| Automatic assembly system is widely used in industrial production,logistics,port and other industries to improve production efficiency and reduce manual operation intensity and difficulty.Automatic mounting is a specific assembly system,whose operation mode is generally to automatically complete the material transportation within a short distance through an integrated platform of carriage and assembly.Automatic mounting system is mainly used in automatic storage of weapons in civil industry and military field.In the military field,the existing mount system is mainly manual operation and semi-automatic system,and the fully automatic mount system is still in the research and prototype stage.This study aiming at its key technical problems such as target recognition and positioning,high stability control and system integration.This paper conducts an in-depth study on the requirements of typical mounting operations,and based on the technical status quo in relevant fields at home and abroad,gives the mounting operation flow that is optimized and more in line with the actual needs.On this basis,the scheme design of the mounting prototype system is completed.The system function composition and module division are defined,and the key technical problems that the system needs to solve are target recognition,positioning and motion control based on machine vision.The system moving platform and the lifting mechanism of the mechanical arm with the McNham wheel structure are selected,and the selection and configuration,principle modeling and calibration of the main sensors are carried out.Through the comparison and analysis of different target measurement methods,and the target recognition algorithm based on Hough transformation and the calculation of the motion platform control instruction are designed and realized.Based on DH method,the modeling of the multi-dof manipulator is completed,and its transformation matrix and control parameters are determined through experiments,and the control algorithm is realized.The hardware and software design and system integration of the system are completed.According to the application background requirement of the system,a number of experimental scenarios are set up to conduct experimental tests,and the experimental data are analyzed and demonstrated.The analysis results show that the system designed in this paper is feasible and effective,and has basically achieved the design goal. |
