Safety control system and method for barrel bullet grabbing device

The invention provides a safety control system and method for a barrel bullet grabbing device. The safety control system comprises a rotation module, an overturning module, a rigid-flexible conversion module and a grabbing module. The control module controls the rotation module to achieve safe rotation of the barrel shell grabbing device, then the overturning module is used for achieving rotation of the barrel shell grabbing device in the X-axis direction and the Y-axis direction, and when the barrel shell grabbing device reaches a preset position, the rigid-flexible conversion module is used for safe self-locking. And after self-locking is completed, grabbing and clamping of the barrel bullet are achieved through the grabbing module. 本发明提供了一种筒弹抓取装置安全控制系统及方法，包括：回转模块、翻转模块、刚柔转换模块以及抓取模块；控制模块控制所述回转模块实现筒弹抓取装置的安全回转，再利用所述翻转模块实现筒弹抓取装置绕X轴和Y轴方向的转动，当筒弹抓取装置到达预设位置时，利用所述刚柔转换模块进行安全自锁，自锁完成后通过所述抓取模块实现筒弹的抓取和卡紧。