The invention provides an intelligent omni-directional carrying device for long and large cannonballs. The intelligent omni-directional carrying device comprises a lifting platform, a hoisting platform, a backpack robot A, a backpack robot B, a handheld remote controller, a magnetic stripe navigation device, a two-dimensional code positioning device, an upper computer operation monitoring platform and the like. The lifting platform comprises a motor, a speed reducer, a coupler, a roller lead screw, a guide rail, a stand column, a lifting cross beam, a motor driver and a proximity switch. And the hoisting platform comprises a hoisting cross beam, a supporting rod and a hoisting tool. The system is mainly used for automatic loading, unloading and stacking of the cannonballs in the cave depot, path navigation and positioning are completed by adopting a magnetic stripe navigation mode and a two-dimensional code positioning mode, task scheduling and information integration are completed by adopting an upper computer operation monitoring platform, and a new mode of accurate carrying of the cannonballs in the cave depot and informatization management of the cannonballs is formed; and the precision and efficiency of carrying the cartridge bombs are improved, the subjective experience dependence is reduced, and the requirements of loading, unloading and stacking of the cartridge bombs under the normalized high-strength and high-density launching situation are met.

    本发明提供一种长大型筒弹智能全向搬运装置,包括升降平台、吊装平台、背负式机器人A、背负式机器人B、手持遥控器、磁条导航装置、二维码定位装置、上位机操作监控平台等。升降平台包括电机、减速机、联轴器、滚轴丝杠、导轨、立柱、升降横梁、电机驱动器、接近开关;所述的吊装平台包括吊装横梁、支撑杆和吊具。本发明主要用于洞库内筒弹的自动化装卸和堆垛,采用磁条导航方式和二维码定位方式完成路径导航和定位,采用上位机操作监控平台完成任务调度和信息整合,形成具有洞库内的筒弹精准搬运、筒弹信息化管理的新模式,提高了筒弹搬运的精度和效率,降低了主观经验依赖性,满足了常态化高强密度发射形势下筒弹装卸、堆垛的需求。


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    Title :

    Intelligent omni-directional carrying device for long and large cannonballs and control method of intelligent omni-directional carrying device


    Additional title:

    一种长大型筒弹智能全向搬运装置及其控制方法


    Contributors:
    LI GUANGBAO (author) / GAO DONG (author) / LU YONG (author) / ZHAO SAI (author) / ZHOU YUANYUAN (author) / PING HAO (author) / YANG BO (author) / GENG HANLIN (author)

    Publication date :

    2024-02-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B66C Krane , CRANES



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