基于机器视觉的钠棒装填辅助系统

Sodium Rod Filling Assistant System Based on Machine Vision

金属钠性质活泼,工业金属钠由铸钠机生产出的成品为金属钠棒。针对目前钠棒装填依赖人工、效率低、安全性差的问题,企业提出使用六轴机械臂完成钠棒装填过程,此过程中可能出现钠棒倾倒与空位不足情况,影响装填。为此,研究了一种基于机器视觉的钠棒装填辅助系统,可对机械臂装填过程中是否出现钠棒倾倒、是否有装填空位进行判定,保障了机械臂钠棒装填过程的高效与可靠。

Metal sodium is active in nature,and the finished product produced by sodium casting machine in industrial production is metal sodium rod.Aiming at the current problem of manual loading of sodium rods,low efficiency,and poor safety,the company proposes to use a six-axis robotic arm to complete the sodium rod filling process.During this process,sodium rods may be dumped and vacancies are insufficient,which will affect the filling.For this reason,a sodium rod filling auxiliary system based on machine vision is studied,which can judge whether there is sodium rod dumping and whether there is a filling vacancy during the loading process of the manipulator,which ensures the high efficiency and reliability of the manipulator arm sodium rod filling process.