Motion Optimization Of Delta Robot In Sorting System Based On Vision

With the country's economic transformation and industrial structure adjustment,intelligent manufacturing and production have become an unstoppable trend in industrial development.In the field of industrial sorting,it is becoming more and more common for machines to replace workers in production.Traditional robots are often engaged in simple and fixed tasks,and they have become increasingly unable to meet the high-efficiency in the field of industrial sorting.And industrial robots with vision technology can be better adopted to high-efficiency and complex industrial scenes.Based on this situation,the traditional sorting scene is improved in this article,and the Delta robot dual-conveyor sorting system is researched.The kinematics characteristics of the Delta parallel mechanism are analyzed,and the robot's model,coordinate system,working space and position positive and negative solutions are studied.The working process of the double conveyor belt sorting scene is analyzed,and the sorting system is calibrated,including the camera system is calibrated,the target center pixel is acquired,and the conversion relationship between the image coordinate system and the robot coordinate system is solved.Aiming at the problem that the sorting efficiency of the dual-conveyor high-speed sorting system is not high,a high-speed sorting system based on an improved greedy algorithm is proposed.A sine modified trapezoidal acceleration and deceleration algorithm is used to plan the " door" type sorting trajectory,and a comparison mechanism is introduced to improve the adaptability of the trajectory planning system.The total travel of the sorting path is taken as the optimization target,and the sorting strategy with improved greedy algorithm is adopted to plan the pick-and-place path sequence in real time to improve the sorting efficiency of the system.For the overall structure of the sorting platform and the sorting control system,the hardware components are elaborated,the software functional requirements are analyzed,the upper computer software system is built based on the Qt framework,and the data communication among the upper computer and the conveyor system,robot system and vision system are established.Finally,the sorting system identification and positioning experiments are conducted,and the identification and positioning accuracy error is less than 1 mm,meeting the design requirements of the sorting system and validating the improved system.Compared with the existing scheme,the efficiency of the sorting system is increased by 8%,which verifies the feasibility and efficiency of the doubleconveyor sorting system with improved greedy algorithm.