Sole gluing track positioning device and method of industrial robot
An industrial robot and trajectory positioning technology, which is applied in the field of sensing and detection, can solve the problems of low recognition rate, difficulty in adapting to ordinary workers, and complicated operation process, and achieve the effect of accurate spraying position, high positioning accuracy and high operation efficiency
Inactive Publication Date: 2016-11-16
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
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Problems solved by technology
The system requires manual assisted pre-storage, the operation process is relatively complicated, it is difficult for ordinary workers to adapt, and the recognition rate is low when visual recognition is used
Method used
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[0016] The technical solution of this patent will be described in further detail below in conjunction with specific embodiments.
[0017] See Figure 1-2 , An industrial robot sole gluing track positioning device, comprising a laser radar 1, a mounting bracket 2, a conveying line 3. The laser radar 1 is installed on the mounting bracket 2, and the conveying line 3 is arranged below the mounting bracket 2. Lidar 1 is a two-dimensional lidar.
[0018] The industrial robot operating system including the shoe sole gluing track positioning device of the present invention also includes an industrial robot 4, gluing nozzles and 5 hot melt glue systems 6. The shoe sole 7 placed on the conveyor line 3 is transported forward along the conveyor line and passes through the laser radar. The time-dimensional lidar 1 below 1 scans to obtain the position coordinates of the height and width of the contour of the sole 7, and at the same time obtains the position coordinates of the length of the sol...
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The invention discloses an industrial robot shoe sole gluing track positioning device and a positioning method thereof. The industrial robot shoe sole gluing track positioning device includes a laser radar, a mounting bracket, and a transmission line. The laser radar is installed on the mounting bracket, and the transmission line is arranged on the installation Below the bracket; the lidar is a two-dimensional lidar. The present invention collects and establishes the three-dimensional model of the sole contour in real time through the laser radar, and then generates the corresponding motion track of the gluing industrial robot, which is sent to the industrial robot to run the gluing operation, with high positioning accuracy and no need for manual processing in advance, placed on the conveyor line The soles can be placed at any position. When the laser radar scanning system is used, all the dimensions of the soles can be scanned, and the position of the glue to be sprayed can be automatically identified. The industrial robot has the automatic follow-up function synchronously with the conveyor line, and the spraying position is accurate. , High operating efficiency.
Description
Technical field [0001] The invention relates to the technical field of sensor detection, in particular to an industrial robot shoe sole gluing track positioning device and a positioning method thereof. Background technique [0002] Gluing process is one of the important factors affecting shoe quality in the shoe industry. At present, the gluing process in the shoe industry usually uses manual gluing, but the instability of manual gluing can cause problems such as uneven gluing, glue flow, and glue hanging. In addition, the smell of colloid is likely to cause harm to the human body. In order to reduce labor and harm to the human body, companies urgently need a fully automatic shoe sole brushing equipment. The application of robot control technology to the gluing process can not only achieve safe production, but also improve work efficiency. The automatic detection of shoe sole gluing track is one of the key technologies of gluing industrial robots. [0003] The existing robot tra...
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Login to View More IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 赵江海章小建方健孔令成何锋蒋欣晟刘曼曼
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI