The system consists of a six- axis robot, a delta robot, five conveyor belts, a camera and a visualization panel. It is controlled and coordinated by a programmable logic controller.
Two different objects get delivered by the supply conveyor belt. The camera detects the beginning part of the conveyor belt and sends the image to an image processing system. This system contains a database of the different pieces. So the program recognizes if there is an object and which of the two objects it is. Furthermore it detects what position the object is exactly located. This information about the coordinates and type of the object is assumed by the delta robot, which then sorts the objects on conveyor belts two and three. Objects of type one are placed on one and objects of type two on the other conveyor belt. From there the objects fall on conveyor belt four, again in a randomized order. Then the Objects fall on conveyor belt five. The fifth and last conveyor belt has a light barrier. This light barrier is located at the end of the conveyor belt and outputs a signal to the PLC if an object crosses it. The PLC gives this information to the six-axis robot which then picks the object up and puts it back on the supply conveyor belt.
On the visualization panel a user can enter the s peed of the conveyor belts. Also the operating condition (forwards, backwards, stop) can be appointed.