关键词: 机器视觉；无序抓取；车身零件

Abstract: The styles and packaging forms of parts in the body shop of a vehicle manufacturing factory are complex and diverse, and the automatic picking of small metal parts that are stacked in an disorderly manner is a key link in achieving complete automation of parts loading. The article takes the automatic picking of a small metal part in an unordered stacked packaging as a case study and builds a verification system that includes robots, grippers, material boxes, and vision. The system focuses on three key steps involved in bin picking technology: part recognition, path planning, and transportation positioning. The research results show that the three key factors affecting the equipment running rate and bin cleaning rate are the selection of visual sensor type, the accuracy of part positioning after picking, and the design form and color of material bins. The identification of key factors affecting disorderly picking ensures the systematic reliability of disorderly picking of body parts, providing a reference for the application of disorderly bin picking in vehicle manufacturing workshops.

Key words: Machine vision; Disorderly bin picking; Body parts