An automatic control method for high-precision retrieving and unloading

Abstract

An automatic control method for high-precision retrieving and unloading, which is applied to pick-and-place equipment. The pick-and-place equipment includes a manipulator and a vision system, and is characterized in that it includes the following steps: determining the number of grids for placing products on a pallet And the teaching and reading position of the pallet, which is used for positioning and teaching according to the specifications of the pallet; calculate the position of each material grid on the pallet according to the number of material grids and the teaching and reading position, and control the manipulator to grab or suck the product from the pallet Control the manipulator to move to the safe position for taking pictures, and use the visual system to take pictures of the products captured by the manipulator on the safe position for taking pictures; the photographing data obtained by taking pictures will be fitted and matched in the product photographing database collected by the vision system, To determine the discharge position data corresponding to the photographed data; control the manipulator to move the product to the target discharge position according to the discharge position data. The invention improves the problems of insufficient precision in the existing picking and placing materials, realizes automatic production, and improves production efficiency and production precision.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to an automatic control method for high-precision reading and discharging of materials. Background technique [0002] In the field of battery processing, batteries or protective plates are generally loaded by belts or manipulators, but the manipulator can only place the batteries or protective plates within a general range, and subsequent adjustments need to be made manually, resulting in low production efficiency and stable production. and safety are not guaranteed. In the prior art, there are also special fixtures for positioning batteries or protective plates, but there are many types and sizes of batteries, and multiple fixtures matching different types of batteries are required, and the versatility is relatively poor. Contents of the invention [0003] In order to overcome the above technical problems, the present invention provides an automatic control method for high-preci...

AI Technical Summary

Problems solved by technology

[0002] In the field of battery processing, batteries or protective plates are generally loaded by belts or manipulators, but the manipulator can only place the batteries or protective plates within a general range, and subsequent adjustments need to be made manually, resulting in low production efficiency and stable production. and security is not guaranteed

In the prior art, there are also special fixtures for positioning the battery or protection board, but there are many types and sizes of batteries, and multiple fixtures matching different types of batteries are required, which has poor versatility.

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