基于视觉引导的弹部件高效自动排序技术  

Efficient Automatic Sequencing Technology of Bullet Parts Based on Vision Guidance

作　　者：刘锡朋 杨海川 石义官 王尧 李作武 Liu Xipeng;Yang Haichuan;Shi Yiguan;Wang Yao;Li Zuowu(Department of Intelligent Manufacture,Automation Research Institute Co.,Ltd.of China South Industries Group Corporation,Mianyang 621000,China;No.2 Military Representative Office of Army Equipment Department in Chongqing District,Chongqing 400060,China)

机构地区：[1]中国兵器装备集团自动化研究所有限公司智能制造事业部,四川绵阳621000 [2]陆装驻重庆地区第二军代室,重庆400060

出　　处：《兵工自动化》2022年第11期24-26,31,共4页Ordnance Industry Automation

摘　　要：针对延期体、枪弹弹壳、弹头等弹部件的高效自动排序需求,基于视觉引导的工业并联机器人自动抓取系统进行自动排序技术研究。通过机器视觉自动识别弹部件位置,引导并联机器人抓取工件后自动调整工件姿态并快速排序放置。运用该视觉引导排序技术的枪弹装配及延期雷管装配自动生产线已投产。结果表明:该排序方式效率高、漏装反装失误率极低;柔性化水平高,可适应不同长度、外形的弹部件;生产线的整体效率和运行可靠性大幅提高。Aiming at the requirement of efficient automatic sorting of delay object, cartridge case, bullet and other bullet parts, the automatic sorting technology of industrial parallel robot automatic grasping system based on vision guidance is studied. The machine vision is used to automatically identify the position of the bullet parts, guide the parallel robot to automatically adjust the workpiece posture after grabbing the workpiece, and quickly sort and place the workpiece. The bullet assembly and delay detonator assembly automatic production line using the vision-guided sequencing technology has been put into production. The results show that the sequencing method has high efficiency, low error rate of missing and reverse loading, high flexibility, and can adapt to different length and shape of bullet parts. The overall efficiency and operation reliability of the production line have been greatly improved.

关 键 词：视觉引导 并联机器人 自动排序 弹部件 

分 类 号：TJ410.5[兵器科学与技术—火炮、自动武器与弹药工程]