Delta robot control method and system for sorting multiclass workpieces

Abstract

The invention relates to a delta robot control method for sorting multiclass workpieces. The delta robot control method for sorting multiclass workpieces comprises the step of image acquisition and information processing, specifically images of the workpieces on a conveyor belt are collected, the acquisition time is recorded and a center point pixel coordinate and class information of each workpiece image in the images are extracted, workpiece center point physical coordinates are obtained through a perspective projection equation, workpiece grasp tasks corresponding to the workpiece images are added to the workpiece grasp queue; and the step of workpiece sorting, specifically, before implementing the grasp task, according to the workpiece center point physical coordinates of each workpiece grasp task in current workpiece grasp queue, the workpiece grasp task has the priority to be implemented is selected; and based on the Ferrari's dynamic grasp algorithm, workpiece grasping and a calculation of sorting placement coordinates are conducted and the grasp task is implemented. The invention further provides a delta robot control system for sorting multiclass workpieces based on the method. The delta robot control method and system for sorting multiclass workpieces saves costs and spaces by grasping and sorting multi-class workpieces through a Delta robot.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a Delta robot control method and system for sorting multiple types of workpieces. Background technique [0002] Robot technology is becoming more and more mature, and parallel robots are more and more widely used in production lines due to their high speed and light weight. Delta robots are mainly used on assembly line packaging lines, especially for rapid identification and grabbing of scattered workpieces on conveyor belts. [0003] At present, most of the Delta robots of various manufacturers are aimed at the working environment where the starting point and the target point are fixed, which can generate trajectories through teaching or offline programming to complete the task; few of them are aimed at unknown starting point or target point and Situations of complex and variable working environments, such as gripping workpieces on a moving conveyor belt. At the same time, the...

AI Technical Summary

Problems solved by technology

At the same time, the traditional industrial production line generally sorts a single specific workpiece, and cannot realize the sorting of different types of workpieces, so it cannot meet the needs of multiple types of tasks. For example, there are labeled bottle caps and unlabeled bottles in the conveyor belt. Caps, or assortments of caps in different colors or shapes

Some manufacturers can grasp different types of workpieces, but they need multiple Delta robots, the demand for robots is large, and the hardware cost is high

Images