| At home and abroad,much research has been carried out,and specific applications have been made in vision measurement and production operations based on industrial robots.However,there are still problems such as a relatively independent measurement system,complex construction,massive system,inconvenient moving,vision measurement system not being fixed outside the industrial robot with robot movement(eye-to-hand),significant measurement errors,low intelligence,and poor quality applicability of the system.For example,the intelligent boxing of guns and ammunition products and the dimensional measurement of guns and ammunition in some military enterprises are all done manually,which is laborintensive,inefficient,cannot fully guarantee the quality,and rarely realize automation.In order to solve this problem,this thesis has designed a "robot + vision" precision loading and intelligent detection system by using the robot’s ability to interact and expand in space.The camera and GP08 industrial robot have been "reconstructed" to form an eye-in-hand measurement system.Using the coordination of robot motion accuracy and visual measurement algorithm,we developed an integrated robot intelligent loading system for both cartridge and detection to realize intelligent boxing of bullets and real-time monitoring of finished products and improve intelligence.The main research contents of this paper are as follows:1.A precise loading system based on the robot has been researched and designed,and the system’s mechanical structure design and control system design has been completed.This system completes the automatic boxing of bullets through processing,manufacturing,installation,and debugging.2.Research on robot-based visual inspection technology.Through the follow-up control of the "robot + vision" hand-eye movement,the image synthesis of the bullet motion has been completed.The digital image processing technology has been used to complete the size measurement of bullets.3.The developed precision loading system and visual measurement technology based on the GP08 robot have been applied to practical engineering.Based on the enterprise indicators,the measurement and verification of the bullet size and the reliability verification of the loading system have been completed through tests and analysis.Based on thiese,the innovation points of this paper mainly include:1.Based on the system framework composed of "robot + vision",a set of intelligent robot loading systems integrating precision loading and visual measurement has been developed.Through the eye-in-hand coordination composed of the robot and the camera,the bullet’s automatic boxing and detection function is realized.2.A telecentric lens is added to the eye-in-hand system framework,and a high-precision bullet size measurement method based on a robot moving image synthesis and image processing is proposed,with a measurement accuracy of ±0.05 mm.The vision measurement and precision loading system based on the GP08 robot developed and designed in this paper can be widely used in the size measurement and automatic production of various bullet products,with the characteristics of high efficiency,intelligence,stability,and reliability.Having met the actual needs of the project,this system is of great significance to facilitating the design,manufacture,and industrialization process of the integration of production and testing. |
