CN109094897B - Rocket projectile boxing system and rocket projectile boxing method based on coordinate robot - Google Patents
Rocket projectile boxing system and rocket projectile boxing method based on coordinate robot Download PDFInfo
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- CN109094897B CN109094897B CN201810796833.1A CN201810796833A CN109094897B CN 109094897 B CN109094897 B CN 109094897B CN 201810796833 A CN201810796833 A CN 201810796833A CN 109094897 B CN109094897 B CN 109094897B
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- transportation box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/20—Feeding, e.g. conveying, single articles by reciprocating or oscillatory pushers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/06—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of articles or material to be packaged
Abstract
The invention discloses a rocket projectile boxing system based on coordinate robots, which comprises: positioning platform, coordinate robot, detection device, controlling means and vanning platform, wherein: the positioning platform is arranged on the coordinate robot and is provided with a pushing device; the coordinate robot is used for driving the positioning platform to move; the detection device is used for acquiring the position information of the storage and transportation box placed on the assembly platform and the position information of the rocket projectile fixed on the positioning platform; and the control device controls the coordinate robot and the pushing device to act according to the position information acquired by the detection device so as to push the rocket projectile into the storage and transportation box. A rocket projectile boxing method based on a coordinate robot comprises the following steps: the method comprises the following steps: s1, enabling the axis of the rocket projectile to coincide with the center line of the storage and transportation box; s2, moving the rocket projectile to the inlet of the storage and transportation box; and S3, pushing the rocket projectile into the storage and transportation box. The invention enables the rocket bomb boxing process to be more automatic.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a rocket projectile boxing system and a rocket projectile boxing method based on coordinate robots.
Background
Along with the development of economy, industrial robot's positioning accuracy constantly promotes, and the field that industrial robot used is also more extensive, and at the present stage of industrial robot high-speed development, the high accuracy and the stability of utilizing industrial robot remove to replace some work that intensity of labour is big, high dangerous, is industrial robot's an application trend. In the process of boxing the rocket projectile, the safety of a loading environment is required to be maintained, and a quite large traction force is required to be provided so as to ensure the movement and boxing of the rocket projectile head.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a coordinate robot-based rocket projectile boxing system and a rocket projectile boxing method.
The invention provides a rocket projectile boxing system based on a coordinate robot, which comprises: positioning platform, coordinate robot, detection device, controlling means and be used for placing the vanning platform of storage case, wherein:
the positioning platform is arranged on the coordinate robot and used for supporting the rocket projectiles to be boxed, and a pushing device used for pushing the rocket projectiles on the positioning platform to move horizontally is arranged on the positioning platform;
the coordinate robot is used for driving the positioning platform to move;
the detection device is used for acquiring the position information of the storage and transportation box placed on the assembly platform and the position information of the rocket projectile fixed on the positioning platform;
the control device controls the coordinate robot to move according to the position information acquired by the detection device, so that the axis line of the rocket projectile fixed on the positioning platform is superposed with the center line of the storage and transportation box on the boxing platform, and the positioning platform is in butt joint with the inlet of the storage and transportation box on the boxing platform; the control device controls the pushing device to act in a state that the positioning platform is in butt joint with the inlet of the storage and transportation box on the boxing platform so as to push the rocket projectile into the storage and transportation box.
Preferably, detection device installs on locating platform, and detection device is including being used for acquireing on the vanning platform storage fortune case positional information and acquireing locating platform rocket projectile positional information's laser sensor and being used for acquireing locating platform rocket projectile and storage fortune case import between the laser limiter of straight line interval information, controlling means is according to the position information control coordinate robot action that laser sensor acquireed, so that rocket projectile's axial lead with the coincidence of the central line of storage fortune case, controlling means is in rocket projectile's axial lead with under the state of the coincidence of the central line of storage fortune case, according to the interval information control coordinate robot action once more that laser limiter acquireed, so that locating platform with the import butt joint of storage fortune case.
Preferably, the control device calculates a coordinate distance between the center line of the storage box and the axis line of the rocket projectile according to the position information of the storage box and the position information of the rocket projectile, and controls the coordinate robot to act according to the calculated coordinate distance so that the axis line of the rocket projectile coincides with the center line of the storage box.
Preferably, pusher includes that the propelling movement base of slip assembly on locating platform carries out rectilinear movement's actuating mechanism with being used for driving the propelling movement base, be equipped with the fixed establishment who is used for fixed rocket projectile on the propelling movement base, propelling movement base inside is equipped with and is used for carrying out the force sensor that detects to its pulling force that receives.
Preferably, the control device controls the driving mechanism to operate according to the detection data of the tension sensor.
Preferably, the driving mechanism comprises a power rod rotatably connected with the pushing base, guide rods oppositely arranged on the power rod and connected with the pushing base in a sliding mode, and a pushing motor used for driving the power rod to rotate, wherein an encoder used for sending the torque information of an output shaft of the pushing motor to the control device is arranged on the pushing motor.
Preferably, the fixing mechanism includes a clamping block and a fastening bolt; a clamping groove for inserting the tail of the rocket is formed in the clamping block, and one side, far away from the clamping groove, of the clamping block is hinged with the pushing base through a hinge seat; the fastening bolts comprise first fastening bolts and second fastening bolts, the first fastening bolts and the second fastening bolts are oppositely arranged on two sides of the clamping groove, and one ends of the first fastening bolts and one ends of the second fastening bolts respectively penetrate through the side wall of the clamping groove and extend into the clamping groove.
Preferably, the coordinate robot comprises a base, a body mounted on the base, a first power mechanism for driving the base to move, and a second power mechanism for driving the body to move in the X-axis direction, the Y-axis direction and the Z-axis direction; the positioning platform is mounted on the fuselage and moves with the movement of the fuselage.
Preferably, one side of the boxing platform is provided with a linear guide rail, and the linear guide rail linearly extends from one side close to the boxing platform to the direction far away from the boxing platform; the base is slidably mounted on the linear guide rail and driven by a first power mechanism to move back and forth on the linear guide rail.
Preferably, the inlet of the storage and transportation box is provided with a baffle movably connected with the storage and transportation box, one side of the baffle close to the interior of the storage and transportation box is provided with an elastic part, and two ends of the elastic part are respectively connected with the inner wall of the storage and transportation box and the side wall of the baffle.
Preferably, a connecting block fixed with the storage and transportation box is arranged at the inlet of the storage and transportation box, and the baffle is connected with the connecting block through a rotating shaft.
A rocket projectile boxing method based on a coordinate robot comprises the following steps: the method comprises the following steps:
s1, installing the rocket projectile on the coordinate robot, and adjusting the position of the rocket projectile to enable the axis of the rocket projectile to coincide with the center line of the storage and transportation box;
s2, moving the rocket projectile to the inlet of the storage and transportation box by using the coordinate robot;
and S3, pushing the rocket projectile into the storage and transportation box by utilizing the pushing device.
Preferably, step S1 includes the following steps:
s11, acquiring the position coordinates of the storage and transportation box and the position coordinates of the rocket projectile, and calculating the distance between the position coordinates of the rocket projectile and the position coordinates of the storage and transportation box according to the acquired position coordinate information of the storage and transportation box and the rocket projectile;
s12, the coordinate robot drives the rocket projectile to move according to the distance between the position coordinates of the rocket projectile and the position coordinates of the storage and transportation box, so that the axis of the rocket projectile coincides with the center line of the storage and transportation box.
Preferably, step S2 includes the following steps:
s21, obtaining distance information between the rocket projectile and the inlet of the storage and transportation box;
and S22, moving the coordinate robot according to the acquired distance information so as to enable the rocket projectile to be in butt joint with the inlet of the storage and transportation box.
Preferably, the coordinate robot includes the base, installs the fuselage on the base to and be used for driving the first power unit that the base removed and be used for driving the fuselage and carry out the second power unit that X axle direction, Y axle direction, Z axle direction moved, the fuselage is equipped with and is used for carrying out the location platform that supports to the rocket projectile.
Preferably, pusher includes that the propelling movement base of slip assembly on locating platform carries out rectilinear movement's actuating mechanism with being used for driving the propelling movement base, be equipped with the fixed establishment who is used for fixed rocket projectile on the propelling movement base, and propelling movement base is inside to be equipped with and to be used for carrying out the force sensor that detects to its pulling force that receives.
Preferably, the inlet of the storage and transportation box is provided with a baffle movably connected with the storage and transportation box, one side of the baffle close to the interior of the storage and transportation box is provided with an elastic part, and two ends of the elastic part are respectively connected with the inner wall of the storage and transportation box and the side wall of the baffle.
Preferably, a connecting block fixed with the storage and transportation box is arranged at the inlet of the storage and transportation box, and the baffle is connected with the connecting block through a rotating shaft.
Preferably, when the pushing device pushes the rocket projectile to the base, the pushing device pulls back the rocket projectile to enable the tail end of the rocket projectile to abut against the baffle, and when the tail end of the rocket projectile abuts against the baffle, the pushing device continues to pull back the rocket projectile to retreat until the detection value of the tension sensor reaches a preset value; when the detection value of the tension sensor reaches a preset value, a fixing mechanism in the pushing device loosens to fix the rocket projectile and resets.
Preferably, the fixing mechanism includes a clamping block and a fastening bolt; a clamping groove for inserting the tail of the rocket is formed in the clamping block, and one side, far away from the clamping groove, of the clamping block is hinged with the pushing base through a hinge seat 4; the fastening bolts comprise first fastening bolts and second fastening bolts, the first fastening bolts and the second fastening bolts are oppositely arranged on two sides of the clamping groove, and one ends of the first fastening bolts and one ends of the second fastening bolts respectively penetrate through the side wall of the clamping groove and extend into the clamping groove.
According to the invention, the control device is matched with the coordinate robot and the detection device, so that the rocket projectile boxing process is more automatic, errors in manual positioning are avoided, the working efficiency is greatly improved, and the positioning precision of the boxing system is improved.
Drawings
Fig. 1 is a schematic structural diagram of a rocket projectile boxing system based on a coordinate robot, which is provided by the invention;
fig. 2 is a top view of the positioning platform in the coordinate robot-based rocket projectile packing system of the present invention;
fig. 3 is a schematic structural diagram of the storage and transportation box in the rocket projectile boxing system based on the coordinate robot.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to specific examples.
As shown in fig. 1-3, fig. 1 is a schematic structural diagram of a coordinate robot-based rocket projectile boxing system provided in the present invention; fig. 2 is a top view of the positioning platform in the coordinate robot-based rocket projectile packing system of the present invention; fig. 3 is a schematic structural diagram of the storage and transportation box in the rocket projectile boxing system based on the coordinate robot.
Referring to fig. 1-2, an embodiment of the present invention provides a coordinate robot-based rocket projectile boxing system, including: positioning platform 5, coordinate robot 2, detection device, controlling means and be used for placing the vanning platform of storage case 1, wherein:
the positioning platform 5 is installed on the coordinate robot 2 to be used for supporting the rocket projectile 3 to be boxed, and the positioning platform 5 is provided with a pushing device used for pushing the rocket projectile 3 on the positioning platform 5 to move horizontally. The coordinate robot 2 is used for driving the positioning platform 5 to move. The detection means is used to acquire the positional information of the storage box 1 placed on the assembly table and the positional information of the rocket projectile 3 fixed on the positioning table 5. The control device controls the coordinate robot 2 to move according to the position information acquired by the detection device, so that the axis line of a rocket projectile 3 fixed on the positioning platform 5 is superposed with the center line of a storage and transportation box 1 on the boxing platform, and the positioning platform 5 is in butt joint with the inlet of the storage and transportation box 1 on the boxing platform; the control device controls the action of the pushing device under the state that the positioning platform 5 is in butt joint with the inlet of the storage and transportation box 1 on the boxing platform so as to push the rocket projectile 3 into the storage and transportation box 1.
Therefore, the rocket projectile boxing system has the advantages that the control device is matched with the coordinate robot 2 and the detection device, so that the rocket projectile boxing process is more automatic, errors in manual positioning are avoided, the working efficiency is greatly improved, and the positioning precision of the boxing system is high.
In addition, in the embodiment, the detection device is arranged on the positioning platform 5, the detection device comprises a laser sensor 7 for acquiring the position information of the storage and transportation box 1 on the packing platform and the position information of the rocket projectile 3 on the positioning platform 5, and a laser stopper 6 for acquiring the linear distance information between the rocket projectile 3 on the positioning platform 5 and the inlet of the storage and transportation box 1, the control device controls the coordinate robot 2 to act according to the position information acquired by the laser sensor 7, so that the axis of the rocket projectile 3 coincides with the center line of the storage and transportation box 1, and under the condition that the axis of the rocket projectile 3 coincides with the center line of the storage and transportation box 1, controlling the coordinate robot 2 to act again according to the distance information acquired by the laser limiter 6 so as to enable the positioning platform 5 to be in butt joint with the inlet of the storage and transportation box 1, wherein the specific working process is as follows:
1. the central line position of the storage and transportation box 1 and the position of the axial lead of the rocket projectile 3 are measured through the laser sensor 7, the control device compares the axial lead position of the rocket projectile 3 with the central line position of the storage and transportation box 1 to obtain position deviation in two directions of XZ, the coordinate robot 2 is controlled to work according to the deviation value in the Z direction to adjust the up-down position of the rocket projectile 3, so that the axial lead of the rocket projectile 3 and the central line of the storage and transportation box 1 reach the same height, the electric coordinate robot 2 is controlled to work according to the deviation value in the X direction, the left-right position of the storage and transportation box 1 is adjusted, and the central line of the storage and transportation box 1 and the central line of the rocket projectile 3 are collinear;
2. when the central line of the storage and transportation box 1 and the axial lead of the rocket projectile 3 are in a collinear state, the control device controls the coordinate robot 2 to work according to the detection result of the laser limiter 6, so that the rocket projectile 3 gradually approaches the storage and transportation box 1 until the positioning platform 5 is in butt joint with the inlet of the storage and transportation box 1.
In this embodiment, the pushing device includes a pushing base 14 slidably assembled on the positioning platform 5 and a driving mechanism for driving the pushing base 14 to move linearly, the pushing base 14 is provided with a fixing mechanism for fixing the rocket projectile 3, and a tension sensor for detecting tension applied to the pushing base 14 is arranged inside the pushing base 14; the control device controls the driving mechanism to act according to the detection data of the tension sensor; the fixing mechanism comprises a clamping block 8 and a fastening bolt 15; a clamping groove 9 for inserting the tail of the rocket is formed in the clamping block 8, and one side, far away from the clamping groove 9, of the clamping block 8 is hinged with the pushing base 14 through the hinge seat 4; the fastening bolts 15 comprise first fastening bolts and second fastening bolts 15, the first fastening bolts 15 and the second fastening bolts 15 are oppositely arranged on two sides of the clamping groove 9, and one ends of the first fastening bolts 15 and one ends of the second fastening bolts 15 respectively penetrate through the side wall of the clamping groove 9 and extend into the clamping groove 9. The driving mechanism comprises a power rod 17 rotatably connected with the pushing base 14, guide rods 19 oppositely arranged on the power rod 17 and connected with the pushing base 14 in a sliding mode respectively, and a pushing motor 18 used for driving the power rod 17 to rotate, wherein an encoder used for sending output shaft torque force information to the control device is arranged on the pushing motor 18. The working process of the pushing device is as follows:
1. inserting the tail part of a rocket projectile 3 into a clamping groove 3, fixing the rocket projectile 3 by using a fastening bolt 15, starting a driving mechanism by a control device to work after a positioning platform 5 is in butt joint with an inlet of a storage and transportation box 1, pushing the rocket projectile 3 into the storage and transportation box 1 for a certain distance, then quickly retreating for a certain distance, slowly and later pulling the rocket projectile 3, and stopping the pushing device when torque information fed back by an encoder and tension fed back by a tension sensor obtained by the control device reach preset values;
2. the fastening bolts 15 on two sides of the clamping block 8 in the pushing device are removed, the clamping block 8 is rotated upwards, the clamping block 8 is separated from the tail of the rocket projectile 3, and then the pushing device is separated from the rocket projectile 3;
3. the pushing device resets back to the initial position.
The arrangement of the structure not only enables the traction force output to be more stable, but also increases the safety redundancy in the boxing process, and ensures the operation safety of the boxing process.
Referring to fig. 3, a baffle 10 movably connected with the inlet of the storage and transportation box 1 is arranged at the inlet of the storage and transportation box 1, an elastic member 16 is arranged at one side of the baffle 10 close to the interior of the storage and transportation box 1, and two ends of the elastic member 16 are respectively connected with the inner wall of the storage and transportation box 1 and the side wall of the baffle 10. In 3 vanning operations of rocket projectile, as locating platform 5 with the import of storage case 1 docks the back, start actuating mechanism work through controlling means earlier and with rocket projectile 3 propelling movement into storage case 800mm, then roll back 700mm fast, later slowly draw back to this rocket projectile 3 afterbody and baffle 10 contact, when rocket projectile 3's tail end and baffle 10 support to lean on, pusher continues to draw rocket projectile 3 back and can draw this rocket projectile 3, after controlling means obtains the moment of torsion information of encoder feedback and the pulling force of force sensor feedback reached 3500N, pusher stop the operation, and make pusher and rocket projectile 3 separate, make pusher reset at last.
In this embodiment, the coordinate robot 2 includes a base, a body mounted on the base, a first power mechanism for driving the base to move, and a second power mechanism for driving the body to move in the X-axis direction, the Y-axis direction, and the Z-axis direction; the positioning platform 5 is mounted on the fuselage and moves with the movement of the fuselage. A linear guide rail is arranged on one side of the boxing platform, and the linear guide rail linearly extends from one side close to the boxing platform to the direction far away from the boxing platform; the base slidable mounting is on linear guide and by the back and forth movement of first power unit drive on linear guide, and linear guide sets up the removal orbit that the removal of coordinate robot 2 was predetermine, and the butt joint of locating platform 5 and storage case 1 during is more accurate.
In this embodiment, a connecting block 12 is fixed to the inlet of the storage and transportation box 1, and the baffle 10 is connected to the connecting block 12 through a rotating shaft 11.
A rocket projectile boxing method based on a coordinate robot comprises the following steps:
s1, installing the rocket projectile 3 on the coordinate robot 2, and adjusting the position of the rocket projectile 3 to enable the axis of the rocket projectile 3 to coincide with the center line of the storage and transportation box 1;
s2, moving the rocket projectile 3 to the inlet of the storage and transportation box 1 by using the coordinate robot 2;
and S3, pushing the rocket projectile 3 into the storage and transportation box 1 by utilizing the pushing device.
Preferably, step S1 includes the following steps:
s11, acquiring the position coordinates of the storage and transportation box 1 and the position coordinates of the rocket projectile 3, and calculating the distance between the position coordinates of the rocket projectile 3 and the position coordinates of the storage and transportation box 1 according to the acquired position coordinate information of the storage and transportation box 1 and the acquired position coordinate information of the rocket projectile 3;
s12, the coordinate robot 2 drives the rocket projectile 3 to move according to the distance between the position coordinate of the rocket projectile 3 and the position coordinate of the storage and transportation box 1, so that the axis of the rocket projectile 3 is coincident with the center line of the storage and transportation box 1.
Preferably, step S2 includes the following steps:
s21, obtaining distance information between the rocket projectile 3 and the inlet of the storage and transportation box 1;
and S22, moving the coordinate robot 2 according to the acquired distance information so as to enable the rocket projectile 3 to be in butt joint with the inlet of the storage and transportation box 1.
In this embodiment, coordinate robot 2 includes the base, installs the fuselage on the base to and be used for driving the first power unit that the base removed and be used for driving the fuselage to carry out the second power unit that X axle direction, Y axle direction, Z axle direction moved, the fuselage is equipped with and is used for carrying out the location platform 5 that supports to rocket projectile 3.
In this embodiment, pusher includes that the propelling movement base 14 of sliding assembly on locating platform 5 carries out rectilinear movement's actuating mechanism with being used for driving propelling movement base 14, be equipped with the fixed establishment who is used for fixed rocket projectile 3 on propelling movement base 14, and propelling movement base 14 is inside to be equipped with and to be used for carrying out the force sensor that detects to its pulling force that receives. The inlet of the storage and transportation box 1 is provided with a baffle plate 10 movably connected with the storage and transportation box, one side of the baffle plate 10 close to the interior of the storage and transportation box 1 is provided with an elastic part 16, and two ends of the elastic part 16 are respectively connected with the inner wall of the storage and transportation box 1 and the side wall of the baffle plate 10. In the process of boxing the rocket projectile 3, the control device starts the pushing device to act to push the rocket projectile 3 into the storage and transportation box 1 by 800mm, then quickly retracts by 700mm, and then slowly retracts until the tail end of the rocket projectile 3 is contacted with the baffle 10, when the tail end of the rocket projectile 3 is abutted against the baffle 10, the pushing device continues to pull the rocket projectile 3 back until the detection value of the tension sensor reaches a preset value, and at the moment, the fixing mechanism in the pushing device loosens to fix and reset the rocket projectile 3; the boxing mode not only enables the traction force output to be more stable, but also increases the safety redundancy in the boxing process, and ensures the operation safety in the boxing process.
In this embodiment, a connecting block 12 is fixed to the inlet of the storage and transportation box 1, and the baffle 10 is connected to the connecting block 12 through a rotating shaft 11.
In this embodiment, the fixing mechanism includes a clamp block 8 and a fastening bolt 15; a clamping groove 9 for inserting the tail of the rocket is formed in the clamping block 8, and one side, far away from the clamping groove 9, of the clamping block 8 is hinged with the pushing base 14 through the hinge seat 4; the fastening bolts 15 comprise first fastening bolts and second fastening bolts 15, the first fastening bolts 15 and the second fastening bolts 15 are oppositely arranged on two sides of the clamping groove 9, and one ends of the first fastening bolts 15 and one ends of the second fastening bolts 15 respectively penetrate through the side wall of the clamping groove 9 and extend into the clamping groove 9.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts of the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (16)
1. A rocket projectile boxing system based on coordinate robots, comprising: positioning platform (5), coordinate robot (2), detection device, controlling means and be used for placing the vanning platform of storage case (1), wherein:
the positioning platform (5) is arranged on the coordinate robot (2) and used for supporting the rocket projectiles (3) to be boxed, and a pushing device used for pushing the rocket projectiles (3) on the positioning platform (5) to move horizontally is arranged on the positioning platform (5);
the coordinate robot (2) is used for driving the positioning platform (5) to move;
the detection device is used for acquiring the position information of the storage and transportation box (1) placed on the boxing platform and the position information of the rocket projectile (3) fixed on the positioning platform (5);
the control device controls the coordinate robot (2) to move according to the position information acquired by the detection device, so that the axis of the rocket projectile (3) fixed on the positioning platform (5) is superposed with the central line of the storage and transportation box (1) on the packing platform, and the positioning platform (5) is in butt joint with the inlet of the storage and transportation box (1) on the packing platform; the control device controls the pushing device to act in a state that the positioning platform (5) is in butt joint with the inlet of the storage and transportation box (1) on the boxing platform, so that the rocket projectiles (3) are pushed into the storage and transportation box (1);
the pushing device comprises a pushing base (14) assembled on the positioning platform (5) in a sliding mode and a driving mechanism used for driving the pushing base (14) to move linearly, a fixing mechanism used for fixing the rocket projectile (3) is arranged on the pushing base (14), and a tension sensor used for detecting tension borne by the pushing base (14) is arranged inside the pushing base (14); the control device controls the driving mechanism to act according to the detection data of the tension sensor; the driving mechanism comprises a power rod (17) rotatably connected with the pushing base (14), guide rods (19) which are oppositely arranged on two sides of the power rod (17) and are respectively connected with the pushing base (14) in a sliding mode, and a pushing motor (18) used for driving the power rod (17) to rotate, wherein an encoder used for sending output shaft torque force information to the control device is arranged on the pushing motor (18).
2. The coordinate robot-based rocket projectile boxing system according to claim 1, wherein the detection device is mounted on the positioning platform (5), the detection device comprises a laser sensor (7) for acquiring position information of the storage and transportation box (1) on the boxing platform and acquiring position information of the rocket projectile (3) on the positioning platform (5), and a laser limiter (6) for acquiring linear spacing information between the rocket projectile (3) on the positioning platform (5) and the inlet of the storage and transportation box (1), the control device controls the coordinate robot (2) to act according to the position information acquired by the laser sensor (7) so that the axis of the rocket projectile (3) coincides with the center line of the storage and transportation box (1), and the control device controls the coordinate robot (2) to act again according to the spacing information acquired by the laser limiter (6) in a state that the axis of the rocket projectile (3) coincides with the center line of the storage and transportation box (1), so that the positioning platform (5) is butted with the inlet of the storage and transportation box (1).
3. The coordinate robot-based rocket projectile boxing system according to claim 2, wherein the control device calculates a coordinate distance between the central line of the storage and transportation box (1) and the axial line of the rocket projectile (3) according to the position information of the storage and transportation box (1) and the position information of the rocket projectile (3), and controls the coordinate robot (2) to act according to the calculated coordinate distance so that the axial line of the rocket projectile (3) is coincident with the central line of the storage and transportation box (1).
4. The coordinate robot-based rocket magazine system of claim 1, wherein the securing mechanism comprises a clamping block (8) and a fastening bolt (15); a clamping groove (9) for inserting the tail of the rocket is formed in the clamping block (8), and one side, far away from the clamping groove (9), of the clamping block (8) is hinged with the pushing base (14) through a hinge seat (4); the fastening bolts (15) comprise first fastening bolts and second fastening bolts (15), the first fastening bolts (15) and the second fastening bolts (15) are oppositely arranged on two sides of the clamping groove (9), and one ends of the first fastening bolts (15) and one ends of the second fastening bolts (15) respectively penetrate through the side wall of the clamping groove (9) and extend into the clamping groove (9).
5. The coordinate robot-based rocket projectile boxing system according to claim 1, wherein the coordinate robot (2) comprises a base, a body mounted on the base, and a first power mechanism for driving the base to move and a second power mechanism for driving the body to move in X-axis direction, Y-axis direction and Z-axis direction; the positioning platform (5) is mounted on the fuselage and moves along with the movement of the fuselage.
6. The coordinate robot-based rocket projectile packing system of claim 5, wherein one side of the packing platform is provided with a linear guide rail, said linear guide rail extending linearly from a side near the packing platform to a side away from the packing platform; the base is slidably mounted on the linear guide rail and driven by a first power mechanism to move back and forth on the linear guide rail.
7. A coordinate robot-based rocket projectile boxing system according to any one of claims 1 to 6, wherein a baffle (10) is movably connected with the inlet of the storage and transportation box (1), an elastic member (16) is arranged on one side of the baffle (10) close to the interior of the storage and transportation box (1), and two ends of the elastic member (16) are respectively connected with the inner wall of the storage and transportation box (1) and the side wall of the baffle (10).
8. A coordinate robot-based rocket magazine system as claimed in claim 7, wherein the inlet of the storage and transportation box (1) is provided with a connecting block (12) fixed thereto, and the baffle plate (10) is connected with the connecting block (12) through a rotating shaft (11).
9. A rocket projectile boxing method based on a coordinate robot is characterized by comprising the following steps:
s1, installing the rocket projectile (3) on the coordinate robot (2), and adjusting the position of the rocket projectile (3) to enable the axis of the rocket projectile (3) to coincide with the center line of the storage and transportation box (1);
s2, moving the rocket projectile (3) to the inlet of the storage and transportation box (1) by using the coordinate robot (2);
s3, pushing the rocket projectile (3) into the storage and transportation box (1) by using a pushing device;
pusher carries out rectilinear movement's actuating mechanism including propelling movement base (14) of sliding assembly on location platform (5) and being used for driving propelling movement base (14), be equipped with the fixed establishment who is used for fixed rocket projectile (3) on propelling movement base (14), and propelling movement base (14) inside is equipped with and is used for carrying out the force sensor that detects to its pulling force that receives.
10. The coordinate robot-based rocket projectile boxing method according to claim 9, wherein the step S1 comprises the following steps:
s11, acquiring the position coordinates of the storage and transportation box (1) and the position coordinates of the rocket projectile (3), and calculating the distance between the position coordinates of the rocket projectile (3) and the position coordinates of the storage and transportation box (1) according to the acquired position coordinate information of the storage and transportation box (1) and the acquired position coordinate information of the rocket projectile (3);
s12, the coordinate robot (2) drives the rocket projectile (3) to move according to the distance between the position coordinate of the rocket projectile (3) and the position coordinate of the storage and transportation box (1), so that the axis of the rocket projectile (3) is overlapped with the center line of the storage and transportation box (1).
11. The coordinate robot-based rocket projectile boxing method according to claim 9, wherein the step S2 comprises the following steps:
s21, obtaining distance information between the rocket projectile (3) and the inlet of the storage and transportation box (1);
s22, the coordinate robot (2) moves according to the acquired distance information, so that the rocket projectile (3) is in butt joint with the inlet of the storage and transportation box (1).
12. The coordinate robot-based rocket projectile boxing method according to claim 9, wherein the coordinate robot (2) comprises a base, a body mounted on the base, a first power mechanism for driving the base to move and a second power mechanism for driving the body to move in X-axis direction, Y-axis direction and Z-axis direction, and the body is provided with a positioning platform (5) for supporting the rocket projectile (3).
13. The coordinate robot-based rocket projectile boxing method according to claim 9, wherein the fixing mechanism comprises a clamping block (8) and a fastening bolt (15); a clamping groove (9) for inserting the tail of the rocket is formed in the clamping block (8), and one side, far away from the clamping groove (9), of the clamping block (8) is hinged with the pushing base (14) through the hinge seat 4; the fastening bolts (15) comprise first fastening bolts and second fastening bolts (15), the first fastening bolts (15) and the second fastening bolts (15) are oppositely arranged on two sides of the clamping groove (9), and one ends of the first fastening bolts (15) and one ends of the second fastening bolts (15) respectively penetrate through the side wall of the clamping groove (9) and extend into the clamping groove (9).
14. The rocket projectile boxing method based on coordinate robots of claim 9, wherein a baffle (10) movably connected with the inlet of the storage and transportation box (1) is arranged at the inlet of the storage and transportation box (1), an elastic member (16) is arranged on one side of the baffle (10) close to the interior of the storage and transportation box (1), and two ends of the elastic member (16) are respectively connected with the inner wall of the storage and transportation box (1) and the side wall of the baffle (10).
15. A coordinate robot-based rocket projectile boxing method according to claim 14, wherein a connecting block (12) fixed to the storage and transportation box (1) is arranged at the inlet of the storage and transportation box, and the baffle plate (10) is connected with the connecting block (12) through a rotating shaft (11).
16. The coordinate robot-based rocket projectile boxing method according to claim 14, wherein when the pushing device pushes the rocket projectile (3) to the storage and transportation box (1), the pushing device pulls back the rocket projectile (3) to make the tail end of the rocket projectile (3) abut against the baffle (10), and when the tail end of the rocket projectile (3) abuts against the baffle (10), the pushing device continues to pull back the rocket projectile (3) to retreat until the detection value of the tension sensor reaches a preset value; when the detection value of the tension sensor reaches a preset value, a fixing mechanism in the pushing device loosens to fix the rocket projectile (3) and resets.
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| CN110697214B (en) * | 2019-10-22 | 2021-04-27 | 湖北航天技术研究院总体设计所 | Automatic circulation storage and transportation box structure |
| CN112709732B (en) * | 2020-12-29 | 2022-12-09 | 中北大学 | Automatic butt joint device |
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