双抓三线机器人码垛不同产品时，其工作原理和策略主要基于产品的特性、尺寸、形状和重量等因素。以下是对双抓三线机器人码垛不同产品的详细解释：

感知和识别：通过搭载的机器视觉系统，双抓三线机器人能够感知和识别待码垛的货物。

使用高分辨率的摄像头和图像处理算法，对货物进行实时的视觉检测和分析，获取货物的尺寸、形状、位置等信息。

抓手选择与调整：根据被抓持物件的形状、尺寸、重量、材料和作业要求，双抓三线机器人可以选择不同类型的抓手，如夹持型、托持型和吸附型。

对于纸箱类、编织袋类、桶装类、散装类等不同类型的产品，机器人会调整抓手的结构和抓取方式，以确保稳定、安全的抓取。

抓取和定位：根据感知和识别得到的货物信息，机器人会根据预设的程序，控制机械臂的动作，将两个抓手分别定位到合适的位置。

机械臂会精确地抓取货物，确保货物的稳定性和安全性。

堆垛规划与执行：根据用户设置的指令和要求，机器人会规划出合理的堆垛方案，如码几层一垛、如何堆叠等。

在执行过程中，机器人会按照规划好的路径和动作序列，将货物准确地码放到指定的位置。

堆码稳定性控制：在码垛过程中，机器人会考虑货物的重心位置、堆叠顺序和稳定性等因素，确保码垛后的货物不会倒塌或滑动。

任务调度与优化：对于需要码垛多种不同产品的场景，机器人会根据任务的重要性和紧急程度进行调度和优化，确保高效地完成码垛任务。

安全系统：双抓三线机器人配备有完善的安全系统，如防碰撞装置、急停按钮、机器人姿态监测和速度限制等功能，以确保在码垛过程中操作人员和设备的安全。

网络通信与人机界面：机器人通过网络通信系统与其他设备和系统进行数据交互和协作，实现自动化生产线的无缝对接。

人机界面提供操作界面和可视化信息，使操作人员能够方便地对机器人进行任务调度、监控和故障排查等操作。

总之，双抓三线机器人在码垛不同产品时，通过感知和识别、抓手选择与调整、抓取和定位、堆垛规划与执行、堆码稳定性控制、任务调度与优化、安全系统以及网络通信与人机界面等多个方面的协作和配合，实现了高效、精确的码垛操作。

When the double-gripping three-line robot palletizes different products, its working principle and strategy are mainly based on factors such as the characteristics, size, shape and weight of the product. The following is a detailed explanation of the different products of the double-gripping three-line robot palletizing:

Perception and recognition: Through the machine vision system, the dual-gripping and three-line robot can perceive and identify the goods to be palletized.

Using high-resolution cameras and image processing algorithms, real-time visual inspection and analysis of goods are carried out, and information such as size, shape, and location of goods is obtained.

Gripper selection and adjustment: According to the shape, size, weight, material and operation requirements of the object to be grasped, the double-gripping three-line robot can choose different types of grippers, such as clamping type, supporting type and adsorption type.

For different types of products such as cartons, woven bags, barrels, and bulk, the robot will adjust the structure and grasping method of the gripper to ensure stable and safe grasping.

Grasping and positioning: According to the goods information obtained by perception and recognition, the robot will control the action of the robotic arm according to the preset program, and position the two grippers to the appropriate position respectively.

The robotic arm will grip the goods with precision, ensuring the stability and safety of the goods.

Stacking planning and execution: According to the instructions and requirements set by the user, the robot will plan a reasonable stacking plan, such as stacking several layers and stacking, how to stack, etc.

During the execution process, the robot will accurately stack the goods at the specified position according to the planned path and action sequence.

Stacking stability control: During the palletizing process, the robot will consider factors such as the position of the center of gravity of the goods, the stacking sequence and the stability to ensure that the goods will not collapse or slide after palletizing.

Task scheduling and optimization: For scenarios that require palletizing a variety of different products, the robot will schedule and optimize the task according to its importance and urgency to ensure that the palletizing task is completed efficiently.

Safety system: The double-grab three-line robot is equipped with a complete safety system, such as anti-collision device, emergency stop button, robot attitude monitoring and speed limiting and other functions to ensure the safety of operators and equipment during the palletizing process.

Network communication and human-machine interface: The robot interacts and collaborates with other equipment and systems through the network communication system to achieve seamless connection of automated production lines.

The human-machine interface provides an operation interface and visual information, so that operators can easily perform tasks such as task scheduling, monitoring, and troubleshooting on the robot.

In short, when stacking different products, the double-grasping and three-line robot realizes efficient and accurate palletizing operations through the cooperation and cooperation of perception and identification, gripper selection and adjustment, grasping and positioning, stacking planning and execution, stacking stability control, task scheduling and optimization, safety system, network communication and human-machine interface.