CN109731801B - Automatic shot sorting method and system - Google Patents
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- CN109731801B CN109731801B CN201910095634.2A CN201910095634A CN109731801B CN 109731801 B CN109731801 B CN 109731801B CN 201910095634 A CN201910095634 A CN 201910095634A CN 109731801 B CN109731801 B CN 109731801B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 9
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- 238000003384 imaging method Methods 0.000 claims description 19
- 239000008188 pellet Substances 0.000 claims description 19
- 230000009191 jumping Effects 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 6
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Abstract
The invention designs an automatic shot picking method aiming at the problems of low automation degree and large potential safety hazard in the shot picking process, which comprises weight detection, length detection, gap detection, jump detection and closing detection, wherein the detected qualified shots are clamped and placed in a qualified area for boxing, and the detected unqualified shots are placed in an unqualified area. The automatic shot picking system comprises a weight, length and gap detection mechanism, a jump detection mechanism, a closing detection mechanism, a computer, a database, a mechanical arm and a transmission mechanism; the weight, length and gap detection mechanism comprises an electronic balance and a first explosion-proof machine vision sensor; the jump detection mechanism comprises a second explosion-proof machine vision sensor, a positioning module and a translational belt; the computer is respectively connected with the electronic balance, the first explosion-proof machine vision sensor, the second explosion-proof machine vision sensor, the chamber closing detection mechanism, the database and the mechanical arm in a communication way; the transmission mechanism is positioned at one side of the mechanical arm.
Description
Technical Field
The invention relates to an automatic shot picking system, in particular to an automatic shot picking system and an automatic shot picking method.
Background
At present, most of weapon enterprises have low automation degree on the projectile production line, and the current situation that the number of workers in dangerous areas exceeds 10 still exists. The dangerous degree of the projectile quality detection and boxing process is high, and the safety production and the ammunition quality are seriously influenced. The shape and the weight of the projectile can be put into the firing chamber of the gun after meeting certain accurate requirements. Therefore, the automatic detection, picking and automatic conveying processes of the pellets are necessary requirements for improving the production quality and efficiency of the pellets. Therefore, how to design and develop an automatic shot picking system is a technical problem to be solved.
Disclosure of Invention
In view of this, the invention designs an automatic shot picking system, which comprises a weight, length and gap detection mechanism, a jump detection mechanism, a chamber closing detection mechanism, a computer, a database, a mechanical arm and a transmission mechanism;
the weight, length and gap detection mechanism comprises an electronic balance and a first explosion-proof machine vision sensor, and the first explosion-proof machine vision sensor is positioned right above the electronic balance;
the jump detection mechanism comprises a second explosion-proof machine vision sensor, a positioning module and a horizontal moving belt; the positioning module is provided with a V-shaped groove, and the shot to be detected is clamped into the V-shaped groove to finish positioning; the horizontal moving belt is arranged right above the projectile and drives the projectile to rotate in the V-shaped groove; the second explosion-proof machine vision sensor is positioned at one end of the projectile;
the computer is respectively in communication connection with the electronic balance, the first explosion-proof machine vision sensor, the second explosion-proof machine vision sensor, the chamber closing detection mechanism, the database and the mechanical arm;
the transmission mechanism is positioned at one side of the mechanical arm.
Further, the closed-bore detection mechanism comprises a communication component, a closed-bore gauge and a jacking platform mechanism positioned right below the closed-bore gauge.
Further, the clamp on the mechanical arm is provided with a load cell.
Further, the force of the mechanical arm holding the projectile to enter the combined chamber detection mechanism is not less than 250N.
Further, the shot length detection error is required to be 0.05mm.
Further, the resolution of the first explosion-proof machine vision sensor is more than 500 ten thousand pixels; the resolution of the second explosion-proof machine vision sensor is 2900 ten thousand pixels or more.
Further, the accuracy of the quality detection mechanism is 0.2g or more.
Further, the device also comprises a material arranging arm which is in communication connection with the computer; the mechanical arm is used for completing the actions of length, gap, weight, jump and compliance detection feeding, length, gap, weight and jump discharging; the material arranging arm is used for completing the compliance gauge passing sorting and boxing.
An automatic shot picking method comprises the following steps:
s1, clamping a projectile and placing the projectile at a first station for weight detection, length detection and gap detection; clamping and placing all the detected qualified shots at a second station, and placing one or more detected unqualified shots in an unqualified area;
s2, performing jump detection on the projectile at a second station; clamping and placing the qualified detected pellets to a third station, and placing the unqualified detected pellets to the unqualified area;
s3, carrying out chamber combination detection on the projectile at a third station; clamping and placing the qualified pellets in a qualified area for boxing, and placing unqualified pellets in the unqualified area;
s4, conveying the whole packaged shots to a designated area through a conveying mechanism;
the jitter detection comprises the following steps: placing the shot to be detected on a fixed V-shaped module; positioning the end of the projectile parallel to a second explosion-proof machine vision sensor lens; determining the position of a detection point, generally selecting the top part in the circumferential direction, and setting a standard image block; keeping the projectile rotating; collecting images of the positions of detection points in the rotation process of the projectile and transmitting the images back to a computer; calculating a jumping value by a computer; judging whether the jump detection is qualified or not, determining that the jump detection is unqualified when the jump value is larger than a preset standard bullet jump deviation allowable value, recording the detection result into a database, and simultaneously grabbing and placing the unqualified areas of the shots by a mechanical arm; when the jumping value is smaller than or equal to a preset standard bullet jumping deviation allowable value, determining that the jumping detection is qualified, recording the detection result into a database, and simultaneously grabbing and placing the bullet to the next station by a mechanical arm;
the calculation method of the jitter value comprises the following steps: firstly, calculating the amplification factor M, setting a standard image block on the same plane of the projectile, and calculating the amplification factor M by a computer through the imaging length of the standard image block and the actual length of the standard image block; calculating the actual radial length of the projectile, calculating the radial length of the projectile at the detection point on a single image, dividing the radial length by the magnification factor M, and calculating the actual radial length L of the projectile; calculating the actual radial lengths of the shots at a plurality of positions to obtain Lmax and Lmin values; lmax-Lmin is the jitter value.
Further, the chamber closing detection is to place the shot to be detected into a chamber closing gauge mechanism, and then eject the shot by a jacking mechanism after passing through the chamber closing gauge mechanism; and displaying and reminding unqualified products and automatically selecting unqualified areas.
Further, the length detection and the gap detection are transmitted to a computer through photographing of a first explosion-proof machine vision sensor, and the length detection and the gap detection are completed through analyzing images by the computer.
Further, the length detection includes the steps of: setting a standard block on the same plane of the projectile, and photographing by a first explosion-proof machine vision sensor and transmitting the photographed image back to a computer; the computer calculates the magnification N according to the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the projectile by dividing the imaging length of the projectile by the magnification N; comparing the calculated actual length of the projectile with a preset standard projectile length and a deviation allowable value, determining whether the length detection is qualified or not, and recording the detection result into a database.
Further, the gap detection includes the steps of: setting a standard block on the same plane of the projectile, and photographing by a first explosion-proof machine vision sensor and transmitting the photographed image back to a computer; the computer calculates the magnification N according to the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the projectile gap by dividing the imaging length of the projectile gap by the magnification N; comparing the calculated actual length of the projectile gap with a preset standard projectile gap length and a deviation allowable value, determining whether the gap detection is qualified or not, and recording the detection result into a database.
The invention has the beneficial effects that:
the invention has simple structure and good implementation effect, and realizes the functions of automatic length detection, weight detection, gap detection, runout detection, compliance detection and automatic sorting; greatly improves the degree of automation and the safety coefficient of the projectile production.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an automatic sorting system for pellets;
FIG. 2 is a schematic diagram of the operation of the automatic sorting system of pellets;
FIG. 3 is a schematic diagram of the operation of the runout detection mechanism;
fig. 4 is a schematic diagram of the jitter detection principle.
The reference numerals are as follows: 1. a weight detecting mechanism and a length gap detecting mechanism; 2. a runout detection mechanism; 3. a closing detection mechanism; 4. a computer; 5. a database; 6. a mechanical arm; 7. a transmission mechanism; 8. Arranging arms; 9. a bullet; 11. an electronic balance; 12. a first explosion-proof machine vision sensor; 21. A second explosion-proof machine vision sensor; 22. a positioning module; 23. a horizontal moving belt; 31. a bore compliance gauge; 32. a jacking platform mechanism; 10. a pellet box; 231. a conveyor belt; 232. and a roller.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples: FIG. 1 is a schematic diagram of an automatic sorting system for pellets; FIG. 2 is a schematic diagram of the operation of the automatic sorting system of pellets; fig. 3 is a schematic diagram of the operation of the jitter detection mechanism.
Example 1
The schematic diagram of an automatic propellant powder feeding device according to the present invention will be further described with reference to the accompanying drawings, which are intended to illustrate the scope of application and the operation principle of the device according to the present invention, but not to limit the application of the related art according to the present invention in any way, and any derivative technology based on the technical principle of the device according to the present invention should be protected by the invention.
The invention designs an automatic sorting method for high-efficiency and accurate weighing of a projectile, which comprises the following steps:
s1, clamping a projectile and placing the projectile in a first station 1 for weight detection, length detection and gap detection; clamping and placing the shots 9 which are all qualified in detection, and placing the shots which are one or more than one shot which are unqualified in detection in the second station 2 in the unqualified area;
s2, performing jump detection on the projectile at a second station 2; clamping and placing the qualified detected pellets to a third station 3, and placing the unqualified detected pellets to the unqualified area;
s3, carrying out chamber combination detection on the projectile at a third station 3; and clamping and placing the qualified pellets in a qualified area for boxing, and placing the unqualified pellets in the unqualified area.
S4, conveying the whole packaged shots to a designated area through a conveying mechanism 7;
the jitter detection comprises the following steps: placing the shot to be detected on the V-shaped positioning module 22; positioning the end of the projectile parallel to the lens of the second explosion-proof machine vision sensor 21; determining the position of a detection point, generally selecting the top part in the circumferential direction, and setting a standard image block; keeping the projectile rotating; collecting images of the positions of detection points in the rotation process of the projectile and transmitting the images back to a computer; calculating a jumping value by the computer 4; judging whether the jump detection is qualified or not, determining that the jump detection is unqualified when the jump value is larger than a preset standard shot jump deviation allowable value, recording the detection result into a database, and simultaneously grabbing and placing the shot in an unqualified area by a mechanical arm; when the jumping value is smaller than or equal to a preset standard bullet jumping deviation allowable value, determining that the jumping detection is qualified, recording the detection result into a database, and simultaneously grabbing and placing the bullet to the next station by a mechanical arm 6;
the calculation method of the jitter value comprises the following steps: firstly, calculating the amplification factor M, setting a standard image block on the same plane of the projectile, and calculating the amplification factor M by a computer through the imaging length of the standard image block and the actual length of the standard image block; calculating the actual radial length of the projectile, calculating the radial length of the projectile at the detection point on a single image, dividing the radial length by the magnification factor M, and calculating the actual radial length L of the projectile; calculating the actual radial lengths of the shots at a plurality of positions, and finding out Lmax and Lmin values; lmax-Lmin is the jitter value.
The chamber closing detection is to place the shot to be detected into the chamber closing gauge mechanism 3, and eject the shot by the jacking mechanism 32 after passing through the chamber closing gauge mechanism; displaying and reminding unqualified and automatically selecting to an unqualified area; the weight detection adopts an electronic balance 11, and the precision is not more than 1g; the length detection and the gap detection are transmitted to the computer 4 by photographing through the first explosion-proof machine vision sensor 12, and the computer 4 analyzes the image to complete the length detection and the gap detection.
The length detection comprises the following steps: setting a standard block on the same plane of the projectile, and photographing by a first explosion-proof machine vision sensor 12 and transmitting the photographed image back to a computer; the computer 4 calculates the magnification N according to the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the projectile by dividing the imaging length of the projectile by the magnification N; comparing the calculated actual length of the projectile with a preset standard projectile length and a deviation allowable value, determining whether the length detection is qualified or not, and recording the detection result in the database 5.
The gap detection principle is consistent with the length detection, and the method comprises the following steps: setting a standard block on the same plane of the projectile, and photographing by a first explosion-proof machine vision sensor 12 and transmitting the photographed image back to a computer; the computer 4 calculates the magnification N according to the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the projectile gap by dividing the imaging length of the projectile gap by the magnification N; comparing the calculated actual length of the projectile gap with a preset standard projectile gap length and a deviation allowable value, determining whether the gap detection is qualified or not, and recording the detection result in the database 5.
The invention also comprises an automatic shot picking system, which comprises a weight, length and gap detection mechanism 1, a jump detection mechanism 2, a closing detection mechanism 3, a computer 4, a database 5, a mechanical arm 6 and a transmission mechanism 7;
the weight, length and gap detection mechanism 1 comprises an electronic balance 11 and a first explosion-proof machine vision sensor 12, wherein the first explosion-proof machine vision sensor 12 is positioned right above the electronic balance;
the jump detection mechanism 2 comprises a second explosion-proof machine vision sensor 21, a positioning module 22 and a flat moving belt 23; the positioning module 22 is provided with a V-shaped groove, and the shot to be detected is clamped into the V-shaped groove to finish positioning; the horizontal moving belt 3 is arranged at the upper part of the projectile and drives the projectile to rotate in the V-shaped groove; the second explosion-proof machine vision sensor 21 is positioned at one end of the projectile;
the computer 4 is respectively in communication connection with the electronic balance 11, the first explosion-proof machine vision sensor 12, the second explosion-proof machine vision sensor 21, the chamber closing detection mechanism 3, the database 5 and the mechanical arm 6;
the transmission mechanism 7 is positioned on one side of the mechanical arm 6.
The closed bore detection mechanism 3 comprises a communication component, a closed bore gauge 31 and a jacking platform mechanism 32 positioned right below the closed bore gauge 32. The clamp on the mechanical arm 6 is provided with a force transducer; the force of the mechanical arm 6 for holding the projectile to enter the chamber closing detection mechanism 3 is not less than 250N.
The detection error of the length of the projectile is required to be 0.05mm; the resolution of the first explosion-proof machine vision sensor 12 is more than 500 ten thousand pixels; the resolution of the second explosion-proof machine vision sensor 21 is 2900 ten thousand pixels or more; the precision of the electronic balance is more than 0.2 g.
The device also comprises a material arranging arm 8, wherein the material arranging arm 8 is in communication connection with the computer 4; the mechanical arm 6 is used for completing the actions of length, gap, weight, jump and compliance detection feeding, length, gap, weight and jump discharging; the material arranging arm is used for completing the compliance gauge passing sorting and boxing.
The invention has simple structure and good implementation effect, and realizes the functions of automatic length detection, weight detection, gap detection, runout detection, compliance detection and automatic sorting; greatly improves the degree of automation and the safety coefficient of the projectile production.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An automatic shot picking system, characterized in that: the device comprises a weight, length and gap detection mechanism, a runout detection mechanism, a chamber closing detection mechanism, a computer, a database, a mechanical arm and a transmission mechanism;
the weight, length and gap detection mechanism comprises an electronic balance and a first explosion-proof machine vision sensor, and the first explosion-proof machine vision sensor is positioned right above the electronic balance;
the jump detection mechanism comprises a second explosion-proof machine vision sensor, a positioning module and a horizontal moving belt; the positioning module is provided with a V-shaped groove, and the shot to be detected is clamped into the V-shaped groove to finish positioning; the horizontal moving belt is arranged right above the projectile and drives the projectile to rotate in the V-shaped groove; the second explosion-proof machine vision sensor is positioned at one end of the projectile; the computer is respectively in communication connection with the electronic balance, the first explosion-proof machine vision sensor, the second explosion-proof machine vision sensor, the chamber closing detection mechanism, the database and the mechanical arm; the transmission mechanism is positioned at one side of the mechanical arm; the device also comprises a material arranging arm which is in communication connection with the computer; the mechanical arm is used for completing the actions of length, gap, weight, jump and compliance detection feeding, length, gap, weight and jump discharging; the material arranging arm is used for completing the compliance gauge passing sorting and boxing; the closed-bore detection mechanism comprises a communication component, a closed-bore gauge and a jacking platform mechanism positioned right below the closed-bore gauge; the clamp on the mechanical arm is provided with a force transducer, and the force of the mechanical arm for holding the projectile to enter the combined chamber detection mechanism is not less than 250N; the length of the projectile and the gap detection error are required to be not more than 0.05mm; the resolution of the first explosion-proof machine vision sensor is more than 500 ten thousand pixels; the resolution of the second explosion-proof machine vision sensor is more than 2900 ten thousand pixels; the precision of the electronic balance is more than 0.2 g; the computer is used for calculating a jumping value; judging whether the jump detection is qualified or not, determining that the jump detection is unqualified when the jump value is larger than a preset standard bullet jump deviation allowable value, recording the detection result into a database, and simultaneously grabbing and placing the unqualified areas of the shots by a mechanical arm; when the jumping value is smaller than or equal to a preset standard bullet jumping deviation allowable value, determining that the jumping detection is qualified, and recording the detection result into a database; the computer is also used for calculating the magnification N through the imaging length of the standard image block and the actual length of the standard image block based on the information shot and returned by the first explosion-proof machine vision sensor, and calculating the actual length of the projectile through dividing the imaging length of the projectile by the magnification N; comparing the calculated actual length of the projectile with a preset standard projectile length and a deviation allowable value, determining whether the length detection is qualified or not, and recording the detection result into a database; the computer is also used for calculating the magnification N according to the imaging length of the standard image block and the actual length of the standard image block, and calculating the actual length of the projectile gap by dividing the imaging length of the projectile gap by the magnification N; comparing the calculated actual length of the projectile gap with a preset standard projectile gap length and a deviation allowable value, determining whether the gap detection is qualified or not, and recording the detection result into a database.
2. An automatic shot picking method is characterized by comprising the following steps:
s1, clamping a projectile and placing the projectile at a first station for weight detection, length detection and gap detection; clamping and placing all the detected qualified shots at a second station, and placing one or more detected unqualified shots in an unqualified area;
s2, performing jump detection on the projectile at a second station; clamping and placing the qualified detected pellets to a third station, and placing the unqualified detected pellets to the unqualified area;
s3, carrying out chamber combination detection on the projectile at a third station; clamping and placing the qualified pellets in a qualified area for boxing, and placing unqualified pellets in the unqualified area;
s4, conveying the whole packaged shots to a designated area through a conveying mechanism;
the jitter detection comprises the following steps: placing the shot to be detected on a V-shaped module; positioning the end of the projectile parallel to a second explosion-proof machine vision sensor lens; determining the position of a detection point and setting a standard image block; keeping the projectile rotating; collecting images of the positions of detection points in the rotation process of the projectile and transmitting the images back to a computer; calculating a jumping value by a computer; judging whether the jump detection is qualified or not, determining that the jump detection is unqualified when the jump value is larger than a preset standard bullet jump deviation allowable value, recording the detection result into a database, and simultaneously grabbing and placing the unqualified areas of the shots by a mechanical arm; when the jumping value is smaller than or equal to a preset standard bullet jumping deviation allowable value, determining that the jumping detection is qualified, recording the detection result into a database, and simultaneously grabbing and placing the bullet to a next station by a mechanical arm;
the calculation method of the jitter value comprises the following steps: firstly, calculating the amplification factor M, setting a standard image block on the same plane of the projectile, and calculating the amplification factor M by a computer through the imaging length of the standard image block and the actual length of the standard image block; calculating the actual radial length of the projectile, calculating the radial length of the projectile at the detection point on a single image, dividing the radial length by the magnification factor M, and calculating the actual radial length L of the projectile; calculating the actual radial lengths of the shots at a plurality of positions, and finding out Lmax and Lmin values; lmax-Lmin is the jitter value.
3. The automatic shot picking method according to claim 2, wherein the closed bore detection is that the shot to be detected is placed in a closed bore gauge mechanism and ejected by an ejection mechanism after passing through; and displaying and reminding unqualified products and automatically selecting unqualified areas.
4. The automatic shot picking method according to claim 3, wherein the length detection and the gap detection are transmitted to a computer by photographing through a first explosion-proof machine vision sensor, and the length detection and the gap detection are completed by analyzing images through the computer.
5. The automatic shot picking method as claimed in claim 4, wherein the length detection comprises the steps of: setting a standard block on the same plane of the projectile, and photographing by a first explosion-proof machine vision sensor and transmitting the photographed image back to a computer; the computer calculates the magnification N according to the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the projectile by dividing the imaging length of the projectile by the magnification N; comparing the calculated actual length of the projectile with a preset standard projectile length and a deviation allowable value, determining whether the length detection is qualified or not, and recording the detection result into a database.
6. The automatic shot picking method according to claim 5, wherein the gap detection comprises the steps of: setting a standard block on the same plane of the projectile, and photographing by a first explosion-proof machine vision sensor and transmitting the photographed image back to a computer; the computer calculates the magnification N according to the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the projectile gap by dividing the imaging length of the projectile gap by the magnification N; comparing the calculated actual length of the projectile gap with a preset standard projectile gap length and a deviation allowable value, determining whether the gap detection is qualified or not, and recording the detection result into a database.
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| CN111069078B (en) * | 2019-12-30 | 2022-07-12 | 重庆智能机器人研究院 | Multifunctional visual detection platform |
| CN113357976A (en) * | 2021-06-01 | 2021-09-07 | 南京海道普数据技术有限公司 | Automatic matching system for workpiece grouping production line |
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