Delta机器人传送带控制系统研究  

DeltaRobot Conveyor Control System Research

作　　者：宋婷婷[1] 徐世许[1] 伍经纹 王鹏[1] 

机构地区：[1]青岛大学自动化与电气工程学院,山东青岛266071

出　　处：《软件》2017年第5期121-124,共4页Software

摘　　要：本文针对制造业中人工分拣产品效率低下、错误率和成本较高的问题,将工业机器人应用于产品分拣。设计了Delta视觉机器人在工业生产中整体的控制流程,由视觉部分捕获传送带上的产品,经过一系列分析处理后移动机械手,实现对产品的抓取。为更准确抓取产品,重点提出了一种针对Delta视觉机器人传送带标定的方法。准备好两个标定物.然后按照下述步骤完成标定:第一步,使机械手末端与第一个标定物重合,第二步,移动传送带一段距离后使机械手重合同一点,第三步保持传送带不动移动机械手,使机械手与第二个标定物重合,从而完成标定。Aiming at the problem of low efficiency, low error rate and high cost of manual sorting in manufac- turing industry, this paper proposes a product sorting method based on machine vision, the overall control process of the Delta visual robot in the industrial production is designed. The visual part of the conveyor belt is used to take pictures of the product.. Then the scene information such as the position and the attitude of the product are derived from the pictoes, and these in foma tio n are used fo r the manipulator to grab the product. To achieve a more accu_ rate grasp of the product, a method for calibration of Delta vision robot conveyor belt is proposed. Two calibrators need to be prepared in advance. The calibration method includes the following steps. Firstly, make the end of the manipulator coincide with the f irs t calibration. Secondly, move the conveyor belt fo r a distance to contract the robot Thirdly, and move the robot while keep the conveyor still, and make the manipulator coincide w ith the second cali-brator.

关 键 词：标定 传送带 Delta视觉机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]