CN210449919U - Automatic shot sorting system - Google Patents
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- CN210449919U CN210449919U CN201920169929.5U CN201920169929U CN210449919U CN 210449919 U CN210449919 U CN 210449919U CN 201920169929 U CN201920169929 U CN 201920169929U CN 210449919 U CN210449919 U CN 210449919U
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Abstract
The utility model designs an automatic bullet sorting system aiming at the problems of low automation degree and large potential safety hazard in the bullet sorting process, which comprises a weight, length and clearance detection mechanism, a bounce 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; the jumping detection mechanism comprises a second explosion-proof machine vision sensor, a positioning module and a horizontal moving belt; 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. This design simple structure, implement effectually, adopted automatic length detection, weight detection, clearance to detect, beat and detect, the compliance detects and the automatic sorting function, have greatly improved degree of automation and shot production factor of safety.
Description
Technical Field
The utility model relates to an automatic system of selecting of shot, in particular to automatic system of selecting of shot.
Background
At present, most of military enterprises have low automation degree on a projectile production line, and the current situation that the number of workers in a dangerous area exceeds 10 still exists. The dangerous degree of the shot quality detection and boxing process is high, and the safe production and the ammunition quality are seriously influenced. The shape and weight of the bullet need to meet certain precision requirements before the bullet can be loaded into the bore of the gun. Therefore, the automatic detection, sorting and conveying processes of the shot are necessary requirements for improving the production quality and efficiency of the shot. Therefore, how to design and develop an automatic shot sorting system is an urgent technical problem to be solved.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model designs an automatic system of selecting of shot, including weight, length and clearance detection mechanism, beat detection mechanism, close thorax detection mechanism, computer, database, robotic arm, drive 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 jumping 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 complete 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 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 respectively;
the transmission mechanism is positioned on one side of the mechanical arm.
Further, the bore closing detection mechanism comprises a communication component, a bore closing gauge and a jacking platform mechanism located right below the bore closing gauge.
Further, a clamp on the mechanical arm is provided with a load cell.
Further, the force of the mechanical arm for holding the shot into the closed chamber detection mechanism is not less than 250N.
Further, the shot length detection error is required to be 0.05 mm.
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 more than 2900 ten thousand pixels.
Further, the accuracy of the mass detection mechanism is 0.2g or more.
Further, the computer body 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, jumping, feeding in compliance detection, length, gap, weight and jumping discharging; the material arranging arm is used for finishing the fit-bore gauge passing sorting and boxing.
The automatic bullet sorting method applicable to the automatic bullet sorting system comprises the following steps of:
s1, clamping the shot, placing the shot at a first station, and carrying out weight detection, length detection and gap detection; all the qualified shot is clamped and placed at the second station, and one or more unqualified shot is placed in an unqualified area;
s2, carrying out bounce detection on the shot at the second station; the qualified shot is clamped and placed to a third station, and the unqualified shot is placed to the unqualified area;
s3, carrying out chamber closing detection on the shot at a third station; and clamping and placing the qualified shot in a qualified area for boxing, and placing the unqualified shot in an unqualified area.
S4, conveying the boxed whole shot 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 the second explosion-proof machine vision sensor lens; determining the position of a detection point, generally selecting a circumferential top, and setting a standard block; keeping the projectile rotating; collecting images of detection point positions in the shot rotation process, and transmitting the images back to the computer; calculating a jitter value by a computer; judging whether the bounce detection is qualified or not, determining that the bounce detection is unqualified when the bounce value is larger than a preset standard shot bounce 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 bounce value is smaller than or equal to a preset standard shot bounce deviation allowable value, determining that the bounce detection is qualified, recording the detection result into a database, and simultaneously grabbing and placing the shot to the next station by the mechanical arm;
the calculation method of the jitter value comprises the following steps: firstly, calculating a magnification factor M, arranging a standard pattern block on the same plane of the projectile, and calculating the magnification factor M by a computer according to the imaging length of the standard pattern block and the actual length of the standard pattern 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 M, and calculating the actual radial length L of the projectile; calculating the actual radial length of the projectile at a plurality of positions, and finding Lmax and Lmin values; Lmax-Lmin is the jitter value.
Further, the chamber closing detection is that the shot to be detected is placed in a chamber closing gauge mechanism and is ejected out by a jacking mechanism after passing through the chamber closing gauge mechanism; unqualified display prompts and automatically sorting to unqualified areas.
Further, the length detection and the gap detection are carried out by photographing through the first explosion-proof machine vision sensor and transmitting to a computer, and the length detection and the gap detection are completed by analyzing images through the computer.
Further, the length detection comprises the following steps: arranging a standard picture block on the same plane of the projectile, and shooting by a first explosion-proof machine vision sensor and transmitting back to a computer; the computer calculates the magnification factor N through the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the shot through dividing the imaging length of the shot by the magnification factor N; and comparing the calculated actual length of the projectile with the preset standard projectile length and deviation allowable values, 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: arranging a standard picture block on the same plane of the projectile, and shooting by a first explosion-proof machine vision sensor and transmitting back to a computer; the computer calculates the magnification factor N through the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the shot gap through dividing the imaging length of the shot gap by the magnification factor N; and comparing the calculated actual length of the shot clearance with a preset standard shot clearance length and a deviation allowable value, determining whether the clearance detection is qualified, and recording the detection result into a database.
The utility model has the advantages that:
the utility model has simple structure and good implementation effect, and realizes the functions of automatic length detection, weight detection, gap detection, jumping detection, compliance detection and automatic sorting; greatly improving the automation degree 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 in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an automatic pellet sorting system;
FIG. 2 is a schematic diagram of the automatic pellet sorting system;
FIG. 3 is a schematic view of the runout detection mechanism;
fig. 4 is a schematic diagram of the beat detection principle.
The reference numbers are as follows: 1. weight, length and gap detection mechanisms; 2. a runout detection mechanism; 3. a chamber closing detection mechanism; 4. a computer; 5. a database; 6. a robot arm; 7. a transmission mechanism; 8. a material arranging arm; 9. 4, pill forming; 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 belt moving in a horizontal direction; 31. closing a bore gauge; 32. A jacking platform mechanism; 10. a pill box; 231. a conveyor belt; 232. and a roller.
Detailed Description
The invention will be further described with reference to the following figures and examples: FIG. 1 is a schematic diagram of an automatic pellet sorting system; FIG. 2 is a schematic diagram of the automatic pellet sorting system; FIG. 3 is a schematic view of the runout detection mechanism; fig. 4 is a schematic diagram of the beat detection principle.
Example 1
The present invention will now be further explained with reference to the accompanying drawings, which are intended to illustrate the scope of application and the principle of operation of the device of the present invention, and not to limit the application of the related art according to the present invention in any form, where any derived technology based on the technical principle of the device of the present invention shall be protected by the present invention.
The utility model designs an automatic pill sorting system, as shown in figures 1 and 2, which comprises a weight, length and clearance detection mechanism 1, a bounce detection mechanism 2, a chamber 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 jumping detection mechanism 2 comprises a second explosion-proof machine vision sensor 21, a positioning module 22 and a horizontal moving belt 23; the positioning module 22 is provided with a V-shaped groove, and the projectile to be detected is clamped in the V-shaped groove to complete 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 is 21 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 bore closing detection mechanism 3 comprises a communication component, a bore closing gauge 31 and a jacking platform mechanism 32 positioned right below the bore closing 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 shot to enter the closed chamber detection mechanism 3 is not less than 250N.
The detection error requirement of the projectile length is 0.05 mm; 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 more than 2900 ten thousand pixels; the precision of the electronic balance is more than 0.2 g.
The device also comprises a material arranging arm 8, and 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, jumping, feeding, length, gap, weight and jumping discharging in compliance detection; the material arranging arm is used for finishing the fit-bore gauge passing sorting and boxing.
The automatic bullet sorting method suitable for the automatic bullet sorting system comprises the following steps:
s1, clamping the shot, placing the shot on a first station 1, and carrying out weight detection, length detection and gap detection; all the qualified shot 9 is clamped and placed on the second station 2, and one or more unqualified shot is placed in an unqualified area;
s2, carrying out bounce detection on the shot at the second station 2; the qualified shot is clamped and placed to the third station 3, and the unqualified shot is placed to the unqualified area;
s3, carrying out chamber closing detection on the shot at the third station 3; clamping and placing qualified shot to a qualified area for boxing, and placing unqualified shot to an unqualified area;
s4, conveying the boxed whole shot to a designated area through a conveying mechanism 7;
the jitter detection comprises the following steps: placing the projectile 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 a circumferential top, and setting a standard block; keeping the projectile rotating; collecting images of detection point positions in the shot rotation process, and transmitting the images back to the computer; the computer 4 calculates a jitter value; judging whether the bounce detection is qualified or not, determining that the bounce detection is unqualified when the bounce value is larger than a preset standard shot bounce deviation allowable value, recording a detection result into a database, and simultaneously grabbing and placing the shot in an unqualified area by a mechanical arm; when the bounce value is smaller than or equal to a preset standard shot bounce deviation allowable value, determining that bounce detection is qualified, recording a detection result into a database, and simultaneously grabbing and placing the shot to the next station by the mechanical arm 6;
the jitter value calculation method is shown in fig. 3 and 4: firstly, calculating a magnification factor M, arranging a standard pattern block on the same plane of the projectile, and calculating the magnification factor M by a computer according to the imaging length of the standard pattern block and the actual length of the standard pattern 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 M, and calculating the actual radial length L of the projectile; calculating the actual radial length of the projectile at a plurality of positions, and finding Lmax and Lmin values; Lmax-Lmin is the jitter value.
The closing detection is to place the pill to be detected into the closing gauge mechanism 3 and eject the pill out by the jacking mechanism 32 after the passage; displaying a prompt for disqualification and automatically sorting to a disqualification area; the weight detection adopts an electronic balance 11, and the precision is not more than 1 g; the length detection and the gap detection are shot by the first explosion-proof machine vision sensor 12 and transmitted to the computer 4, and the computer 4 analyzes the image to complete the length detection and the gap detection.
The length detection comprises the following steps: arranging a standard picture block on the same plane of the projectile, and taking a picture by the first explosion-proof machine vision sensor 12 and transmitting the picture to the computer; the computer 4 calculates the magnification factor N through the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the shot through dividing the imaging length of the shot by the magnification factor N; and comparing the calculated actual length of the projectile with the preset standard projectile length and deviation allowable values, determining whether the length detection is qualified or not, and recording the detection result into the database 5.
The gap detection principle is consistent with the length detection, and the method comprises the following steps: arranging a standard picture block on the same plane of the projectile, and taking a picture by the first explosion-proof machine vision sensor 12 and transmitting the picture to the computer; the computer 4 calculates the magnification factor N through the imaging length of the standard image block and the actual length of the standard image block, and calculates the actual length of the shot gap through dividing the imaging length of the shot gap by the magnification factor N; and comparing the calculated actual length of the shot clearance with the preset standard shot clearance length and deviation allowable value, determining whether the clearance detection is qualified or not, and recording the detection result into the database 5.
The utility model has simple structure and good implementation effect, and realizes the functions of automatic length detection, weight detection, clearance detection, jumping detection, compliance detection and automatic sorting; greatly improving the automation degree and the safety coefficient of the projectile production.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (7)
1. An automatic bullet sorting system is characterized in that: the device comprises a weight, length and gap detection mechanism, a jumping 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 jumping 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 complete positioning; the horizontal moving belt is arranged on 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 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 respectively;
the transmission mechanism is positioned on one side of the mechanical arm.
2. The automated projectile sorting system as recited in claim 1, wherein: the bore closing detection mechanism comprises a communication component, a bore closing gauge and a jacking platform mechanism located right below the bore closing gauge.
3. The automated projectile sorting system as recited in claim 2, wherein: and the clamp on the mechanical arm is provided with a force transducer, and the force of the mechanical arm for holding the shot to enter the closed chamber detection mechanism is not less than 250N.
4. The automatic projectile sorting system as recited in any one of claims 1-3, wherein: the computer is communicated with the computer through a computer; the mechanical arm is used for completing the actions of length, gap, weight, jumping, feeding in compliance detection, length, gap, weight and jumping discharging; the material arranging arm is used for finishing the fit-bore gauge passing sorting and boxing.
5. The automated projectile sorting system as recited in claim 4, wherein: the shot length and gap detection error is not more than 0.05 mm.
6. The automated projectile sorting system as recited in claim 4, wherein: the resolution of the first explosion-proof machine vision sensor is more than 500 ten thousand pixels; the second explosion-proof machine vision sensor has a resolution of 2900 ten thousand pixels.
7. The automated projectile sorting system as recited in claim 4, wherein: the precision of the electronic balance is more than 0.2 g.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920169929.5U CN210449919U (en) | 2019-01-31 | 2019-01-31 | Automatic shot sorting system |
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| CN201920169929.5U CN210449919U (en) | 2019-01-31 | 2019-01-31 | Automatic shot sorting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109731801A (en) * | 2019-01-31 | 2019-05-10 | 湖南魔铠机电科技有限公司 | A kind of automatic picking method of bullet and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109731801A (en) * | 2019-01-31 | 2019-05-10 | 湖南魔铠机电科技有限公司 | A kind of automatic picking method of bullet and system |
| CN109731801B (en) * | 2019-01-31 | 2024-03-29 | 湖南摩铠智能科技有限公司 | Automatic shot sorting method and system |
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Address after: 410005 unit 101, building 1, Jinzhuo Industrial Park, 118 Qingzhuhu Avenue, Qingzhuhu street, Kaifu District, Changsha City, Hunan Province Patentee after: Hunan Mokai Intelligent Technology Co., Ltd Address before: 410005 Furong North Road, Kaifu District, Changsha City, Hunan Province, 377 Jinma Road, Futian Xingye Building Complex Building 407 (Cluster Registration) Patentee before: HUNAN MOKAI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. |