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针对航天器总装领域多规格紧固件管理需求,设计并搭建了紧固件自动组套系统。系统首先利用CCD设备对紧固件进行实时图像采集,然后通过图像处理技术获取待抓取对象及位置信息,最后在六自由度机械臂与电动夹持机构的相互配合下实现紧固件的抓取及组套。自动组套系统可以同时满足单类紧固件出库和多类紧固件组套出库的需求。
Aiming at the requirements of management of multi-specification fasteners in the field of spacecraft assembly, an automatic fastener assembly system was designed and built. The system first uses the CCD equipment to acquire the real-time image of the fasteners, and then obtains the object to be captured and the position information through the image processing technology. Finally, the fastener is grasped with the cooperation of the six-DOF robot and the electric clamping mechanism Take the set. Automatic kits system can simultaneously meet the single-type fasteners and a variety of types of fasteners out of the library set needs.