A planning method for sole glue spraying path based on attitude control

A posture control and glue spraying technology, which is applied in the planning field of shoe sole glue spray path, can solve problems such as uneven glue spray path, influence of glue spray continuity, and uneven glue spray, so as to improve glue spray efficiency and reduce replacement The number of orientations and the effect of prolonging the working life

Active Publication Date: 2021-09-24
QUANZHOU INST OF EQUIP MFG
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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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  • A planning method for sole glue spraying path based on attitude control
  • A planning method for sole glue spraying path based on attitude control
  • A planning method for sole glue spraying path based on attitude control

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Embodiment

[0051] The laser profile measuring instrument scanned to get the three-dimensional point cloud data of the sole, see Figure 4 And processed three-dimensional dot cloud data to extract the outer ring profile curve of the sole, such as Figure 5 As shown, the bias plan is biased based on the outer ring contour curve of the sole. According to the spray amount of the glue and the contour width of the sole, the distance is set to D = 5 mm (biased to the inner normal), offset The number of times is 4 times, and the sole spray trajectory curve obtained by the formula (1), such as Image 6 As shown; the method of using the second order polynomial fitting is smoothly treated, respectively, with a 4-turn spray trajectory as an object, approximate the ten equivalent, and the spray trajectory obtained after fitting. like Figure 7 As shown, the split trajectory curve relative to the curve before the fitting, the curve slope changes smoothly. In order to determine the quality of the fit, the root...

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Abstract

The present invention is a planning method of spraying glue path for soles based on attitude control, which mainly includes a robot, a laser profile measuring instrument, a glue gun and an industrial computer. The laser profile measuring instrument scans the sole to obtain a three-dimensional point cloud of the curved surface of the sole. After data processing Carry out glue spraying path planning, generate a control program on the industrial computer and import it into the robot, control the attitude of the glue gun at the end of the robot according to different shoe types, and complete the glue spraying process of the sole, so that the attitude of the glue gun can follow the slope of the sole contour fitting curve to change , the posture of the end glue gun of the robot can be controlled according to different shoe types, and since the glue spraying path of the present invention is smoothed, the number of commutation times of the robot motor can be reduced, the running speed of the robot can be improved, thereby improving the glue spraying efficiency and extending the The working life of the robot.

Description

Technical field [0001] The present invention is designed a planning method based on gesture-controlled sole spraying paths. Background technique [0002] In the process of the robot sole spray, since the sole is an irregular surface of various models, its split path needs to adaptive planning according to different types of soles. The planning of the current sole spraying path is mainly based on the sole contour, due to the irregularity of the sole profile, the sole spraying path has an uneven disadvantage, affecting the continuity of the spray; in addition, the spray path planning The lack of gemlocking of the end of the robot is lacking, and the incoming posture of the film of the robot will cause the spray unevenness and incomplete. Inventive content [0003] SUMMARY OF THE INVENTION An object of the present invention is to provide a planning method based on the gesture-controlled sole spray path, which can plan the sole spraying path to control the end of the robot, so that ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G06F17/11G06F17/16B25J13/08
CPCB25J13/08G06F17/11G06F17/16G06Q10/047
Inventor 李俊谢银辉
Owner QUANZHOU INST OF EQUIP MFG
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