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Control system and method of DELTA robots based on visual tracking

A visual tracking and control system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor versatility and low versatility, and achieve the effect of simple setting, improved versatility, and high versatility

Inactive Publication Date: 2015-05-06
佛山市万世德机器人技术有限公司 +1
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Problems solved by technology

[0003] At present, the control system of DELTA robots of various manufacturers is a robot control system constructed by using its own dedicated robot controller. This kind of control system using a dedicated controller has poor versatility.
A general DELTA robot control system is composed of a controller, a servo system, a visual tracking system and a conveyor belt tracking system, but the topological connection methods of each component of the control system vary greatly, and its internal core control algorithm and tracking algorithm are also different. Therefore, the versatility is not high

Method used

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  • Control system and method of DELTA robots based on visual tracking
  • Control system and method of DELTA robots based on visual tracking
  • Control system and method of DELTA robots based on visual tracking

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Embodiment Construction

[0036] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0037] refer to figure 1 , a DELTA robot control system based on vision tracking, including a motion controller, a vision system, a conveyor belt encoder and two DELTA robots, each of which includes four servo drives and four drive shafts, each The driving shaft is controlled by a servo drive; all the above servo drives are connected in series, and the first servo drive is connected with the motion controller; the vision system and the conveyor belt encoder are connected with the motion controller.

[0038] This system can be realized by using a Sanmotion motion controller and a servo drive system based on SANYO DENKI. One Sanmotion motion controller has two DELTA robots, each DELTA robot has four drive axes, and the two DELTA robots share a vision system. location data. The DELTA robot determines its gripping position based on the position data...

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Abstract

The invention discloses a control system and method of DELTA robots based on visual tracking. Servo drivers and a motion controller in the system are connected through a series bus, the method achieves leak repairing distribution, odd and even distribution and classification distribution by utilizing the servo drivers in series connection, and motion tracks of robots are further optimized. The control system achieves cooperative control over the double DELTA robots, the universality of the system is improved, and the system is easy to set and convenient to debug. The method achieves various cooperative control modes based on the double DELTA robots, and is suitable for different working environments, high in universality and low in miss rate. Meanwhile, the speed and the accuracy that the robots sort target objects are further improved through optimization of the motion tracks, and working efficiency of the robots is improved. The control system and method of the DELTA robots based on visual tracking can be widely applied to the field of industrial robots.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a control system and method for a DELTA robot based on vision tracking. Background technique [0002] The DELTA robot is a kind of parallel robot. The DELTA robot drives 3 parallelogram branch chains through the outer rotation pair, plus a rotating drive shaft in the middle, which can realize the spatial four-dimensional movement of its end effector. After configuring the vision system, It is widely used in sorting and packaging in the fields of electronics, light industry, food and medicine. [0003] At present, the control systems of DELTA robots of various manufacturers are robot control systems constructed by using their own dedicated robot controllers. This kind of control system using dedicated controllers has poor versatility. A general DELTA robot control system is composed of a controller, a servo system, a visual tracking system and a conveyor belt tracking system, but...

Claims

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Application Information

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IPC IPC(8): B25J13/08B25J9/16
Inventor 刘远强尹立龙李明明
Owner 佛山市万世德机器人技术有限公司
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