针对国内外导弹子母战斗部装配现状及问题，提出自动化装配总装系统方案。利用机器人视觉识别系统 辅助机器人完成重要、高危和重复性的子弹药装填；采用激光打孔技术，通过机器人位置变化和刀具的自动更换方 式实现蒙皮柔性快速制孔；利用激光雷达系统实现导弹子母战斗部舱段在线实时测量；采用AGV 小车进行导弹子母 战斗部快速转运、对接。结果表明，该方案能显著提高导弹子母战斗部自动化装配生产效率和本质安全度。
Aiming at the current status and problems of the assembly of the missile cluster warheads at domestic and abroad, an automatic assembly system solution is proposed. The visual recognition system is used to assist the robot to complete important, high-risk and repetitive submunition loading. Laser drilling technology is used to achieve flexible and fast hole making of the skin through the flexible change of robot position and automatic tool change. The laser radar system is used to realize real-time online measurement of the missile cluster warhead compartment, and the AGV trolley is used for rapid transfer and docking of the missile cluster warhead. The results show that the scheme can significantly improve the efficiency and intrinsic safety of the automated assembly of the missile cluster warhead.