Precautions

Application scenarios of carton grabbing

  1. Specify pallet size , consider maximum and minimum values of the length, width, and height of the carton , and whether the end effector can picking carton of different sizes ;

  2. Carton color affects the recognition, it is required to confirm the color information of the carton;

  3. Color and pattern of the carton tape affect the recognition, and such information is required to be clarified;

  4. The strap affects the recognition, especially the cable ties seriously affects the result of recognition. It is necessary to confirm color, position, and quantity of the strap;

  5. Whether scanning the code is required for the carton. If so, confirm information like whether single-sided or multi-sided bar code is required, the location of the bar code, and the scanning information, etc.;

  6. When obtaining requirements in the early stage, confirm whether bar code orientation of the carton need to be considered when palletizing, which will affect symmetry design of the end effector, offset, pipeline layout, and whether the robot operation space is sufficient, etc. ;

  7. Check if there is the square carton , it may affect the final recognition results;

  8. It is recommended to pay more attention to the factors affecting recognition, test as much as possible during debug to improve the stability of subsequent production.

Application scenarios of feeding

  1. Confirm the color of the workpiece, whether it is pure black or highly reflective workpiece , whether the point cloud when testing is complete, and whether dual camera is required to solve it;

  2. Confirm the type of workpiece, whether there is mixed feeding materials ;

  3. Confirm the placing direction of the workpiece, whether it is placed in the same direction or opposite to each other, or placed disorderly;

  4. Confirm the upstream and downstream processes, whether the workpiece grasped by the robot is placed on the conveyor belt or on the fixed placement table , and whether the placement accuracy is required;

  5. Specify the size of the box, so as to create collision model during debug to avoid the problem of end effector and box collision ;

  6. Note whether there is baffle between each layer of the workpiece. If so, it is necessary to confirm whether human intervention or vision guide is applied to make sure the fluent picking process.

Application scenarios of gluing

  1. Comfirm the color, specification, type of the workpiece to be glued, whether there is transparent, pure black, highly reflective workpiece;

  2. Determine the process for gluing . At present, there are two ways for the glue application. One is extract the gluing trajectory in advance . During the process, the template is called according to current workpiece type. It is suitable for the scenario with complex glue trajectory and high requirements. The other one is that generate trajectory in real-time after detecting , which is suitable for the scenario where the glue trajectory is simple;

  3. Comfirm upstream and downstream processes , whether there is other signal input and output;

  4. Comfirm whether the customer has special requirements on glue type;

  5. Understand the working principle of the gluing machine, and determine how the vision and the gluing machine cooperate;

  6. For projects that have a clear requirment: robot controled by Mech-Viz and use templates(3D matching), gluing software can be provided to cooperate with gluing debug;

  7. For gluing scenes, due to the complicated technology, the process is required to be well communicated to determine the visual solution, and the vision work scope should be comfirmed.

Application scenarios of assembly

  1. Comfirm the color, specification, type of the workpiece to be assembled, whether there is transparent, pure black, highly reflective workpiece , whether there is mixed feeding;

  2. Confirm whether the robot accuracy and end effector accuracy provided on site can meet the assembly requirements;

  3. vision accuracy and assembly accuracy are considered separately to facilitate troubleshooting in subsequent implementation processes;

  4. Comfirm the assembly process, whether the camera moves with the workpiece to be assembled (that is shooting during the move) . To confirm whether the stability and takt time for vision are satisfied;

  5. In assembly scenarios, accuracy requirements are the most important consideration. Most assembly procedures require that no collision is allowed during assembly, so the accuracy requirements for translation and rotation are relatively high. More special attention should be paid during the planning.

Hint

The accuracy includes translation accuracy and rotation accuracy.