基于视觉引导的弹部件高效自动排序技术

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。

Efficient Automatic Sequencing Technology ofBullet Parts Based on Vision Guidance

Aiming at the requirement of efficient automatic sorting of delay object, cartridge case, bullet and otherbullet parts, the automatic sorting technology of industrial parallel robot automatic grasping system based on visionguidance is studied. The machine vision is used to automatically identify the position of the bullet parts, guide the parallelrobot 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 technologyhas been put into production. The results show that the sequencing method has high efficiency, low error rate of missingand reverse loading, high flexibility, and can adapt to different length and shape of bullet parts. The overall efficiency andoperation reliability of the production line have been greatly improved.