Robot shoe sole dynamic gluing system and method based on 3D scanning

Abstract

The invention discloses a robot shoe sole dynamic gluing system and method based on 3D scanning. Sole point cloud data are obtained through a camera and line laser scanning combined mode, compared with the mode that a shoe sole is glued in a shoe sole containing area on a gluing platform in the mode that the shoe sole is fixedly held by a jig, the method has the advantages that the requirement forthe shoe sole containing state is relatively low, the complexity of automatic shoe sole gluing equipment is effectively reduced, and the higher measuring speed is achieved. Compared with a shoe soleedge track and gluing pose extraction method based on machine vision, the method adopts a real-time processing mode to process an image, obtains three-dimensional point cloud data of a shoe sole contour, and calculates edge points of a shoe sole. When the shoe sole is scanned, the edge track and the gluing pose of the shoe sole can be immediately given, and dynamic scanning and dynamic gluing arecarried out at the same time. By means of the mode, three-dimensional data of the shoe sole are rapidly and accurately scanned and measured, automatic gluing of the robot is achieved, the enterprise production efficiency can be effectively improved, and the enterprise competitiveness is improved.

Description

technical field [0001] The invention belongs to the field of shoe sole gluing, in particular to a system and method for dynamic gluing of robot shoe soles based on 3D scanning. Background technique [0002] In the boot leather processing and manufacturing industry, the current sole gluing process is mostly done manually, which is time-consuming and laborious and has uneven quality. In addition, this process involves a variety of media such as gas and liquid, and its variable performance makes the gluing process complicated. With the increasing requirements for green environmental protection and improving the working environment of laborers, this has continuously prompted manufacturers to try and use new technologies. It has been many years in the research and development of domestic robots, and its research results have been applied to actual production one after another. Therefore, it is necessary to introduce robot technology into the gluing process. The research and dev...

AI Technical Summary

Problems solved by technology

The disadvantage of this gluing method is that the shoes must be fixed before scanning and gluing, which requires a process responsible for fixing the shoes, which increases labor costs and reduces production efficiency

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