阅读说明：本技术 一种基于视觉对准的自动化导弹水平装填系统及其运行方法 (Automatic missile horizontal filling system based on visual alignment and operation method thereof ) 是由 周静 洪鹏 汪孝胜 陈建波 王清运 鄢光红 郑威 麻茹雪 刘峰 于 2020-07-31 设计创作，主要内容包括：本发明涉及导弹水平装填技术领域,尤其是一种基于视觉对准的自动化导弹水平装填系统及其运行方法,特别是指基于AGV转运、视觉对准测量系统实时检测位姿、支撑调姿架车自动调姿对准、推弹设备自动运行的一种基于视觉对准的自动化导弹水平装填系统及其运行方法。该水平装填系统中弹体支撑AGV将弹体运至装填区,总装对接与水平装填公用一套设备,提高设备利用率,缩短产品生命周期,减少吊装,提高产品安全性；支撑架车具备自动加手动调节、实时数显调节范围及自适应(恒力支撑)功能,提高装填系统安全性、可靠性、降低员工劳动强度、提高工作效率；基于视觉对准测量系统提高导弹装填精度及装填可靠性,实现导弹柔性化、智能化、数字化生产。(The invention relates to the technical field of horizontal missile filling, in particular to an automatic horizontal missile filling system based on visual alignment and an operation method thereof, and particularly relates to an automatic horizontal missile filling system based on visual alignment and an operation method thereof, wherein the automatic horizontal missile filling system based on AGV transfer, a visual alignment measurement system for detecting pose in real time, supporting pose adjustment and automatic pose adjustment of a trolley and automatically operating a missile pushing device. The horizontal loading system has the advantages that the bullet supporting AGV transports the bullets to the loading area, and the assembly butt joint and the horizontal loading share one set of equipment, so that the equipment utilization rate is improved, the product life cycle is shortened, the hoisting is reduced, and the product safety is improved; the support frame vehicle has the functions of automatic and manual adjustment, real-time digital display adjustment range and self-adaption (constant force support), so that the safety and reliability of a filling system are improved, the labor intensity of workers is reduced, and the working efficiency is improved; based on the visual alignment measurement system, the missile filling precision and reliability are improved, and the flexible, intelligent and digital production of the missile is realized.)

1. An automatic guided missile horizontal filling system based on visual alignment is characterized in that: horizontal loading system includes that the barrel supports transfers appearance frame car (1), industrial robot system (2), vision to aim at measurement system (3), projectile body support guider (4), projectile body support transfers appearance frame car (5), projectile body support AGV (6), pushes away bullet equipment (7), wherein:

the barrel supporting and posture adjusting trolley (1) is used for supporting a launching barrel in a no-load state and a full-load state, the barrel supporting and posture adjusting trolley (1) is located below the launching barrel, and through supporting and posture adjusting trolley cooperative control, transverse, vertical and circumferential rolling adjustment of the launching barrel can be achieved, so that rapid and accurate butt joint between the launching barrel and a guided missile is facilitated;

the industrial robot (2) is used for automatically installing an ejection power device after the guided ejection is carried into the cylinder;

the visual alignment measurement system (3) is positioned at one end of the launching canister close to the missile and is used for fast alignment of the launching canister and the missile body support guiding device and fast alignment of the missile and the launching canister;

the projectile body supporting and guiding device (4) is positioned beside the launching barrel, is positioned at the same horizontal height with the barrel body of the launching barrel, fixes the barrel body and provides a loading track for the missile;

the missile supporting and posture adjusting trolley (5) is positioned below the missile, the missile and the launching barrel are placed in the same direction, and the missile supporting and posture adjusting trolley (5) is used for supporting the missile and adjusting the posture of the missile, so that the horizontal, vertical and circumferential rolling adjustment of the missile is realized to be coaxial with the barrel;

the missile supporting AGV (6) is used for transferring and generally supporting a missile and a supporting posture adjusting trolley;

the bullet pushing equipment (7) is located at the tail end of the missile and used for automatically grabbing the missile tail L-shaped pin and pushing the missile body into the launching barrel.

2. The automated visual-alignment-based missile level loading system of claim 1, wherein: the barrel body supporting posture adjusting frame trolley (1) and the projectile body supporting posture adjusting frame trolley (5) are provided with the same action unit, the action unit comprises a walking mechanism (101), a lifting mechanism (102), a transverse moving mechanism (103) and a rolling mechanism (104), and the six-degree-of-freedom posture adjusting function can be realized through the cooperative control of the two trolleys; the barrel supporting and posture adjusting trolley (1) and the missile supporting and posture adjusting trolley (5) are provided with weighing and force measuring sensors, pressure values can be digitally displayed in real time and automatically adjusted, constant force supporting of products is achieved, and the phenomenon of missile virtual support is avoided.

3. The automated visual-alignment-based missile level loading system of claim 1, wherein: the cylinder body supporting and posture adjusting trolley (1) and the elastic body supporting and posture adjusting trolley (5) are driven by a motor reducer to adjust the posture or driven by a hand wheel to adjust the posture.

4. The automated visual-alignment-based missile level loading system of claim 1, wherein: the vision alignment measurement system (3) comprises a binocular vision camera, the binocular vision camera is fixed on the ground through a support, coding points are pasted on the barrel, the projectile body supporting and guiding device and the projectile body, a photogrammetric pen with characteristic points is utilized to calibrate the barrel axis, the barrel tail pin hole position and the projectile body supporting and guiding device transition frame pin hole position, the vision alignment measurement system (3) converts the barrel axis, the barrel tail pin hole position and the projectile body supporting and guiding device transition frame pin hole position to the coding points pasted on the barrel and the projectile body supporting and guiding device through identifying the photogrammetric pen with characteristic points, and the vision alignment measurement system (3) fits the cylindrical axis of the barrel, the projectile body supporting and guiding device and the projectile body appearance through identifying the coding points, so that the position and posture information of the barrel and the projectile body is detected in real time, and the position and posture information is fed back to the barrel supporting and posture adjusting frame vehicle (1), The elastic body supports the posture adjusting frame vehicle (5).

5. The automated visual-alignment-based missile level loading system of claim 1, wherein: the missile body supporting and guiding device (4) comprises a semicircular frame (401), a transition frame (402) and a camera (403), the transition frame (402) is fixed in front of the semicircular frame (401) through bolts, pin holes and bolt holes connected with the tail of a launching tube are formed in the transition frame (402), the launching tube is connected with the transition frame (402) on the missile body supporting and guiding device (4) before filling operation starts, and the camera (403) is installed below the transition frame (402) and used for observing the state of the airtight ring at the tail of the missile body entering the transition frame (402) in real time.

6. The automated visual-alignment-based missile level loading system of claim 1, wherein: projectile body supports AGV (6) and contains a plurality of AGV, and these AGV rigid connection install in succession side by side, and pave track (604) on every AGV, projectile body supports transfers appearance frame car (5) to walk along track (604) on projectile body supports AGV (6), accomplishes guided missile assembly butt joint.

7. The automated visual-alignment-based missile level loading system of claim 1, wherein: the bullet pushing equipment (7) comprises a guide rail (701), the guide rail (701) is laid on bosses at two ends of the AGV (6) supported by the bullet body, a gear rack (702) corresponding to the guide rail is arranged on the guide rail (701), and a servo motor speed reducer (703) is arranged on the gear rack (702), so that the bullet pushing equipment (7) integrally moves along the guide rail (701) on the AGV (6) supported by the bullet body;

the middle part of the bullet pushing equipment (7) is a beam, a bullet pushing head is connected to the beam, the bullet pushing head comprises an outer side disc (704) and an inner side disc (705), and the outer side disc (704) is in contact with a bullet tail; the outer side disc (704) is provided with an arc-shaped groove interface, and is driven by a servo motor speed reducer (707) to automatically grab and lock the L-shaped pin at the tail of the bullet;

the inner side disc (705) is provided with a groove, and a missile tail L-shaped pin is clamped in the groove of the inner side disc during horizontal filling, so that the missile is prevented from rolling in the filling process; a weighing force transducer (706) is arranged below the groove of the inner side disc (705), the filling force is digitally displayed in real time, and when the filling force exceeds a preset value, the missile filling is stopped and an alarm is given;

the bullet pushing equipment (7) adopts a servo motor reducer (703) to drive a gear rack (702) to load a bullet body into the launching tube, and after the bullet body is loaded in place, an in-place signal is fed back automatically.

8. The automated visual-alignment-based missile level loading system of claim 1, wherein: the horizontal loading system further comprises a master control system, and the barrel body supporting and posture adjusting frame vehicle (1), the industrial robot system (2), the visual alignment measuring system (3), the projectile body supporting and posture adjusting frame vehicle (5), the projectile body supporting AGV (6) and the projectile pushing equipment (7) are connected with the master control system in a wireless encryption mode.

9. The automated visual-alignment-based missile level loading system of claim 1, wherein: the method of operating the horizontal filling system comprises the steps of:

s1 hoisting the launch canister to a canister body supporting posture adjusting frame vehicle (1);

s2 the vision alignment measurement system (3) works, and according to the detection result, the barrel supporting and posture adjusting frame vehicle (1) carries out posture adjustment to realize that the pin hole and the bolt hole at the tail part of the launching barrel are concentric with the pin hole and the bolt hole of the projectile body supporting and guiding device (4);

s3, manually connecting the launch canister with the projectile body supporting and guiding device (4);

s4 supporting the AGV (6) to move to the horizontal loading operation area with the projectile;

s5, manually installing the adapter;

s6, the vision alignment measurement system (3) works, and according to the detection result, the projectile body support posture adjusting frame vehicle (5) carries out posture adjustment to realize that the projectile body is coaxial with the barrel;

s7, connecting the bullet pushing equipment (7) with the bullet tail L-shaped pin, and starting the loading operation;

s8, feeding the projectile body in place, feeding back a position signal by the projectile pushing device (7), and automatically separating and withdrawing the projectile body;

s9, manually separating the launch canister from the projectile body supporting and guiding device (4);

and S10, the industrial robot system (2) automatically installs the ejection power device, and the loading operation is completed.

Technical Field

The invention relates to the technical field of horizontal missile filling, in particular to an automatic horizontal missile filling system, and particularly relates to an automatic horizontal missile filling system based on visual alignment and an operation method thereof, wherein the automatic horizontal missile filling system is based on AGV transfer, real-time pose detection of a visual alignment measurement system, automatic pose alignment of a support pose alignment trolley and automatic operation of missile pushing equipment.

Background

Along with the development of the intelligent manufacturing field, the missile development of developed countries enters a new stage of pursuing high automation degree and high production efficiency, and domestic missile butt-joint filling still mainly adopts manual operation. The existing missile horizontal filling equipment and the operation method have many problems, such as: the missile is an initiating explosive device with large volume, heavy weight and high manufacturing precision, and the hoisting and transportation have safety problems; the method has the advantages that the method is high in labor intensity, low in efficiency, poor in alignment precision and poor in reliability, loading and retreating operations are repeatedly performed, the life safety of operators is seriously harmed, and the requirements of high-precision, high-efficiency and high-reliability production of missiles in China cannot be met.

Disclosure of Invention

Aiming at the problems, the invention provides an automatic missile horizontal filling system based on AGV transfer, real-time pose detection of a vision alignment measurement system, automatic pose alignment of a support pose alignment trolley and automatic operation of missile pushing equipment. The utilization rate of equipment can be improved, and the life cycle of the product can be shortened; hoisting is reduced, and the product safety is improved; the labor intensity of workers is reduced, and the working efficiency is improved; the missile filling precision and reliability are improved; realizes the flexible, intelligent and digital production of the missile.

The invention relates to an automatic missile horizontal filling system and an operation method thereof, wherein the automatic missile horizontal filling system is based on AGV transfer, a vision alignment measurement system for detecting poses in real time, supporting pose adjusting and erecting vehicles for automatic pose adjusting alignment and automatically operating a missile pushing device. The horizontal loading system comprises a barrel supporting and posture adjusting frame vehicle 1, an industrial robot system 2, a vision alignment measuring system 3, a projectile supporting and guiding device 4, a projectile supporting and posture adjusting frame vehicle 5, a projectile supporting AGV6 and a projectile pushing device 7.

The barrel supporting and posture adjusting trolley 1 is mainly used for supporting the launching barrels in a no-load state and a barrel bullet full-load state, has a butt joint adjusting function, can realize barrel transverse, vertical and circumferential rolling adjustment through supporting and posture adjusting trolley cooperative control, and is convenient, rapid and accurate in butt joint;

the industrial robot 2 is used for automatically mounting an ejection power device;

the vision alignment measurement system 3 is mainly used for the rapid alignment of the launching tube and the projectile body supporting and guiding device and the rapid alignment of the projectile body and the launching tube;

the projectile support guide 4 provides a loading track for the projectiles;

the missile supporting and posture adjusting trolley 5 is mainly used for supporting a missile and adjusting the posture of the missile, and can realize horizontal, vertical and circumferential rolling adjustment of a missile and the coaxiality of a barrel;

the projectile support AGV6 is used for transporting and generally supporting projectiles and supporting the posture adjusting trolley;

the bullet pushing equipment 7 is mainly used for automatically grabbing a bullet tail L-shaped pin and pushing a bullet body into a launching tube;

the horizontal loading and final assembly butt joint share a set of missile body supporting posture-adjusting trolley 5, so that the equipment utilization rate is improved, missile hoisting is avoided, and the product safety is improved;

the single vehicle of the barrel body supporting posture adjusting trolley 1 and the single vehicle of the bullet body supporting posture adjusting trolley 5 has four degrees of freedom of a walking mechanism 101, a lifting mechanism 102, a transverse moving mechanism 103 and a rolling mechanism 104, and the double-vehicle cooperative control can realize the function of six-degree-of-freedom posture adjustment; the barrel supporting and posture adjusting trolley 1 and the projectile supporting and posture adjusting trolley 5 are provided with weighing and force measuring sensors, pressure values can be digitally displayed in real time and automatically adjusted, constant force supporting of products is achieved, and the phenomenon of missile virtual support is avoided. The cylinder body supporting and posture adjusting trolley 1 and the elastic body supporting and posture adjusting trolley 5 can use a motor speed reducer to drive a posture adjusting function and can also use a hand wheel to drive the posture adjusting function, so that the reliability of equipment is improved, and the delay of war is avoided;

the vision alignment measuring system 3 consists of a binocular vision camera, is fixed on the ground through a bracket, keeps the relative positions of the two unchanged in the measuring process, and meanwhile, pastes coding points on the cylinder body, the projectile body supporting and guiding device and the projectile body, and the vision measuring system fits a cylindrical axis through identifying the coding points, so that the position postures of the cylinder body and the projectile body are detected in real time and information is fed back to the cylinder body supporting and posture adjusting frame vehicle 1 and the projectile body supporting and posture adjusting frame vehicle 5;

the missile supporting AGV6 comprises 3 AGVs 601, 602 and 603, a track 604 is laid on each AGV, the 3 AGVs are rigidly connected when the guided missile is assembled and butted, and the missile supporting posture adjusting trolley 5 can walk on the missile supporting AGV6 along the track 604 to finish the guided missile assembly and butt joint and horizontal filling;

an arc-shaped groove interface is designed on an outer side disc 704 of the bullet pushing equipment 7, and the bullet tail L-shaped pin can be automatically grabbed and locked by being driven by a motor speed reducer 707; the inner side disc 705 is provided with a groove, and a missile tail L-shaped pin is clamped in the groove of the inner side disc during horizontal loading to prevent the missile from rolling in the loading process; a weighing force-measuring sensor 706 is arranged below the groove of the inner side disc 705, the filling force can be digitally displayed in real time, and when the filling force exceeds a preset value, the missile filling is stopped and an alarm is given; the bullet pushing equipment 7 adopts a servo motor speed reducer 703 to drive a gear rack 702 to load a bullet into the launching tube, and an in-place signal is automatically fed back after the bullet is loaded in place;

the horizontal loading system further comprises a master control system, and the barrel body supporting and posture adjusting trolley 1, the industrial robot system 2, the visual alignment measuring system 3, the projectile body supporting and posture adjusting trolley 5, the projectile body supporting AGV6, the projectile pushing equipment 7 and the master control system are connected in a wireless encryption mode.

The horizontal filling system comprises the following specific steps:

1) the launching tube is hoisted to the tube body supporting posture adjusting frame vehicle 1;

2) the visual alignment measuring system 3 works, and according to the detection result, the barrel supporting and posture adjusting trolley 1 carries out posture adjustment to realize that the pin hole bolt hole of the launching barrel is concentric with the pin hole bolt hole of the projectile body supporting and guiding device 4;

3) manually connecting the launching tube with the projectile body supporting and guiding device 4;

4) supporting the AGV6 by the projectile body and walking to the horizontal loading operation;

5) manually installing an adapter;

6) the vision alignment measurement system 3 works, and according to the detection result, the projectile body supports the posture adjusting trolley 5 to adjust the posture, so that the projectile body and the barrel body are coaxial;

7) the bullet pushing equipment 7 is connected with the bullet tail L-shaped pin, and the loading operation is started;

8) the projectile body is filled in place, and the projectile pushing device 7 feeds back a signal in place, automatically separates from the projectile body and withdraws;

9) manually separating the launching tube from the projectile body supporting and guiding device 4;

10) the industrial robot system 2 automatically installs the ejection power device, and the loading operation is completed.

Compared with the prior art, the automatic missile horizontal filling system based on visual alignment has the following beneficial effects:

(1) the guided missile is supported by the missile body to be transferred from the final assembly butt joint area to the horizontal loading area, so that guided missile hoisting times are reduced, and safety of the guided missile and operators is improved;

(2) the missile supporting posture adjusting frame vehicle and the assembly share one set of equipment, so that the utilization rate of the equipment is improved, and the life cycle of the equipment is shortened;

(3) the vision alignment measurement system can align the original cylinder and bullet for 30min or even longer time to 5min, effectively reduce operators, reduce the labor intensity of staff, improve the working efficiency and improve the alignment precision of the cylinder and the bullet;

(4) the visual alignment measurement system directly measures the axis of the inner wall of the launching tube, so that the phenomenon of loading failure caused by the manufacturing error of the launching tube can be avoided, and the loading precision, consistency and reliability of the missile are improved;

(5) the cylinder body supporting and posture adjusting trolley and the missile body supporting and posture adjusting trolley are automatically adjusted according to the feedback result of the vision alignment measurement system, have the functions of real-time digital display adjustment range and self-adaption (constant force support), avoid the phenomenon of missile virtual support, reduce operators, reduce the labor intensity of workers and improve the working efficiency;

(6) the cylinder support posture adjusting frame vehicle and the bullet support posture adjusting frame vehicle have a manual adjusting function, the reliability of equipment is improved, and delay of war is avoided.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the present invention will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive labor.

FIG. 1 is a block diagram of an automated visual alignment-based missile level loading system of the present invention;

FIG. 2 is a top view of the final assembly docking area and the horizontal loading area;

FIG. 3 is a schematic structural view of a projectile body supporting posture-adjusting trolley;

FIG. 4 is a schematic view of the projectile support guide assembly;

FIG. 5 is a schematic diagram of a projectile support AGV configuration;

FIG. 6 is a schematic structural view of the projectile pushing apparatus;

reference number designations in the drawings: 1-cylinder supporting and posture adjusting trolley, 2-industrial robot system, 3-vision alignment measurement system, 4-projectile supporting and guiding device, 5-projectile supporting and posture adjusting trolley, 6-projectile supporting AGV and 7-projectile pushing equipment;

101-a traveling mechanism, 102-a lifting mechanism, 103-a traversing mechanism, 104-a rolling mechanism, 105-a servo motor, 106-a hand wheel, 107-a weighing and force-measuring sensor;

401-semicircular frame, 402-transition frame, 403-camera;

601-first AGV, 602-second AGV, 603-third AGV, 604-track;

701-guide rail, 702-gear rack, 703-servo motor reducer, 704-outer disc, 705-inner disc, 706-weighing load cell, 707-servo motor reducer.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The invention relates to an automatic guided missile horizontal loading system based on visual alignment, which is an automatic guided missile horizontal loading system based on AGV transfer, real-time pose detection of a visual alignment measuring system, automatic pose alignment of a support pose alignment trolley and automatic operation of missile pushing equipment.

Example 1

As shown in fig. 1, the automatic missile horizontal loading system based on visual alignment comprises a barrel support posture adjusting trolley 1, an industrial robot system 2, a visual alignment measuring system 3, a projectile support guiding device 4, a projectile support posture adjusting trolley 5, a projectile support AGV6 and a projectile pushing device 7.

The barrel supporting and posture adjusting trolley 1 is used for supporting a launching barrel in a no-load state and a full-load state, the barrel supporting and posture adjusting trolley 1 is located below the launching barrel, and through supporting and posture adjusting trolley cooperative control, transverse, vertical and circumferential rolling adjustment of the launching barrel can be achieved, and rapid and accurate butt joint between the launching barrel and a guided missile is facilitated;

the industrial robot 2 is used for automatically installing an ejection power device after the guided ejection is carried into the cylinder.

The visual alignment measurement system 3 is positioned at one end of the launching canister close to the missile and is used for quickly aligning the launching canister with the missile body supporting and guiding device and quickly aligning the missile with the launching canister;

the projectile body supporting and guiding device 4 is positioned beside the launching barrel and at the same horizontal height with the barrel body of the launching barrel, fixes the barrel body and provides a loading track for the missile;

the missile supporting and posture adjusting trolley 5 is positioned below the missile, the missile and the launching barrel are placed in the same direction, and the missile supporting and posture adjusting trolley 5 is used for supporting the missile and adjusting the posture of the missile, so that the horizontal, vertical and circumferential rolling adjustment of the missile is realized to be coaxial with the barrel;

the missile supporting AGV6 is used for transferring and generally supporting missiles and supporting a posture adjusting frame vehicle;

the bullet pushing equipment 7 is located at the tail end of the missile and used for automatically grabbing the L-shaped pin at the tail of the missile and pushing the missile body into the launching tube.

In the embodiment, a set of missile body supporting posture-adjusting trolley 5 is used for horizontal loading and final assembly butt joint, so that the equipment utilization rate is improved, missile hoisting is avoided, and the product safety is improved.

Further, as shown in fig. 3, the barrel support posture adjustment trolley 1 and the projectile support posture adjustment trolley 5 have the same action unit, the action unit comprises a walking mechanism 101, a lifting mechanism 102, a traversing mechanism 103 and a rolling mechanism 104, and the six-degree-of-freedom posture adjustment function can be realized through the cooperative control of the two trolleys; the barrel supporting and posture adjusting trolley 1 and the projectile supporting and posture adjusting trolley 5 are provided with weighing and force measuring sensors, pressure values can be digitally displayed in real time and automatically adjusted, constant force supporting of products is achieved, and the phenomenon of missile virtual support is avoided.

The cylinder support posture adjusting trolley 1 and the elastic body support posture adjusting trolley 5 can use a motor reducer to drive the posture adjusting function and can also use a hand wheel to drive the posture adjusting function, so that the reliability of equipment is improved, and the delay of war is avoided.

The vision alignment measuring system 3 comprises a binocular vision camera, the binocular vision camera is fixed on the ground through a support, coding points are pasted on the cylinder body, the projectile body supporting and guiding device and the projectile body, a photogrammetric pen with characteristic points is utilized to calibrate the cylinder axis, the pin hole position of the tail part of the cylinder body and the pin hole position of the transition frame of the projectile body supporting and guiding device, the vision alignment measuring system 3 converts the cylinder axis, the pin hole position of the tail part of the cylinder body and the pin hole position of the transition frame of the projectile body supporting and guiding device to the coding points pasted on the cylinder body and the projectile body supporting and guiding device by identifying the photogrammetric pen with characteristic points, and the vision alignment measuring system 3 fits the cylinder axis of the cylinder body, the projectile body supporting and guiding device and the projectile body appearance through identifying the coding points, thereby detecting the position posture information of the cylinder body and the projectile body in real time and feeding the position posture information back, The elastic body supports the posture adjusting frame vehicle 5.

The missile body supporting and guiding device 4 comprises a semicircular frame 401, a transition frame 402 and a camera 403, the transition frame 402 is fixed in front of the semicircular frame 401 through bolts, a pin hole and a bolt hole which are connected with the tail part of a launching tube are formed in the transition frame 402, the launching tube is connected with the transition frame 402 on the missile body supporting and guiding device 4 before the loading operation starts, and the camera 403 is installed below the transition frame 402 and used for observing the state of the airtight ring at the tail part of the missile body entering the transition frame 402 in real time.

Further, as shown in fig. 4, the projectile support AGV6 provided in this embodiment is characterized in that the projectile support AGV6 is composed of 3 AGVs 601, 602, and 603, and a track 604 is laid on each AGV, and when the guided missile is assembled and docked, the 3 AGVs are rigidly connected, and the projectile support posture adjustment trolley 5 can travel on the projectile support AGV6 along the track 604 to complete the guided missile assembly docking and horizontal loading.

Furthermore, as shown in fig. 5, the projectile pushing device 7 provided in this embodiment includes a guide rail 701, the guide rail 701 is laid on the bosses at the two ends of the projectile supporting AGV6, a gear rack 702 corresponding to the guide rail 701 is provided on the guide rail 701, and a servo motor reducer 703 is provided on the gear rack 702, so that the entire projectile pushing device 7 moves along the guide rail 701 on the projectile supporting AGV 6;

the middle part of the bullet pushing device 7 is a beam, a bullet pushing head is connected to the beam, the bullet pushing head comprises an outer side disc 704 and an inner side disc 705, and the outer side disc 704 contacts with a bullet tail; the outer disc 704 is provided with an arc-shaped groove interface, and is driven by a servo motor speed reducer 707 to automatically grab and lock the L-shaped pin at the tail of the bullet;

the inner side disc 705 is provided with a groove, and a missile tail L-shaped pin is clamped in the groove of the inner side disc during horizontal loading, so that the missile is prevented from rolling in the loading process; a weighing force-measuring sensor 706 is arranged below the groove of the inner side disc 705, the filling force is digitally displayed in real time, and when the filling force exceeds a preset value, the missile filling is stopped and an alarm is given;

the bullet pushing equipment 7 adopts a servo motor speed reducer 703 to drive a gear rack 702 to load the bullet bodies into the launching tube, and the bullet bodies are automatically fed back to the target position after being loaded in the target position.

The automatic guided missile horizontal loading system based on visual alignment provided by the embodiment utilizes the missile body to support the AGV, so that the guided missile is transferred from the final assembly butt joint area to the horizontal loading area, the guided missile lifting times are reduced, and the safety of the guided missile and operators is improved; the missile supporting posture adjusting frame vehicle and the assembly share one set of equipment, so that the utilization rate of the equipment is improved, and the life cycle of the equipment is shortened; the vision alignment measurement system can align the original cylinder and bullet for 30min or even longer time to 5min, effectively reduce operators, reduce the labor intensity of staff, improve the working efficiency and improve the alignment precision of the cylinder and the bullet; the visual alignment measurement system directly measures the axis of the inner wall of the launching tube, so that the phenomenon of loading failure caused by the manufacturing error of the launching tube can be avoided, and the loading precision, consistency and reliability of the missile are improved; the cylinder body supporting and posture adjusting trolley and the missile body supporting and posture adjusting trolley are automatically adjusted according to the feedback result of the vision alignment measurement system, have the functions of real-time digital display adjustment range and self-adaption (constant force support), avoid the phenomenon of missile virtual support, reduce operators, reduce the labor intensity of workers and improve the working efficiency; the cylinder support posture adjusting frame vehicle and the bullet support posture adjusting frame vehicle have a manual adjusting function, the reliability of equipment is improved, and delay of war is avoided.

Example 2

Based on the above automatic guided missile horizontal loading system based on visual alignment, the embodiment further provides a horizontal loading system comprising a master control system, and the barrel supports and adjusts the posture rack car 1, the industrial robot system 2, the visual alignment measurement system 3, the projectile supports and adjusts the posture rack car 5, the projectile supports the AGV6, and the projectile pushing equipment 7 is connected with the master control system in a wireless encryption manner.

Based on this set of total control system, can realize the full flow automatic control of horizontal filling process, make and fill more accurately.

Example 3

Based on the above automatic missile horizontal loading system based on visual alignment, the present embodiment provides an operation method for implementing automatic missile horizontal loading, and a structure of the operation method is shown in fig. 2 before loading and after loading, and specific steps of the operation method include:

1) the launching tube is hoisted to the tube body supporting posture adjusting frame vehicle 1;

2) the visual alignment measuring system 3 works, and according to the detection result, the barrel supporting and posture adjusting trolley 1 carries out posture adjustment to realize that the pin hole bolt hole of the launching barrel is concentric with the pin hole bolt hole of the projectile body supporting and guiding device 4;

3) manually connecting the launching tube with the projectile body supporting and guiding device 4;

4) supporting the AGV6 by the projectile body and walking to the horizontal loading operation;

5) manually installing an adapter;

6) the vision alignment measurement system 3 works, and according to the detection result, the projectile body supports the posture adjusting trolley 5 to adjust the posture, so that the projectile body and the barrel body are coaxial;

7) the bullet pushing equipment 7 is connected with the bullet tail L-shaped pin, and the loading operation is started;

8) the projectile body is filled in place, and the projectile pushing device 7 feeds back a signal in place, automatically separates from the projectile body and withdraws;

9) manually separating the launching tube from the projectile body supporting and guiding device 4;

10) the industrial robot system 2 automatically installs the ejection power device, and the loading operation is completed.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.