Conveyor belt upper contour trajectory tracking control system and method

Abstract

The invention relates to a conveyor belt upper contour trajectory tracking control method. The method comprises the steps that a camera module photographs a workpiece on a conveyor belt to generate animage signal; the image signal is processed by a matching module to generate a G code signal; the encoder senses a motor to acquire displacement and speed signals of the conveying belt; the displacement and speed signals are transmitted to a numerical control module; the numerical control module processes the displacement and speed signals by using an inverse solution function to acquire a jointangle compensation amount signal; the numerical control module processes the G code signal to generate a joint angle displacement signal; the joint angle compensation amount signal and the joint angledisplacement signal are processed to acquire a displacement signal of the workpiece; the numerical control system generates a control signal according to the displacement signal of the workpiece andtransmits the control signal to a servo driver; and the servo driver drives the motor to rotate. According to the invention, dynamic track following can be achieved; the calculation speed is increased; and the trajectory following precision is improved.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a tracking control system and method for a contour track on a conveyor belt of a six-joint robot. Background technique [0002] At present, my country's manufacturing industry is still in the stage of low automation level. During the production process, the conveyor belt must be stopped in each process, and the workpiece is processed by manpower or robots in a static environment. The production efficiency is low and cannot meet many high-precision requirements. . [0003] At present, most of the industrial contour processing technology is completed on a fixed platform, which is determined by the high precision and stability of the contour processing itself, but it is precisely because of this characteristic that the production efficiency Under some special process requirements, if the contour processing cannot be followed dynamically and in real time, the workpiece will ...

AI Technical Summary

Problems solved by technology

[0002] At present, my country's manufacturing industry is still in the stage of low automation level. During the production process, the conveyor belt must be stopped in each process, and the workpiece is processed by manpower or robots in a static environment. The production efficiency is low and cannot meet many high-precision requirements.

[0003] At present, most of the industrial contour processing technology is completed on a fixed platform, which is determined by the high precision and stability of the contour processing itself, but it is precisely because of this characteristic that the production efficiency Under some special process requirements, if the contour processing cannot be followed dynamically and in real time, the workpiece will not meet the process requirements

Most of the conveyor belt algorithms on the market are grabbing algorithms based on PID algorithms and prediction algorithms without dynamic tracking algorithms

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