Delta robot control method and system for sorting multiclass workpieces

A robot and workpiece technology, which is applied in the direction of program control manipulators, instruments, manipulators, etc., can solve problems such as inability to realize workpiece sorting, inability to meet task requirements, and large demand for robots, so as to achieve real-time performance, increase practical functions, and improve cost performance Effect

Active Publication Date: 2017-05-31
INST OF AUTOMATION CHINESE ACAD OF SCI +1
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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

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  • Delta robot control method and system for sorting multiclass workpieces
  • Delta robot control method and system for sorting multiclass workpieces
  • Delta robot control method and system for sorting multiclass workpieces

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Embodiment Construction

[0057] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0058] The Delta robot system for sorting multiple types of workpieces of the present invention includes a Delta robot with a grasping control system, a workpiece incoming conveyor belt for transporting workpieces to be sorted, a workpiece classification conveyor belt for transporting classified and placed workpieces, and a conveyor belt for collecting The image acquisition device of the workpiece image, the grasping control method set in the grasping control system of the Delta robot is the following Delta robot control method for sorting multiple types of workpieces; the workpiece classification conveyor belt is two or two above.

[0059] I...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06T7/00G06T7/73
CPCB25J9/1656G06T7/0004G06T2207/10004G06T2207/30164
Inventor 苏婷婷王云宽吴少泓郑军胡建华王欣波陆浩张好剑袁勇
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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