism is installed on the third seat bearing and is key-connected to the worm gear reducer.

[0016] Preferably, the centering positioning mechanism includes four sets and is distributed at the four corners of the tooling.

[0017] Preferably, each set of the centering positioning mechanism includes a universal ball and a centering concave block; the universal ball is fixed on the ground or on other equipment, and the centering concave block is fixed on the four corners of the tooling.

[0018] Preferably, the centering block includes a concave surface, which is composed of a conical surface and a spherical surface at the top.

[0019] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0020] The embodiment of the present application provides a projectile transfer device that uses a centering positioning mechanism to compensate for AGV transfer errors. A projectile clamping mechanism is used to clamp projectiles within a certain diameter range and a certain height range on the tooling, and to ensure that the height of the projectile mouth is basically consistent. A steam docking mechanism is used to achieve automatic steam docking, and steam is passed through the projectile during the loading process to maintain heat. A projectile tilting mechanism is used to automatically tilt the projectile to a certain angle relative to the vertical direction, facilitating the filling of explosives into the projectile's irregularly shaped cavity.

[0021] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0023] Figure 1 1 is a schematic structural diagram of a projectile transport device provided by an embodiment of the present invention;

[0024] Figure 2 1 is another structural schematic diagram of a projectile transport device provided by an embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the structure of the steam docking mechanism provided by an embodiment of the present invention;

[0026] Figure 4 is another structural schematic diagram of the steam docking mechanism provided by an embodiment of the present invention;

[0027] Figure 5 This is a front view of a schematic structural diagram of a steam docking mechanism provided by an embodiment of the present invention;

[0028] Figure 6 1 is a schematic structural diagram of an elastic body clamping mechanism provided by an embodiment of the present invention;

[0029] Figure 7 is another structural schematic diagram of the elastic body clamping mechanism provided by an embodiment of the present invention;

[0030] Figure 8 This is a front view of the elastic body clamping mechanism provided by an embodiment of the present invention;

[0031] Figure 9 is a cross-sectional view taken along plane AA provided by an embodiment of the present invention;

[0032] Figure 10 This is a front view of the projectile tilting mechanism provided by an embodiment of the present invention;

[0033] Figure 11 is a side view of the projectile tilting mechanism provided by an embodiment of the present invention;

[0034] Figure 12 2 is a schematic structural diagram of a centering positioning mechanism provided by an embodiment of the present invention;

[0035] Figure 13This is a front view of the centering positioning mechanism provided by an embodiment of the present invention;

[0036] Figure 14 It is a cross-sectional view of the BB surface provided by an embodiment of the present invention.

[0037] Figure: Steam docking mechanism 1, projectile tilting mechanism 2, projectile clamping mechanism 3, return centering mechanism 4, projectile 5, steam connecting pipe 6, male mounting plate 7, guide pin 8, guide hole 9, first fluid connector 10, second fluid connector 11, locking screw 12, spring 13, return taper pin 14, slider 15, cylinder 16, female mounting plate 17, trapezoidal screw 18, guide shaft 19, rubber-coated bearing 20, mounting plate 21, rotating support shaft 22, angle detection piece 23, supporting moment tube 24, latch 25, slide 26, elastic body base 27, base plate 28, connecting block 29, screw nut 30, first hand wheel 31, first seat bearing 32, chain 33, sprocket 34, second seat bearing 35, limit block 36, second hand wheel 37, worm gear reducer 38, meshing wheel 39, tooling frame 40, third seat bearing 41, limit rod 42, universal ball 43, return concave block 44. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0039] See also Figure 1 、 Figure 2 , is a projectile transport device provided by an embodiment of the present invention, such as Figure 1 、 Figure 2 As shown, the device may include:

[0040] A steam docking mechanism 1 is used to realize automatic docking of steam on the tooling, so as to achieve steam insulation during the projectile loading process; in specific implementation, the embodiment of the present application can provide that the steam docking mechanism 1 includes a steam connecting pipe 6, a male mounting plate 7, a guide pin 8, a guide hole 9, a first fluid connector 10, a second fluid connector 11, a locking screw 12, a spring 13, a return cone pin 14, a slider 15, a cylinder 16, and a female mounting plate 17;

[0041] The guide pin 8 and the first fluid connector 10 are installed on the male mounting plate 7, the steam connecting pipe 6 is connected to the first fluid connector 10, and the other end is connected to the elastic body; the guide hole 9, the second fluid connector 11, the locking screw 12, the spring 13, and the return cone pin 14 are installed on the female mounting plate 17.

[0042] The elastic body clamping mechanism 3 is used to manually clamp the elastic body. In specific implementation, the embodiment of the present application can provide that the elastic body clamping mechanism 3 includes a trapezoidal screw 18, a guide shaft 19, a rubber-coated bearing 20, a mounting plate 21, a rotating support shaft 22, a supporting torque tube 24, a latch 25, a slide groove 26, an elastic body base 27, a base plate 28, a connecting block 29, a screw nut 30, a first hand wheel 31, a first seat bearing 32, a chain 33, a sprocket 34, a second seat bearing 35 and a limit block 36;

[0043] The rubber-coated bearing 20 and the connecting block 29 are installed on the mounting plate 21, and the trapezoidal screw 18 and the guide shaft 19 are arranged one on the left and right of the projectile 5. The two ends of the trapezoidal screw 18 have threads with opposite rotation directions, which are installed on the first seat bearing 32 and the second seat bearing 35, and are connected to the first handwheel 31; the sprocket 34 is installed on the trapezoidal screw 18, and the two trapezoidal screws 18 are driven by the chain 33; the rotating support shaft 22 cooperates with the bearing in the projectile tilting mechanism 2 and supports the projectile clamping mechanism 3 as a whole; the slide groove 26 is connected to the base plate 28 so as to slide on the supporting moment tube 24; the limit block 36 is used to limit the rotation angle through the limit rod 42 in the projectile tilting mechanism 2.

[0044] Furthermore, the elastic body clamping mechanism 3 further includes an angle detection piece 23 , and the angle detection piece 23 is used by an external sensor to detect the overall tilt angle of the elastic body clamping mechanism 3 .

[0045] The projectile tilting mechanism 2 is used to tilt the projectile at a certain angle to the vertical direction, so as to facilitate the filling of the explosives into the special-shaped chamber of the projectile 5; in specific implementation, the embodiment of the present application can provide that the projectile tilting mechanism 2 includes a second hand wheel 37, a worm gear reducer 38, an engaging wheel 39, a tooling frame 40, a third seat bearing 41 and a limit rod 42; the rotating support shaft 22 in the projectile clamping mechanism 3 is installed on the third seat bearing 41 and is keyed to the worm gear reducer 38.

[0046] The centering positioning mechanism 4 is arranged at the bottom of the device and is used to realize automatic centering of the tooling and compensate for errors when the AGV transfers the tooling, so that the transferred tooling can be automatically and accurately positioned.

[0047] In specific implementation, the embodiment of the present application can provide that the centering positioning mechanism 4 includes four sets and is distributed at the four corners of the tooling.

[0048] Furthermore, each set of the centering positioning mechanism 4 includes a universal ball 43 and a centering concave block 44; the universal ball 43 is fixed on the ground or on other equipment, and the centering concave block 44 is fixed on the four corners of the tooling.

[0049] The centering concave block 44 includes a concave surface composed of a cone surface and a spherical surface at the top.

[0050] The device provided in this application is introduced in detail below.

[0051] An embodiment of the present application provides a projectile transfer device, comprising a steam docking mechanism 1, a projectile tilting mechanism 2, a projectile clamping mechanism 3, and a return-to-center positioning mechanism 4. The steam docking mechanism 1 is divided into two parts, one part is installed on the tooling, and the other part is installed on the ground or other fixed equipment to realize automatic docking of steam on the tooling. The return-to-center positioning mechanism 4 is installed at the bottom of the tooling. When the AGV transfers the tooling, the tooling is automatically returned to the center, the error is compensated, and the transfer tooling can be automatically and accurately positioned. The projectile clamping mechanism 3 realizes manual clamping of the projectile. The projectile tilting mechanism 2 realizes the tilting of the projectile, forming a certain angle with the vertical direction, so as to facilitate the filling of the projectile's special-shaped cavity with explosives.

[0052] like Figure 3 、 Figure 4 、 Figure 5 As shown, the steam docking mechanism 1 includes a steam connection pipe 6, a male mounting plate 7, a guide pin 8, a guide hole 9, a first fluid connector 10 (male), a second fluid connector 11 (female), a locking screw 12, a spring 13, a return taper pin 14, a slider 15, a cylinder 16, and a female mounting plate 17. The guide pin 8 and the first fluid connector 10 (male) are mounted on the male mounting plate 7. The steam connection pipe 6 is connected to the first fluid connector 10 (male), with its other end connected to the projectile 5 to provide thermal insulation. The guide hole 9, the second fluid connector 11 (female), the locking screw 12, the spring 13, and the return taper pin 14 are mounted on the female mounting plate 17. During docking, cylinder 16 propels female mounting plate 17 along slider 15. Guide pin 8 first contacts guide hole 9. As the rounded end of the pin engages the tapered hole, spring 13 compresses, causing female mounting plate 17 to move backward. Returning tapered pin 14 exits the tapered section, allowing the straight section of the pin to float through the gap between the corresponding hole. Guide pin 8 first returns to its rounded end in guide hole 9, floating between the tapered section and the straight section. Then, the straight section engages. At this point, first fluid connector 10 (male) and second fluid connector 11 (female) come into contact and dock, achieving connection.

[0053] like Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the body clamping mechanism 3 mainly includes a trapezoidal screw 18, a guide shaft 19, a rubber-coated bearing 20, a mounting plate 21, a rotating support shaft 22, an angle detection plate 23, a supporting torque tube 24, a latch 25, a slide 26, a body base 27, a base plate 28, a connecting block 29, a screw nut 30, a first handwheel 31, a first seat bearing 32, a chain 33, a sprocket 34, a second seat bearing 35, a limit block 36 and other structures. Among them, the rubber-coated bearing 20 and the connecting block 29 are mounted on the mounting plate 21. The trapezoidal screw 18 and the guide shaft 19 are arranged on the left and right sides of the body 5. The two ends of the trapezoidal screw 18 have threads with opposite rotation directions and are mounted on the first seat bearing 32 and the second seat bearing 35 and connected to the handwheel. The sprocket 34 is installed on the trapezoidal screw 18, and the two trapezoidal screws 18 are driven by the chain 33. The rotating support shaft 22 mates with the bearing in the projectile tilting mechanism 2 and provides integral support for the projectile clamping mechanism 3. The slide 26 is connected to the base plate 28 and slides on the support rectangular tube 24. The position of the slide 26 on the support rectangular tube 24 is adjusted and secured by the latch 25. The angle detection plate 23 is used as an external sensor to detect the overall tilt angle of the projectile clamping mechanism 3. The limit block 36 is limited in rotation by the limit rod 42 in the projectile tilting mechanism 2.

[0054] During operation, the height of the chute 26 and base plate 28 are adjusted according to the height of the projectile, so that the mouth of the projectile 5 is at a certain height for easy loading. The projectile 5 is mounted on the projectile base 27. By manually rotating the first handwheel 31, the two trapezoidal screws 18 rotate synchronously via the chain 33 and sprocket 34. The two screw nuts 30 with opposite threads on the two ends of the trapezoidal screws 18 move toward each other, guided by the guide shaft 19. The two mounting plates 21 drive the rubber-coated bearings 20 to clamp the projectile. The transmission between the trapezoidal screws 18 and the screw nuts 30 is self-locking, and the clamping function can still be achieved even after releasing the first handwheel 31.

[0055] like Figure 10 、 Figure 11 As shown, the projectile tilting mechanism 2 includes components such as a second handwheel 37, a worm gear reducer 38, a meshing wheel 39, a fixture frame 40, a third seat bearing 41, and a limit rod 42. The rotating support shaft 22 in the projectile clamping mechanism 3 is mounted on the third seat bearing 41 and keyed to the worm gear reducer 38. During operation, manually turning the second handwheel 37 or externally transmitting the worm gear reducer 38 through the meshing wheel 39 causes the projectile tilting mechanism 2 to generate an angle with the vertical direction. The worm gear reducer 38 has a self-locking function, which ensures that the projectile tilting mechanism 2 maintains its position after disengaging.

[0056] like Figure 12 、 Figure 13 、 Figure 14As shown, the return-to-center positioning mechanism 4 includes a universal ball 43 and a return-to-center concave block 44. There are four sets of return-to-center positioning mechanisms 4, which are distributed at the four corners of the tooling. Among them, the universal ball 43 is fixed to the ground or fixed to other equipment, and the return-to-center concave block 44 is fixed to the four corners of the tooling. The return-to-center concave block 44 has a concave surface in its structure, which is composed of a conical surface and a spherical surface at the top. During operation, after the tooling is transferred to its place by the AGV, the AGV arm descends, and the concave surface of the return-to-center concave block 44 covers the universal ball 43. After the error occurs, the conical surface contacts the rolling ball of the universal ball 43, and through the component of gravity, it rolls back to the center, and finally is positioned on the spherical surface. This mechanism expands the allowable error of tooling positioning and compensates for the AGV transfer error.

[0057] In summary, the projectile transfer device provided in the embodiments of the present application utilizes a centering positioning mechanism to compensate for AGV transfer errors. A projectile clamping mechanism enables projectiles within a certain diameter and height range to be clamped on the tooling, ensuring that the projectile mouth heights are substantially consistent. A steam docking mechanism enables automatic steam docking, providing steam insulation during the projectile loading process. A projectile tilting mechanism enables automatic tilting of the projectile, creating a certain angle relative to the vertical, facilitating the filling of explosives into the projectile's irregularly shaped chamber.

[0058] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0059] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present application.

[0060] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A projectile transport device, characterized in that: include: A steam docking mechanism, which is used to realize automatic docking of steam on the tooling, so as to achieve steam insulation during the bomb loading process; The projectile clamping mechanism is used to manually clamp the projectile; A projectile tilting mechanism, which is used to tilt the projectile at a certain angle to the vertical direction, so as to facilitate the filling of the projectile's special-shaped cavity with explosives; The centering positioning mechanism is arranged at the bottom of the device and is used to realize automatic centering of the tooling and compensate for errors when the AGV transfers the tooling, so that the transferred tooling can be automatically and accurately positioned.

2. The projectile transport device according to claim 1, characterized in that: The steam docking mechanism includes a steam connecting pipe, a male mounting plate, a guide pin, a guide hole, a first fluid connector, a second fluid connector, a locking screw, a spring, a return taper pin, a slider, a cylinder, and a female mounting plate; The guide pin and the first fluid connector are installed on the male mounting plate, the steam connecting pipe is connected to the first fluid connector, and the other end is connected to the elastic body; the guide hole, the second fluid connector, the locking screw, the spring, and the return cone pin are installed on the female mounting plate.

3. The projectile transport device according to claim 1, characterized in that: The elastic body clamping mechanism includes a trapezoidal screw, a guide shaft, a rubber-coated bearing, a mounting plate, a rotating support shaft, a supporting torque tube, a latch, a slide groove, an elastic body base, a base plate, a connecting block, a screw nut, a first hand wheel, a first seat bearing, a chain, a sprocket, a second seat bearing and a limit block; The rubber-coated bearing and the connecting block are mounted on the mounting plate, and the trapezoidal screw and the guide shaft are arranged one on each side of the projectile. The two ends of the trapezoidal screw have threads with opposite rotation directions, which are mounted on the first seat bearing and the second seat bearing and connected to the first handwheel; the sprocket is mounted on the trapezoidal screw, and the two trapezoidal screws are driven by the chain; the rotating support shaft cooperates with the bearing in the projectile tilting mechanism and supports the projectile clamping mechanism as a whole; the slide groove is connected to the base plate so as to slide on the supporting torque tube; the limit block limits the rotation angle through the limit rod in the projectile tilting mechanism.

4. The projectile transport device according to claim 3, characterized in that: The elastic body clamping mechanism further comprises an angle detection piece, and the angle detection piece is used for an external sensor to detect the overall tilt angle of the elastic body clamping mechanism.

5. The projectile transport device according to claim 4, characterized in that: The projectile tilting mechanism includes a second hand wheel, a worm gear reducer, an engaging wheel, a tooling frame, a third seat bearing and a limit rod; the rotating support shaft in the projectile clamping mechanism is installed on the third seat bearing and is key-connected to the worm gear reducer.

6. The projectile transport device according to claim 1, characterized in that: The centering positioning mechanism includes four sets and is distributed at the four corners of the tooling.

7. The projectile transport device according to claim 6, characterized in that: Each set of the centering positioning mechanism includes a universal ball and a centering concave block; the universal ball is fixed on the ground or on other equipment, and the centering concave block is fixed on the four corners of the tooling.

8. The projectile transport device according to claim 7, characterized in that: The centering block includes a concave surface, which is composed of a cone surface and a spherical surface at the top.

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