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Attitude control-based sole glue spraying path planning method

An attitude control and glue spraying technology, applied in manufacturing tools, complex mathematical operations, manipulators, etc., can solve problems such as unevenness, incompleteness, and uneven glue spraying of soles

Active Publication Date: 2016-08-24
QUANZHOU INST OF EQUIP MFG
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current planning of the sole glue spraying path is mainly obtained according to the sole contour. Due to the irregularity of the sole contour, the sole glue spraying path has the disadvantage of being not smooth, which affects the continuity of the glue spraying; in addition, the glue spraying path planning If there is a lack of posture control of the glue gun at the end of the robot, the inappropriate posture of the glue gun at the end of the robot will cause uneven and incomplete glue spraying.

Method used

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  • Attitude control-based sole glue spraying path planning method
  • Attitude control-based sole glue spraying path planning method
  • Attitude control-based sole glue spraying path planning method

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Embodiment

[0049] The laser profile measuring instrument scans to obtain the 3D point cloud data of the sole, see Figure 4 , And process the 3D point cloud data to extract the contour curve of the outer ring of the sole, such as Figure 5 As shown, the offset planning is based on the contour curve of the outer ring of the sole. According to the amount of glue sprayed by the glue gun and the contour width of the sole, the offset distance is set to d=5mm (inward normal offset). The number of times is 4, and the trajectory curve of the sole spray glue obtained by formula (1), such as Image 6 As shown; the second-order polynomial fitting method is used to smooth the glue spraying trajectory curve of the sole, taking 4 circles of glue spraying trajectory as the object, and dividing the trajectory curve of each circle into ten equal parts, and the glue spraying trajectory curve obtained after fitting Such as Figure 7 As shown, the glue spray trajectory curve has a gentle slope change compared ...

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Abstract

An attitude control-based sole glue spraying path planning method of the present invention mainly comprises a robot, a laser profile measurement instrument, a glue gun and an industrial control computer. By using the laser profile measurement instrument to scan a sole, the three-dimensional point cloud of a sole curve is obtained, after the data is processed, a glue spraying path is planned, a control program is generated on the industrial control computer to be introduced into the robot, and the attitudes of the glue gun at the tail end of the robot are controlled according to different shoe types, so that a glue spraying process of the sole is finished, the attitudes of the glue gun can change along with the slope of a sole profile fitting curve, and the attitudes of the glue gun at the tail end of the robot can be controlled according to the different shoe types. Moreover, the glue spraying path of the present invention is smoothed, so that the commutation times of a robot motor can be reduced, and the operation speed of the robot is improved, and accordingly, the glue spraying efficiency is improved, and the working service life of the robot is prolonged.

Description

Technical field [0001] The invention designs a method for planning the glue spray path of the sole based on attitude control. Background technique [0002] In the process of robot sole glue spraying, since the soles are irregular curved surfaces of various models, the glue spraying path needs to be adaptively planned according to different models of soles. The current planning of the glue-spraying path of the sole is mainly obtained based on the contour of the sole. Due to the irregularity of the contour of the sole, the glue-spraying path of the sole has the shortcoming of unevenness, which affects the continuity of the glue; in addition, the glue-spraying path planning In the absence of posture control of the glue gun at the end of the robot, the inappropriate posture of the glue gun at the end of the robot will cause uneven and incomplete glue spraying. Summary of the invention [0003] The purpose of the present invention is to provide a method for planning the glue spray pat...

Claims

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Application Information

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IPC IPC(8): G06Q10/04G06F17/11G06F17/16B25J13/08
CPCG06F17/11G06F17/16G06Q10/047B25J13/08
Inventor 李俊谢银辉
Owner QUANZHOU INST OF EQUIP MFG
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