Development Of Delta Robot Vision Sorting System

With the development of machine vision technology and the needs of Chinese manufacturing level,research on industrial robots based on machine vision has increasingly become an important way to realize the intelligentization and modernization of Chinese manufacturing industry.Compared with foreign countries,Chinese machine vision technology has developed late' and its application level is limited.There is still a long way to go before industrial application of machine vision technology combined with robots.In the traditional sorting assembly line,the manual sorting method is mostly adopted,and the sorting efficiency and accuracy cannot be guaranteed.For some complex workpieces,the process of human measurement and identification is cumbersome,which is not conducive to the improvement of Chinese manufacturing automation level.As a new detection method,machine vision technology has the advantages of non-contact,high efficiency and high flexibility.In this paper,machine vision technology is applied to the industrial high-speed parallel robot Delta robot,and a Delta robot vision sorting system based on machine vision is developed to improve the sorting efficiency and sorting capacity of the manufacturing sorting assembly line.In the research and development of the Delta robot vision sorting system,this paper takes practical application as the guide and studies stable,simple and efficient systems as the goal.Aiming at the key problems in the application of machine vision technology in industry,this paper studies the key technologies of the whole system integration,and completes the following work:(1)Study the distortion and calibration of the camera;conduct vision algorithm selection and in-depth research on related technologies such as image preprocessing,edge detection,and template matching.(2)In the classification of complex workpieces,this paper deeply studies the BP neural network algorithm and applies the BP neural network model to the Delta robot sorting system to improve the sorting ability of the system.(3)In the process of system integration,this paper develops a Eye-to-Hand calibration algorithm based on transformation coordinate system from the perspective of efficiency and applicability,proposes a dynamic compensation algorithm based on the study of slope reduction,and predicts the de-duplication of the workpiece position based on the simplified model of the conveyor algorithm.The system model was built using the motion simulation system of Shenzhen SoftServo Company,and the system motion simulation and actual measurement were conducted to determine its feasibility and complete system integration.